Remote device and remote operation system

Abstract

The present invention achieves remote operation for remote work machines (1) of different types.　A remote device (30) comprises a first communication device (33) capable of communicating with a plurality of types of remote work machines (1), a remote operation device (35) for remotely controlling the remote work machines (1) via the first communication device (33), and a display device (34) for displaying information relating to remote operation of the remote work machines (1) on a remote operation screen (G). The display device (34) varies display information to be displayed on the remote operation screen (G) and / or a display mode of the display information according to the types of the remote work machines (1).

Description

Remote device and remote control system

[0001] The present invention relates to a remote device and a remote control system for remotely controlling a work machine.

[0002] BACKGROUND ART Conventionally, there is known a remote control system that generates a monitoring screen for monitoring the traveling state and working state of a work vehicle and displays the screen on a display (for example, Patent Document 1).

[0003] Japanese Patent Publication No. 2021-36796

[0004] However, the remote control system of Patent Document 1 does not take into consideration cases where the types of work vehicles (work machines) to be remotely controlled are different.

[0005] The present invention has been made to solve the problems of the conventional technology, and has an object to provide a remote device and a remote control system that can realize remote control of different types of remote working machines.

[0006] A remote control device according to one embodiment of the present invention comprises a first communication device capable of communicating with multiple types of remote work machines, a remote control device that remotely controls the remote work machine via the first communication device, and a display device that displays information related to the remote control of the remote work machine on a remote control screen, and the display information and / or the display format of the display information displayed on the remote control screen differs depending on the type of the remote work machine.

[0007] The display device may display on the remote control screen a main display area in which the display information and the display format of the display information are common regardless of the type of the remote work machine, and a sub-display area in which the display information and / or the display format of the display information differ depending on the type of the remote work machine.

[0008] The secondary display area may be arranged around the primary display area and may surround the primary display area.

[0009] The display device may display one or more captured images taken in a common direction regardless of the type of the remote work machine in the main display area, and may display one or more captured images taken in a different direction depending on the type of the remote work machine in the secondary display area.

[0010] The display device may display a first captured image, captured in a direction in which the remote-controlled work machine is traveling, in a first main area of ​​the main display area.

[0011] The first main area may be located in the center of the remote control screen.

[0012] The display device may display, in a first sub-area of ​​the sub-display area, a second captured image that captures the area around the work device of the first work machine and is captured in a direction different from the first captured image when the remote work machine is a first work machine, and may display a third captured image that captures a direction different from the direction of travel when the remote work machine is a second work machine of a different type from the first work machine.

[0013] The second captured image may be an image captured in a direction opposite to the traveling direction.

[0014] The display device may display device information regarding the work device possessed by the remote work machine, and the device information may be information that differs depending on the type of the remote work machine, and may be displayed in at least a second sub-area of ​​the sub-display area.

[0015] The display device may display the device information or a fourth captured image captured from the side of the remote-controlled work machine in a third sub-area of ​​the sub-display area, depending on the type of the remote-controlled work machine.

[0016] The display device may display a map image indicating the position of the remote work machine in a fourth sub-area of ​​the sub-display area as information regarding the remote control, and may display different supplementary information on the map image depending on the type of the remote work machine.

[0017] The display device may display, as the supplemental information on the map image, guidance for assisting the work to be performed by the remote-operated work machine in accordance with the content of the work.

[0018] The display device may display, as information regarding the remote control, drive information indicating information about the drive system of the remote work machine, including the prime mover and / or running gear, in a second main area of ​​the main display area.

[0019] When a warning condition occurs in the remote-controlled work machine, the display device may display warning information relating to the warning condition in the main display area of ​​the remote control screen.

[0020] The display device may display, in a first main area of ​​the main display area, a first captured image of the direction of travel of the remote work machine as information relating to the remote control, and, in a second main area of ​​the main display area, drive information indicating information about the drive system of the remote work machine, including the prime mover and / or running gear of the remote work machine, as information relating to the remote control, the first main area and the second main area being arranged side by side one above the other, and the warning information being displayed between the first main area and the second main area, superimposed on the first main area and / or the second main area.

[0021] The types of the remote-controlled working machine may include at least two of a tractor equipped with a working implement, a rice transplanter, and a combine harvester.

[0022] The first working machine may include at least one of the tractor and the rice transplanter, and the second working machine may include the combine harvester.

[0023] The display device may, when the type of the remote-controlled work machine is the tractor, display information about the work machine attached to the tractor as the device information; when the type of the remote-controlled work machine is the rice transplanter, display the remaining amount of at least seedlings or seedling materials including the seedlings as the device information; and when the type of the remote-controlled work machine is the combine, display the remaining capacity of the grain tank of the combine as the device information.

[0024] A remote control system according to one embodiment of the present invention comprises a remote device and a remote work machine that is remotely controlled by the remote device, and the remote work machine has a second communication device that communicates with the first communication device.

[0025] According to the present invention, remote control of different types of remote-controlled working machines can be realized.

[0026] 1 is a configuration diagram of a remote control system according to one embodiment of the present invention. FIG. 1 is a configuration diagram of a remote control system according to one embodiment of the present invention. FIG. 2 is a configuration diagram of a remote control system according to one embodiment of the present invention. FIG. 3 is a side view of a tractor, which is an example of a remote work machine. FIG. 4 is a side view of a rice transplanter, which is an example of a remote work machine. FIG. 5 is a side view of a combine, which is an example of a remote work machine. FIG. 6 is a diagram showing an example of correspondence data. FIG. 7 is a diagram showing another example of correspondence data. FIG. 8 is a diagram showing an example of a display area on a remote control screen. FIG. 9 is a diagram showing an example of a correspondence table. FIG. 10 is a diagram showing an example of a remote control screen when a tractor is remotely controlled. FIG. 11 is a diagram showing an example of a remote control screen when a rice transplanter is remotely controlled. FIG. 12 is a diagram showing an example of a remote control screen when a combine is remotely controlled. FIG. 13 is a flowchart showing the display procedure of the remote control screen.

[0027] An embodiment of the present invention will be described below with reference to the drawings. FIGS. 1A to 1C are block diagrams of a remotely controlled system 100 according to one embodiment of the present invention. The remotely controlled system 100 includes a remotely controlled work machine 1 and a remote device 30. The remotely controlled system 100 and the remote device 30 enable remote control (or remote operation) and remote monitoring of the remotely controlled work machine 1. The remotely controlled work machine 1 is a farm machine (also referred to as a "remotely controlled agricultural machine") that can be remotely operated (e.g., remotely traveled and operated) by the remote device 30. The types of remotely controlled work machines 1 that are remotely controlled by the remote device 30 include at least two of the following agricultural machines: a tractor 1A ( FIG. 1A ), a rice transplanter 1B ( FIG. 1B ), and a combine harvester 1C ( FIG. 1C ). In the following description, the remotely controlled work machine 1 will be described as an example of an agricultural machine having a driver's seat 10 in which a worker (operator) sits. However, the remotely controlled work machine 1 may also be an agricultural machine dedicated to remote control that does not have a driver's seat 10. First, the configuration of the remote-operated work machine 1 will be described by type.

[0028] Figure 2A is a side view of a tractor 1A, which is an example of a remote-controlled work machine 1. In the following description, the front side of an operator seated in the driver's seat 10 of the tractor 1A (the direction of arrow A1 in Figure 2A) will be referred to as the front, the rear side of the operator (the direction of arrow A2 in Figure 2A) will be referred to as the rear, the left side of the operator will be referred to as the left side (the near side in Figure 2), and the right side of the operator will be referred to as the right side (the far side in Figure 2). In addition, the horizontal direction, which is perpendicular to the fore-and-aft direction of the tractor 1A, will be referred to as the width direction. This also applies to Figures 2B and 2C, which will be described later.

[0029] The tractor 1A includes a machine body 3A. The machine body 3A is provided with a traveling device 7A. The traveling device 7A has front wheels 7A1 and rear wheels 7A2 on both the left and right sides of the machine body 3A, respectively, and supports the machine body 3A so that it can travel. The traveling device 7A may be a crawler-type device.

[0030] As shown in Figures 1A and 2A, the tractor 1A includes a prime mover 4A, a transmission 5A, a braking device 13A, and a steering device 14A. The prime mover 4A is formed from an engine (diesel engine or gasoline engine) or an electric motor. The transmission 5A, for example, performs a gear change operation to vary the propulsive force of the traveling device 7A and switch the traveling device 7A between forward and reverse. The transmission 5A has multiple gears that transmit power, a shifter that changes the connection of the gears, and a clutch that switches between transmitting and disconnecting power, and performs the gear change operation. The transmission 5A can switch between four-wheel drive (4WD) modes in which the front wheels 7A1 and the rear wheels 7A2 are driven by power and the rotational speeds of the front wheels 7A1 and the rear wheels 7A2 are substantially the same (4WD constant speed state), four-wheel drive mode in which the rotational speed of the front wheels 7A1 is faster than the rotational speed of the rear wheels 7A2 (4WD speed-up state), and two-wheel drive (2WD) mode in which only the rear wheels 7A2 are driven. In this embodiment, the transmission 5A can perform separate gear changes in the main transmission unit (e.g., continuously variable transmission) and the auxiliary transmission unit (e.g., stepped transmission). The transmission 5A is provided with a power take-off (PTO) shaft for transmitting (outputting) the power output by the prime mover 4A to the outside, and can transmit the power to the working device 2, which will be described later. The brake device 13A controls the movement of the machine body 3A. The steering device 14A is operated so that the aircraft 3A faces a predetermined direction.

[0031] A control device 11A for manually operating the tractor 1A is provided around the driver's seat 10A. The tractor 1A can travel and work unmanned, but an operator seated in the driver's seat 10A can also operate the control device 11A to travel the tractor 1A and perform work using the work device 2. The control device 11A includes a steering wheel, an accelerator pedal, a brake pedal, a gear shift lever, etc.

[0032] A coupling device 8 is provided at the rear of the machine body 3A. The coupling device 8 is configured with a three-point linkage mechanism or the like. The coupling device 8 can detachably couple the work device 2 to the machine body 3A. The tractor 1A (machine body 3A) can tow the work device 2 by coupling the work device 2 to the coupling device 8 and driving the traveling unit 7A. In addition, the coupling device 8 can raise and lower the work device 2 and change the attitude of the work device 2 by driving an actuator (e.g., a hydraulic cylinder).

[0033] The working implements 2 include, for example, a tilling implement for tilling soil, a fertilizer spreading implement for spreading fertilizer, a pesticide spreading implement for spreading pesticide, a harvesting implement for harvesting, a reaping implement for reaping grass or the like, a spreading implement for spreading grass or the like, a grass collecting implement for collecting grass or the like, and a shaping implement for shaping grass or the like. The working implements 2 are operated, for example, by power transmitted through a PTO shaft provided on the tractor 1A. The working implements 2 may also have a hydraulic actuator driven by hydraulic oil discharged from a hydraulic pump of the tractor 1A and be operated by the hydraulic actuator. The working implements 2 may also have an electric actuator driven by supplied electricity and be operated by the actuator. The tractor 1A performs agricultural work on the field by operating these working implements 2.

[0034] 1A, the tractor 1A includes an on-board control device 21A, a storage device 22A, a second communication device (on-board communication device) 23A, a position detection device 24A, a first detection device (inertial measurement unit) 25A, a camera 26A, a second detection device (sensing device) 27A, a state detection device 28A, and a third detection device 29A. An on-board network such as CAN, LIN, or FlexRay is also configured in the tractor 1A, and the on-board control device 21A is electrically connected to the storage device 22A, the second communication device 23A, the position detection device 24A, etc.

[0035] The on-board control device 21A is composed of an ECU (electronic control unit) including a processor 21A1 and a memory 21A2. The on-board control device 21A is a controller that controls the operation of each part of the tractor 1A. The memory 21A2 is composed of volatile or non-volatile memory, etc. The on-board control device 21A controls a group of actuators including electric or hydraulic motors, cylinders, control valves, etc. for operating each part of the tractor 1A, such as the prime mover 4A, transmission 5A, travel device 7A, braking device 13A, and coupling device 8. The memory 21A2 of the on-board control device 21A readably and writably stores various information and data used by the on-board control device 21A to control the operation of each part of the tractor 1A. The storage device 22A is, for example, a solid-state drive (SSD) or a hard disk drive (HDD).

[0036] The second communication device 23A is composed of an antenna, an IC (integrated circuit), an electric circuit, etc. for wireless communication via a mobile phone communication network, the Internet, or a wireless LAN. The on-board control device 21A wirelessly communicates with the first communication device 33 of the remote device 30 via the second communication device 23A. The on-board control device 21A also has an RTC (real-time clock) and can measure the date and time.

[0037] While the present embodiment illustrates an example in which the tractor 1A and the remote device 30 communicate via a mobile phone communication network or the like, the tractor 1A and the remote device 30 may alternatively communicate with a mobile phone communication network or the like via an external device such as a server or a repeater. Alternatively, the tractor 1A and the remote device 30 may directly communicate using short-range wireless signals such as Bluetooth (registered trademark) Low Energy (BLU) signals or Ultra High Frequency (UHF) signals. In this case, it is sufficient that the second communication device 23A and the remote device 30 each have an interface for short-range wireless communication.

[0038] The position detection device 24A detects its own position (positioning information including latitude and longitude) using a satellite positioning system. That is, the position detection device 24A receives signals transmitted from positioning satellites (such as the position of the positioning satellite, the transmission time, and correction information) and detects its own position based on the signals. The position detection device 24A may detect its own position as a corrected position based on signals such as corrections from a base station (reference station) that can receive signals from the positioning satellites. The position detection device 24A may also calculate the position of the tractor 1A based on its detected position and pre-stored external shape information of the tractor 1A. The position detection device 24A may also calculate the position of the working device 2A based on its detected position, pre-stored external shape information of the working device 2, and the mounting position of the working device 2A relative to the vehicle body 3A.

[0039] The first detection device 25A includes a gyro sensor or an acceleration sensor, and detects the roll angle, pitch angle, yaw angle, etc. of the tractor 1A (machine body 3A). That is, the first detection device 25A detects the left / right and front / rear tilt attitude of the tractor 1A relative to the horizontal state.

[0040] The camera 26A captures and senses (monitors) the surroundings of the tractor 1A. The camera 26A is configured as a CCD camera equipped with a CCD (Charge Coupled Device) image sensor, or a CMOS camera equipped with a CMOS (Complementary Metal Oxide Semiconductor) image sensor. As shown in FIG. 2A , the camera 26A is installed at predetermined locations such as the front, rear, left and right sides of the tractor 1A, and inside the cabin 9, and captures images of the surroundings such as the front, rear, left and right sides of the tractor 1A and outputs data of the captured images.

[0041] For example, as shown in Fig. 2A, camera 26A1 installed inside cabin 9 captures an image of the area ahead of tractor 1A from driver's seat 10. More specifically, camera 26A1 captures an image of the area ahead of tractor 1A (in the traveling direction, in the direction of arrow A1) from a field of view that is substantially the same as that of an operator seated in driver's seat 10. In other words, camera 26A1 can obtain a first captured image 71A (see Fig. 7A described later) capturing an image of the area ahead of tractor 1A.

[0042] As shown in FIG. 2A , camera 26A2 installed at the rear of body 3A of tractor 1A captures an image of the area behind tractor 1A. More specifically, camera 26A2 captures an image in the direction opposite to the field of view of the operator seated in driver's seat 10 (the direction of arrow A2). That is, camera 26A2 obtains second captured image 72A ( FIG. 7A ) captured in the direction opposite the traveling direction of tractor 1A. Cameras 26A4 installed on the left and right sides of body 3A of tractor 1A obtain fourth captured image 74A captured of the side of tractor 1A. Camera 26A outputs the captured image to on-board control device 21A as sensing information.

[0043] The second detection device 27A is a sensing device separate from the camera 26A that senses (monitors) the periphery of the tractor 1A. Specifically, the second detection device 27A includes sensors such as a laser sensor like LiDAR and an ultrasonic sensor. The second detection device 27A is installed at predetermined locations, such as the front, rear, left and right sides of the tractor 1A, and detects the presence or absence of an object in the periphery, such as the front, rear, left and right sides of the tractor 1A, and the distance to the object. The second detection device 27A can also detect the presence or absence of an object, the position of the object, and the type of object based on the captured image data output from the camera 26A.

[0044] The second detection device 27A senses (monitors) the surrounding conditions of the tractor 1A and the work implement 2, and outputs sensing information indicating the results to the on-board control device 21A. The sensing information includes at least information on the presence or absence of an object and the distance to the object, but may also include detection information from the laser sensor and ultrasonic sensor.

[0045] When controlling the travel of the tractor 1A or the work performed by the work implement 2, the on-vehicle control device 21A determines, from the detection information of the second detection device 27A, whether an object is approaching the tractor 1A or the work implement 2 within a predetermined distance and is likely to come into contact with the tractor 1A or the work implement 2. If the on-vehicle control device 21A determines that an object is approaching the tractor 1A or the work implement 2 within a predetermined distance and is likely to come into contact with the tractor 1A or the work implement 2, the on-vehicle control device 21A controls the travel device 7A or the work implement 2, etc., to automatically stop the travel or work of the tractor 1A and avoid contact with the object.

[0046] The state detection device 28A detects the operating state (driving state) of the tractor 1A. Specifically, the state detection device 28A includes various sensors installed in various parts of the tractor 1A (machine body 3A) and a computing unit, and the computing unit detects (calculates) the operating state of the tractor 1A based on output signals from the various sensors. The operating state of the tractor 1A detected by the state detection device 28A includes information on the drive system of the remote-controlled work machine 1 (tractor 1A), including the prime mover 4A and / or traveling unit 7A of the tractor 1A. The drive system information includes the driving and stopped states of each part of the tractor 1A, the traveling direction of the tractor 1A, the traveling speed (or acceleration), the rotation speed of the prime mover 4A, the gear shift position of the transmission 5A, etc.

[0047] The state detection device 28A may acquire the position of the machine body 3A (the position of the tractor 1A) detected by the position detection device 24A at a predetermined cycle, and detect (calculate) the position of the work implement 2 from the position of the machine body 3A, or detect changes (transitions) in the position of the machine body 3A. The state detection device 28A may also detect the traveling speed of the machine body 3A from changes in the position of the machine body 3A. As another example, a rotation speed sensor may be provided to detect the rotation speed of the front wheels 7A1 and rear wheels 7A2 of the traveling device 7A or the rotation speed of a traveling motor that rotates the front wheels 7A1 and rear wheels 7A2, and the state detection device 28A may detect the traveling speed of the machine body 3A based on the output signal of the rotation speed sensor. Alternatively, a sensor may be provided in the steering device 14A, and the state detection device 28A may detect the steering angle of the machine body 3A based on the output signal of the sensor.

[0048] The state detection device 28A generates detection information indicating the detected operating state of the tractor 1A and outputs it to the on-board control device 21A. The detection information includes information on the drive system of the tractor 1A. For example, the drive system information of the state detection device 28A includes at least one of information on the speed (or acceleration) of the tractor 1A (traveling device 7A), the rotation speed of the prime mover 4A, and the gear change position of the transmission 5A.

[0049] The third detection device 29A detects device information 63A related to the work device 2 possessed by (connected to) the tractor 1A. The third detection device 29 includes various sensors installed in each part of the coupling device 8 and the work device 2, and a computing unit, and the computing unit detects (calculates) the operating state of the work device 2 based on output signals from the various sensors. The device information 63A of the work device 2 detected by the third detection device 29 includes the type of work device 2, the attachment / detachment state of the work device 2, the drive / stop state of each part of the work device 2, the rotation speed of the PTO shaft, the inclination of the work device 2, and its height above ground, etc.

[0050] The position detection device 24A, the first detection device 25A, the state detection device 28A, and the third detection device 29A output detection information indicating the results of detection at a predetermined cycle or at a predetermined timing to the on-board control device 21A as needed. The camera 26A and the second detection device 27A also output sensing information indicating the results of sensing at a predetermined cycle or at a predetermined timing to the on-board control device 21A as needed. The on-board control device 21A stores the detection information and sensing information input from the position detection device 24A, the state detection device 28A, the camera 26A, and the second detection device 27A in an internal memory 21A2.

[0051] The on-board control device 21A detects preset warning conditions based on the detection information and sensing information stored in the memory 21A2. The on-board control device 21A detects, for example, an abnormality (failure) of the remote-controlled work machine 1 as a warning condition. When a predetermined warning condition is met, such as when the values ​​of the detection information and sensing information exceed a predetermined threshold range, the on-board control device 21A determines that a warning condition (warning event) has occurred in the remote-controlled work machine 1, and attaches warning information related to the warning condition to the detection information and sensing information.

[0052] Furthermore, in the case of remote driving, the on-board control device 21A sequentially transmits the detection information and sensing information stored in the internal memory 21A2 to the remote device 30 via the second communication device 23A at a predetermined cycle or at a predetermined timing. For example, the on-board control device 21A causes the second communication device 23A to transmit the detection information and sensing information in the memory 21A2 as correspondence data Q that associates the position information of the tractor 1A, the type of the tractor 1A, and the type of information.

[0053] FIG. 3 is a diagram showing an example of the correspondence data Q. The remote-controlled work machine 1 (tractor 1A) transmits the correspondence data Q to the remote device 30. The correspondence data Q includes position information of the tractor 1A (remote-controlled work machine 1), type information of the remote-controlled work machine 1, data type information, and a data body that is the main body of the detection information and sensing information corresponding to the data type information. The position information of the tractor 1A is, for example, position information (latitude, longitude) detected by the position detection device 24A. The type information of the remote-controlled work machine 1 is information indicating the type of work machine, such as identification information indicating a tractor 1A, rice transplanter 1B, combine harvester 1C, etc. The data type information is identification information that specifies the type of detection information and sensing information. The correspondence data Q includes at least one or more pieces of data type information and data body.

[0054] For example, the on-board control device 21A sequentially transmits the correspondence data Q1 shown in Fig. 4 to the remote device 30. The correspondence data Q1 shown in Fig. 4 is data that associates position information (e.g., position PU) of the tractor 1A detected by the position detection device 24A, type information (e.g., "tractor 1A") of the remote-controlled work machine 1, data type information (an identifier "first captured image" indicating that the image is the first captured image 71A captured by the camera 26A1) with the data body of the first captured image 71A, and data type information (an identifier "second captured image" indicating that the image is the second captured image 72A captured by the camera 26A2) with the data body of the second captured image 72A.

[0055] The on-vehicle control device 21A also communicates with a control unit 2a provided in the work device 2, and causes the control unit 2a to control the operation of the work device 2. That is, the on-vehicle control device 21A performs work on the field by controlling the operation of the work device 2 via the control unit 2a. For example, the control unit 2a is made up of a CPU, memory, etc. Note that some work devices 2 do not have a control unit 2a. In this case, the on-vehicle control device 21A controls the attitude of the work device 2 using the coupling device 8, and the work device 2 performs work on the field.

[0056] The on-vehicle control device 21A controls the traveling of the tractor 1A, the work performed by the work implement 2, and other operations of the tractor 1A based on detection information obtained from the first detection device 25A, the second detection device 27A, the state detection device 28A, the third detection device 29A, etc. Furthermore, when the on-vehicle control device 21A receives a remote control signal transmitted from the remote device 30 at the second communication device 23A, it controls the traveling of the tractor 1A, the work performed by the work implement 2, and other operations of the tractor 1A based on the remote control signal in addition to the above information.

[0057] 2B is a side view of a rice transplanter 1B, which is an example of the remote-controlled work machine 1. The rice transplanter 1B includes a machine body 3B. The machine body 3B is provided with a traveling device 7B. The traveling device 7B has front wheels 7B1 and rear wheels 7B2 on both the left and right sides of the machine body 3B, and supports the machine body 3B so that it can travel. The traveling device 7B may be a crawler-type device.

[0058] As shown in Figures 1B and 2B, the rice transplanter 1B includes a prime mover 4B, a transmission 5B, a braking device 13, a steering device 14B, and a seedling planting device 40. The prime mover 4B is composed of an engine (diesel engine or gasoline engine) or an electric motor. The transmission 5B varies the propulsive force of the traveling device 7B and switches the traveling device 7B between forward and reverse by, for example, performing a gear change operation. The transmission 5B has multiple gears that transmit power, a shifter that changes the connection of the gears, and a clutch that switches between transmitting and disconnecting power, and performs the gear change operation. The transmission 5B can switch between four-wheel drive (4WD) modes in which the front wheels 7B1 and the rear wheels 7B2 are driven by power and the rotational speeds of the front wheels 7B1 and the rear wheels 7B2 are substantially the same (4WD constant speed state), four-wheel drive mode in which the rotational speed of the front wheels 7B1 is faster than the rotational speed of the rear wheels 7B2 (4WD speed increase state), and two-wheel drive (2WD) mode in which only the rear wheels 7B2 are driven. In this embodiment, the transmission 5B can perform separate gear shift operations for the main transmission unit (e.g., continuously variable transmission) and the auxiliary transmission unit (e.g., stepped transmission). The brake device 13B brakes the vehicle 3B. The steering device 14A steers the vehicle 3B.

[0059] A control device 11B for manually operating the rice transplanter 1B is provided around the driver's seat 10B. The rice transplanter 1B can travel and operate unmanned, but an operator seated in the driver's seat 10B can operate the control device 11B to travel the rice transplanter 1B and perform agricultural work using the seedling planting device 40. The control device 11B includes a steering wheel, an accelerator pedal, a brake pedal, a gear shift lever, and the like.

[0060] A seedling planting device 40 is provided at the rear of the machine body 3B. The seedling planting device 40 has a planting tine 41 and a seedling carrier 42. The planting tine 41 is driven by power transmitted through the transmission 5B. The rice transplanter 1B performs seedling planting work in the field by driving (actuating) the planting tine 41. The seedling planting device 40 has a storage section that stores agricultural materials such as fertilizer, and a delivery section that delivers the agricultural materials stored in the storage section. The delivery section is driven by power transmitted through the transmission 5B. The rice transplanter 1B performs spraying work (fertilization work) in the field by driving (actuating) the delivery section.

[0061] 1B, the rice transplanter 1B includes an on-board control device 21B, a memory device 22B, a second communication device (on-board communication device) 23B, a position detection device 24B, a first detection device (inertial measurement device) 25B, a camera 26B, a second detection device (sensing device) 27B, a state detection device 28B, and a third detection device 29B. In addition, an on-board network such as CAN, LIN, or FlexRay is constructed in the rice transplanter 1B, and the on-board control device 21B is electrically connected to the memory device 22B, the second communication device 23B, the position detection device 24B, and the like.

[0062] The on-vehicle control device 21B is composed of an ECU (electronic control unit) including a processor 21B1 and a memory 21B2. The on-vehicle control device 21B is a controller that controls the operation of each part of the rice transplanter 1B. The memory 21B2 is composed of volatile or non-volatile memory, etc. The on-vehicle control device 21B controls a group of actuators including electric or hydraulic motors, cylinders, control valves, etc. for operating each part of the rice transplanter 1B, such as the prime mover 4B, transmission 5B, traveling device 7B, braking device 13B, and seedling planting device 40. The memory 21B2 of the on-vehicle control device 21B stores various information and data used by the on-vehicle control device 21B to control the operation of each part of the rice transplanter 1B in a readable and writable manner. The storage device 22B is, for example, an SSD, HDD, etc.

[0063] The on-board control device 21A wirelessly communicates with the remote device 30 via the second communication device 23B. The position detection device 24B detects the position of the rice transplanter 1B. The first detection device 25B detects the left / right and front / back tilt posture of the rice transplanter 1B relative to a horizontal state. The second communication device 23B, position detection device 24B, and first detection device 25B have functions equivalent to those of the second communication device 23A, position detection device 24A, and first detection device 25A in the tractor 1A, so detailed description thereof will be omitted.

[0064] The camera 26B captures and senses (monitors) the surroundings of the rice transplanter 1B. The camera 26B is composed of a CCD camera equipped with a CCD image sensor, or a CMOS camera equipped with a CMOS image sensor. As shown in FIG. 2B, the camera 26B is installed at predetermined locations such as the front, rear, left and right sides of the rice transplanter 1B, captures images of the surroundings such as the front, rear, left and right sides of the rice transplanter 1B, and outputs the captured image data.

[0065] For example, as shown in Fig. 2B, camera 26B1 captures an image of the area in front of rice transplanter 1B from driver's seat 10B. More specifically, camera 26B1 captures an image of the area in front of rice transplanter 1B (the traveling direction, the direction of arrow A1) with a field of view substantially similar to that of an operator seated in driver's seat 10B. In other words, camera 26B1 can obtain a first captured image 71B (see Fig. 7B described later) capturing an image of the area in the traveling direction of rice transplanter 1B.

[0066] As shown in FIG. 2B , camera 26B2 installed at the rear of body 3B of rice transplanter 1B captures an image of the area behind rice transplanter 1B. More specifically, camera 26B2 captures an image in the direction opposite to the field of view of the operator seated in driver's seat 10B (the direction of arrow A2). In other words, camera 26B2 obtains second captured image 72B ( ​​FIG. 7B ) captured in the direction opposite to the traveling direction of rice transplanter 1B. Cameras 26B4 installed on the left and right sides of body 3B of rice transplanter 1B obtain fourth captured image 74B captured of the side of rice transplanter 1B. Camera 26B outputs the captured image to on-board control device 21B as sensing information.

[0067] The second detection device 27B is a sensing device that senses (monitors) the periphery of the rice transplanter 1B, separate from the camera 26B. Similar to the first detection device 25A in the tractor 1A, the second detection device 27B detects the presence or absence of an object around the rice transplanter 1B and the distance to the object, and outputs sensing information indicating the results to the on-vehicle control device 21B. In response to the output signal of the second detection device 27B, the on-vehicle control device 21B controls the traveling device 7B and the like to automatically stop the traveling or operation of the rice transplanter 1B and avoid contact with the object.

[0068] The state detection device 28B detects the operating state (drive state) of the rice transplanter 1B. Specifically, the state detection device 28B includes various sensors installed in each part of the rice transplanter 1B (machine body 3B) and a calculator, and the calculator detects (calculates) the operating state of the rice transplanter 1B based on output signals from the various sensors. The operating state of the rice transplanter 1B detected by the state detection device 28B includes information on the drive system of the remote-controlled work machine 1 (rice transplanter 1B), including the prime mover 4B and / or traveling device 7B of the rice transplanter 1B. The drive system information includes the drive and stop states of each part of the rice transplanter 1B, the traveling direction of the rice transplanter 1B, the traveling speed (or acceleration), the rotation speed of the prime mover 4B, the gear shift position of the transmission 5B, etc.

[0069] The state detection device 28B generates detection information indicating the detected operating state of the rice transplanter 1B and outputs it to the on-board control device 21B. The detection information includes information on the drive system of the rice transplanter 1B. For example, the drive system information of the state detection device 28B includes at least one of the following information: the speed (or acceleration) of the rice transplanter 1B (traveling device 7B), the rotation speed of the prime mover 4B, and the speed change position of the transmission 5B.

[0070] The third detection device 29B detects device information 63B related to the seedling planting device 40 of the rice transplanter 1B. The third detection device 29B includes various sensors installed in various parts of the seedling planting device 40 and a computing unit, and the computing unit detects (calculates) the operating state of the working device 2 based on output signals from the various sensors. The device information 63B of the seedling planting device 40 detected by the third detection device 29B includes the remaining number of seedlings on the seedling carrier 42, the remaining amount of agricultural materials (fertilizer) in the storage unit, the drive and stop status of each part, planting density setting information (number of plants per 3.3 m2, row spacing distance, etc.), fertilization setting information, and planting depth setting information for the planting tines 41.

[0071] The position detection device 24B, the first detection device 25B, the state detection device 28B, and the third detection device 29B output detection information indicating the results of detection at a predetermined cycle or at a predetermined timing to the on-board control device 21B as needed. The camera 26B and the second detection device 27B also output sensing information indicating the results of sensing at a predetermined cycle or at a predetermined timing to the on-board control device 21B as needed. The on-board control device 21B stores the detection information and sensing information input from the position detection device 24B, the state detection device 28B, the camera 26B, and the second detection device 27B in an internal memory 21B2.

[0072] The on-board control device 21B detects preset warning conditions based on the detection information and sensing information stored in the memory 21AB. The on-board control device 21B detects, for example, an abnormality (failure) of the rice transplanter 1B as a warning condition. When a predetermined warning condition is met, such as when the values ​​of the detection information and sensing information exceed a predetermined threshold range, the on-board control device 21B determines that a warning condition (warning event) has occurred in the rice transplanter 1B, and attaches warning information to the detection information and sensing information.

[0073] Furthermore, in the case of remote operation, the on-board control device 21B sequentially transmits the detection information and sensing information stored in the internal memory 21B2 to the remote device 30 via the second communication device 23B at a predetermined cycle or at a predetermined timing. For example, the second communication device 23B of the rice transplanter 1B sequentially transmits, for example, the correspondence data Q2 shown in FIG. 4 to the remote device 30.

[0074] The correspondence data Q2 shown in Figure 4 is data that associates the position information of the rice transplanter 1B detected by the position detection device 24B (e.g., position PX), type information of the remote work machine 1 (e.g., "rice transplanter 1B"), data type information (e.g., "drive information" indicating information about the drive system) and the data body of the drive system information, and data type information (e.g., "device information: remaining seedlings" indicating information about the remaining seedlings on the seedling carrier 42) and the data body of the device information 63B.

[0075] The on-vehicle control device 21B controls the travel of the rice transplanter 1B, the work performed by the seedling planting device 40, and other operations of the rice transplanter 1B based on detection information acquired from the first detection device 25B, the second detection device 27B, the state detection device 28B, the third detection device 29B, etc. Furthermore, when the on-vehicle control device 21B receives a remote control signal transmitted from the remote device 30 at the second communication device 23B, it controls the travel of the rice transplanter 1B, the work performed by the seedling planting device 40 (seedling planting, fertilization), and other operations of the rice transplanter 1B based on the remote control signal in addition to the above information.

[0076] 2C is a side view of a combine harvester 1C, which is an example of the remote-operated work machine 1. The combine harvester 1C includes a machine body 3C. The machine body 3C is provided with a traveling device 7C. The traveling device 7C is provided in pairs in the width direction and supports the machine body 3C so that it can travel. The traveling device 7C is provided with crawler-type wheels. The traveling device 7C is of the crawler type, but may include tire-type front and rear wheels instead of the crawler-type wheels.

[0077] As shown in Figures 1C and 2C, the combine harvester 1C includes a prime mover 4C, a transmission 5C, a brake 13, a steering device 14C, a harvesting device 50, a threshing device 51, a grain tank 52, and a discharge device 53. The prime mover 4C is composed of an engine (diesel engine or gasoline engine) or an electric motor. The transmission 5C, for example, changes gears to vary the propulsive force of the traveling device 7C and switch the traveling device 7C between forward and reverse. The transmission 5C includes multiple gears for transmitting power, a shifter for changing the engagement of the gears, and a clutch for switching between power transmission and disconnection, and performs the speed change operation. In this embodiment, the transmission 5C can perform separate speed changes for the main transmission unit (e.g., continuously variable transmission) and the sub-transmission unit (e.g., stepped transmission). The brake 13C brakes the machine body 3C. The steering device 14A steers the aircraft 3C.

[0078] A control device 11C for manually operating the combine harvester 1C is provided around the driver's seat 10C. The combine harvester 1C can travel and operate unmanned, but an operator seated in the driver's seat 10C can operate the control device 11C to travel the combine harvester 1C and perform agricultural work (harvesting work) using the reaping device 50, threshing device 51, and discharge device 53. The control device 11C includes a steering wheel, an accelerator pedal, a brake pedal, a gear shift lever, etc.

[0079] The reaping device 50 is a device that reaps planted stalks in the field. The reaping device 50 is provided across the width of the front part of the machine body 3C. The threshing device 51 is a device that threshers the stalks reaped by the reaping device 50. The threshing device 51 is provided at the rear part of the machine body 3C.

[0080] The grain tank 52 is a tank that stores the grain threshed by the threshing device 51. The grain tank 52 is provided at the rear of the machine body 3C and is positioned adjacent to the threshing device 51 in the width direction. The discharge device 53 is a device that discharges the grain stored in the grain tank 52 to the outside.

[0081] 1C, the combine harvester 1C includes an on-board control device 21C, a memory device 22C, a second communication device (on-board communication device) 23C, a position detection device 24C, a first detection device (inertial measurement unit) 25C, a camera 26C, a second detection device (sensing device) 27C, a state detection device 28C, and a third detection device 29C. The combine harvester 1C also includes an on-board network such as CAN, LIN, or FlexRay, and the on-board control device 21C is electrically connected to the memory device 22C, the second communication device 23C, the position detection device 24C, and the like.

[0082] The on-board control device 21C is composed of an ECU (electronic control unit) including a processor 21C1 and a memory 21C2. The on-board control device 21C is a controller that controls the operation of each part of the combine harvester 1C. The memory 21C2 is composed of volatile or non-volatile memory, etc. The on-board control device 21C controls a group of actuators including electric or hydraulic motors, cylinders, control valves, etc. for operating each part of the combine harvester 1C, such as the prime mover 4C, transmission 5C, traveling device 7C, braking device 13C, harvesting device 50, threshing device 51, and discharge device 53. The memory 21C2 of the on-board control device 21C readably and writably stores various information and data used by the on-board control device 21C to control the operation of each part of the combine harvester 1C. The storage device 22C is, for example, an SSD, HDD, etc.

[0083] The on-board control device 21A wirelessly communicates with the remote device 30 via the second communication device 23C. The position detection device 24C detects the position of the combine harvester 1C. The first detection device 25C detects the left / right and front / rear tilt of the combine harvester 1C relative to a horizontal position. The second communication device 23C, position detection device 24C, and first detection device 25C have functions equivalent to those of the second communication device 23A, position detection device 24A, and first detection device 25A in the tractor 1A, and therefore detailed description thereof will be omitted.

[0084] The camera 26C captures and senses (monitors) the surroundings of the combine harvester 1C. The camera 26C is composed of a CCD camera equipped with a CCD image sensor or a CMOS camera equipped with a CMOS image sensor. As shown in Fig. 2C, the camera 26C is installed at predetermined locations such as the front, rear, left and right sides of the combine harvester 1C, captures images of the surroundings such as the front, rear, left and right sides of the combine harvester 1C, and outputs the captured image data.

[0085] For example, as shown in Fig. 2C, camera 26C1 captures an image of the area in front of combine harvester 1C from driver's seat 10. More specifically, camera 26C1 captures an image of the area in front of combine harvester 1C (the traveling direction, the direction of arrow A1) from a field of view substantially similar to that of an operator seated in driver's seat 10C. In other words, camera 26C1 can obtain a first captured image 71C (see Fig. 7C described later) capturing an image of the area in the traveling direction of combine harvester 1C.

[0086] As shown in FIG. 2C , camera 26C3 captures an image of the reaping device 50 at the front of the vehicle body 3C. That is, camera 26C2 obtains a third captured image 73C ( FIG. 7C ) captured in a direction different from the direction of travel of the combine harvester 1C. Cameras 26C4 installed on the left and right sides of the vehicle body 3C of the combine harvester 1C obtain a fourth captured image 74C captured of the side of the combine harvester 1C. Camera 26B outputs the captured image to on-vehicle control device 21B as sensing information. Camera 26C outputs the captured image to on-vehicle control device 21C as sensing information.

[0087] The second detection device 27C is a sensing device separate from the camera 26C that senses (monitors) the periphery of the combine harvester 1C. Similar to the first detection device 25A in the tractor 1A, the second detection device 27C detects the presence or absence of objects around the combine harvester 1C and the distance to the objects, and outputs sensing information indicating the results to the on-vehicle control device 21C. In response to the output signal of the second detection device 27C, the on-vehicle control device 21C controls the traveling device 7C and the like to automatically stop the traveling or operation of the combine harvester 1C and avoid contact with the objects.

[0088] The state detection device 28C detects the operating state (drive state) of the combine harvester 1C. Specifically, the state detection device 28C includes various sensors installed in various parts of the combine harvester 1C (machine body 3C) and a computing unit, and the computing unit detects (calculates) the operating state of the combine harvester 1C based on output signals from the various sensors. The operating state of the combine harvester 1C detected by the state detection device 28C includes information on the drive system of the remote-controlled work machine 1 (combine harvester 1C), including the prime mover 4C and / or traveling device 7C of the combine harvester 1C. The drive system information includes the drive and stop states of each part of the combine harvester 1C, the direction of travel of the combine harvester 1C, the traveling speed (or acceleration), the rotation speed of the prime mover 4C, the gear shift position of the transmission 5C, etc.

[0089] The state detection device 28C generates detection information indicating the detected operating state of the combine harvester 1C and outputs it to the on-vehicle control device 21C. The detection information includes information on the drive system of the combine harvester 1C. For example, the drive system information of the state detection device 28C includes at least one of information on the speed (or acceleration) of the rice planting device 1C (traveling device 7C), the rotation speed of the prime mover 4C, and the speed change position of the transmission 5C.

[0090] The third detection device 29C detects the status of the equipment related to the reaping operation and the status of the harvested grain. The third detection device 29C includes various sensors installed in the reaping device 50, the threshing device 51, and the grain tank 52, and a computing unit. The computing unit detects (calculates) the operating status of the reaping device 50 and the threshing device 51 and the status of the grain stored in the grain tank 52 based on output signals from the various sensors.

[0091] The device information 63C detected by the third detection device 29C includes the drive and stop status of each part, the reaping height of the reaping device 50, the air volume of the toumi (winnowing fan), the remaining capacity of the grain tank 52, and the moisture and protein content of the grain stored in the grain tank 52. Specifically, the third detection device 29C detects the reaping height of the planted stalks based on a detection signal from a sensor installed in the reaping device 50. The third detection device 29C is provided in the threshing device 51 and detects the air volume of the toumi based on a detection signal from a sensor installed in the toumi, which blows away straw during threshing. The third detection device 29C detects the amount of grain stored in the grain tank 52 based on a detection signal from a yield sensor installed in the grain tank 52. For example, the yield sensor is a load cell for measuring weight.

[0092] The third detector 29C is installed inside or around the grain tank 52 and detects the condition of the harvested grain based on detection signals from a measuring device capable of measuring grain characteristics. Specifically, the measuring device includes a moisture measuring unit that measures the moisture content of the grain and a taste measuring unit that measures the protein content of the grain. The taste measuring unit irradiates the grain entering the grain tank 52 with near-infrared light (near-infrared light) and analyzes the absorption spectrum based on spectroscopic analysis of the transmitted light. Based on the analysis results, the moisture measuring unit determines the amount of components (protein content) such as protein contained in the grain. The moisture measuring unit may measure the moisture content of the grain using the grain's dielectric constant, or the moisture content (moisture content) of the grain using the grain's electrical resistance, or may be a sensor that measures the moisture content by irradiating the grain with infrared light or microwaves. Note that the measuring device is not limited to the above-mentioned methods as long as it can measure the protein and moisture content of the grain.

[0093] The position detection device 24C, the first detection device 25C, the state detection device 28C, and the third detection device 29C output detection information indicating the results of detection at a predetermined cycle or at a predetermined timing to the on-board control device 21C as needed. The camera 26C and the second detection device 27C also output sensing information indicating the results of sensing at a predetermined cycle or at a predetermined timing to the on-board control device 21C as needed. The on-board control device 21C stores the detection information and sensing information input from the position detection device 24C, the state detection device 28C, the camera 26C, and the second detection device 27C in an internal memory 21C2.

[0094] The on-board control device 21C detects preset warning conditions based on the detection information and sensing information stored in the memory 21C2. The on-board control device 21C detects, for example, an abnormality (failure) of the remote-controlled work machine 1 as a warning condition. When a predetermined warning condition is met, such as when the values ​​of the detection information and sensing information exceed a predetermined threshold range, the on-board control device 21C determines that a warning condition (warning event) has occurred in the remote-controlled work machine 1, and attaches warning information related to the warning condition to the detection information and sensing information.

[0095] Furthermore, in the case of remote operation, the on-board control device 21C sequentially transmits the detection information and sensing information stored in the internal memory 21C2 to the remote device 30 via the second communication device 23C at a predetermined cycle or at a predetermined timing. For example, the second communication device 23C of the combine harvester 1C sequentially transmits, for example, the correspondence data Q3 shown in FIG. 4 to the remote device 30.

[0096] The correspondence data Q3 shown in FIG. 4 is data that associates the position information of the combine 1C detected by the position detection device 24C (e.g., position PW), type information of the remote-controlled work machine 1 (e.g., "combine 1C"), data type information (an identifier "third captured image" indicating that the third captured image 73C is taken by the camera 26C3) with the data body of the third captured image 73C, and data type information (e.g., "taste information" indicating information regarding the protein and moisture content of the grain) with the data body of the device information 63C.

[0097] The on-vehicle control device 21C controls the travel of the combine harvester 1C, the work performed by the seedling planting device 40, and other operations of the combine harvester 1C based on detection information acquired from the first detection device 25C, the second detection device 27C, the state detection device 28C, the third detection device 29C, etc. Furthermore, when the on-vehicle control device 21C receives a remote control signal transmitted from the remote device 30 at the second communication device 23C, it controls the travel of the combine harvester 1C, the work performed by the seedling planting device 40 (seedling planting, fertilization), and other operations of the combine harvester 1C based on the remote control signal in addition to the above information.

[0098] Next, the remote device 30 will be described. As shown in Fig. 1, the remote device 30 is located at a position remote from the remote-controlled implement 1 (tractor 1A, rice transplanter 1B, combine harvester 1C). The remote device 30 allows a remote operator to remotely control the remote-controlled implement 1 and monitor the status of the remote-controlled implement 1 and the surrounding conditions of the remote-controlled implement 1. The remote device 30 includes a control device 31, a storage device 32, a first communication device 33, a display device 34, a remote control device 35, and an input device 36.

[0099] The control device 31 is a processor that controls the operation of each part of the remote device 30. This processor functions as the control device 31, controlling the operation of each part of the remote device 30, for example, by executing a remote control program or application stored in the storage device 32. The control device 31 may be implemented by hardware such as an integrated circuit (IC chip), or by software using a computer. In the latter case, the computer includes a recording medium on which a program, which is software that implements each function of the control device 31, and various data related to the remote work machine 1 are recorded in a computer-readable manner, an arithmetic circuit such as a CPU (Central Processing Unit) that executes the instructions of the program, and a RAM (Random Access Memory) that expands the program and various data. The arithmetic circuit then reads and executes the program from the recording medium, thereby realizing the functions of the control device 31.

[0100] The internal memory 31 a provided in the control device 31 is a volatile or non-volatile memory. Various information and data used by the control device 31 to control the operation of each part of the remote device 30 are stored in the internal memory 31 a in a readable and writable manner.

[0101] The display control unit 31b provided in the control device 31 has a function of controlling the remote control screen G displayed by the display device 34. For example, the display control unit 31b causes the display device 34 to display the remote control screen G (such as FIG. 4A ) showing information related to remote control.

[0102] The storage device 32 pre-stores applications such as a remote control program for remotely operating the remote-operated work machine 1 and a remote monitoring program for remotely monitoring the remote-operated work machine 1, as well as various types of data. The storage device 32 is, for example, an SSD or HDD. The storage device 32 stores information about the field where the remote-operated work machine 1 performs farm work (field information), and machine information about the tractor 1A, rice transplanter 1B, and combine harvester 1C.

[0103] The field information includes information indicating the field's identification information, location, area, and field map M1. The field information is information defined in association with each field. The field map M1 is map information showing the outline of the field and location information of various areas set in the field.

[0104] The first communication device 33 is composed of an antenna, an IC, an electric circuit, etc. for wireless communication via a mobile phone communication network, the Internet, or a wireless LAN. The first communication device 33 is capable of wireless communication with the remote-controlled work machine 1 under the control of the control device 31. The first communication device 33 receives various data transmitted from the second communication device 23 (detection information from the position detection device 24, the first detection device 25, the status detection device 28, and the third detection device 29, sensing information from the second detection device 27, etc.). For example, the first communication device 33 receives correspondence data Q ( FIG. 3 ).

[0105] The display device 34 is, for example, a liquid crystal display, an organic EL display, etc. The display device 34 displays various information for remotely operating the remote-controlled work machine 1. For example, the display device 34 displays a remote control screen G showing information related to remote operation based on an instruction signal from the display control unit 31b. Details of the remote control screen G will be described later.

[0106] The input device 36 is an interface for operating the remote device 30. The remote operator can input predetermined instructions to the remote device 30 by operating the input device 36. The input device 36 has sensors that detect the amount of operation, the speed of operation, the direction of operation, etc., and a driver that calculates (defines) an instruction signal for the remote device 30 based on the sensor detection results. The driver is a program stored in the storage device 32. When the remote operator operates the input device 36, the sensor of the input device 36 detects the amount of operation, etc., and inputs the information to the driver of the input device 36. The driver of the input device 36 defines the instruction signal based on the sensor detection results. Once the input device 36 defines the instruction signal, it inputs the instruction signal to the control device 31. The control device 31 controls the remote device 30 based on the instruction signal input by the input device 36. Note that the input device 36 may be a touch panel provided on the display device 34 that can detect touch operations on the display device 34, or a hardware switch or the like.

[0107] The remote control device 35 is a device for remotely controlling the remote-controlled work machine 1. The remote control device 35 includes a steering wheel 35a, an accelerator pedal 35b, a brake pedal 35c, and a gear lever 35d, which are arranged around the remote control seat. The remote control device 35 accepts operation by a remote operator. The remote operator sits in the remote control seat and operates the remote control device 35 to remotely control the travel of the remote-controlled work machine 1 or the work performed by the work device 2 via the first communication device 33. The remote operator also monitors the remote-controlled work machine 1 and the surrounding conditions using the display device 34. The remote operator can also input predetermined information or instructions to the remote device 30 by operating the remote control device 35. The remote control device 35 may be a touchpad, a hardware switch, or the like.

[0108] 1A and other figures, the remote device 30 may be composed of a display terminal 70 and a remote control device 35. That is, the display terminal 70 may be a terminal device including a control device 31, a storage device 32, a first communication device 33, a display device 34, and an input device 36. Examples of the display terminal 70 include a portable terminal device such as a tablet device or a smartphone, or a stationary computer installed in a base station.

[0109] When a remote operator operates the remote control device 35 to input an operation instruction for the remote-controlled work machine 1, the control device 31 generates a remote control signal corresponding to the operation instruction, and transmits the remote control signal to the remote-controlled work machine 1 via the first communication device 33. In other words, a remote control signal corresponding to operation of the steering wheel 35a, accelerator pedal 35b, brake pedal 35c, and gear shift lever 35d is transmitted to the remote-controlled work machine 1. When the second communication device 23 receives a remote control signal from the remote device 30, the on-board control device 21 of the remote-controlled work machine 1 operates each part of the remote-controlled work machine 1 based on the remote control signal, detection information from the position detection device 24, sensing information from the second detection device 27, and detection information from the state detection device 28, to control the traveling and steering of the remote-controlled work machine 1 and to control the work operation of the work device 2.

[0110] The on-board control device 21 periodically transmits detection information from the position detection device 24, first detection device 25, state detection device 28, and third detection device 29, as well as sensing information from the second detection device 27, to the remote device 30 via the second communication device 23. When the first communication device 33 receives the detection information and sensing information, the control device 31 of the remote device 30 stores this information in the internal memory 31a or displays it on the display device 34. This allows the remote operator to remotely control the remote-controlled work machine 1 and monitor the surroundings of the remote-controlled work machine 1.

[0111] The control device 31 of the remote device 30 causes the display device 34 to display a remote control screen G showing information related to remote control. For example, the display device 34 displays the remote control screen G based on an instruction signal from the display control unit 31b. More specifically, the display control unit 31b converts the information related to remote control into display information (image) that can be displayed on the display device 34. The display control unit 31b outputs the converted display information and the position (area) where the display information is to be displayed as an instruction signal to the display device 34, and causes the display device 34 to display the remote control screen G.

[0112] The display device 34 varies the display information and / or the display format of the display information displayed on the remote control screen G depending on the type of remote-controlled work machine 1.

[0113] FIG. 5 is a diagram showing an example of a display area on the remote control screen G. The remote control screen G includes a main display area 80, in which the display information and the display format of the display information are common regardless of the type of remote work machine 1, and a sub-display area 90, in which the display information and / or the display format of the display information differ depending on the type of remote work machine 1. The sub-display area 90 is arranged around and surrounds the main display area 80. The main display area 80 includes a first main area 81 and a second main area 82. The first main area 81 and the second main area 82 are arranged vertically side by side. The sub-display area 90 includes a first sub-area 91, a second sub-area 92, a third sub-area 93, and a fourth sub-area 94. The storage device 32 pre-stores layout data that defines the layout of the main display area 80 and the sub-display area 90 on the remote control screen G. The layout data includes, for example, coordinate values ​​indicating the position of the area on the remote control screen G, width and height values ​​indicating the shape of the area, etc. Therefore, the display control unit 31b uses this layout data to set a main display area 80 and a sub-display area 90 on the remote control screen G, sets a first main area 81 and a second main area 82 in the main display area 80, and sets a first sub-area 91, a second sub-area 92, a third sub-area 93, and a fourth sub-area 94 in the sub-display area 90.

[0114] The display control unit 31b displays, in the main display area 80, first captured images 71A-71C, which are captured in a common direction regardless of the type of remote-operated work machine 1 and indicate the traveling direction of the remote-operated work machine 1. The display control unit 31b displays, in the main display area 80, drive information 61A-61C for the remote-operated work machine 1 and warning information 62A-62C for the remote-operated work machine 1, which are common information regardless of the type of remote-operated work machine 1. The display control unit 31b displays, in the sub-display area 90, captured images (second captured images 72A, 72B, third captured image 73C) captured in different directions depending on the type of remote-operated work machine 1. The display control unit 31b displays, in different display formats, device information 63 relating to different working devices 2 (seedling planting device 40, reaping device 50, threshing device 51, grain tank 52) depending on the type of remote-operated work machine 1.

[0115] Specifically, the display control unit 31b determines in which area on the remote control screen G the detection information and sensing information received from the remote work machine 1 should be displayed and in what display format, based on the type information of the remote work machine 1 and data identification information held in the transmitted information. The display control unit 31b switches the display information and / or the display format of the display information to be displayed on the remote control screen G, based on a correspondence table T ( FIG. 6 ) stored in the storage device 32. FIG. 6 is a diagram showing an example of the correspondence table T. The correspondence table T is data defined by associating, for each type of remote work machine 1, data type information indicating the type of information related to remote operation, the display format of the display information, and the display area to be displayed on the remote control screen G.

[0116] For example, as shown in FIG. 6 , when the display control unit 31b determines that the type of the remote-controlled work machine 1 is a tractor 1A, if the data type information is a first captured image, driving information, or warning information, the display control unit 31b determines that the corresponding display form is a common display and that the display area is the first main area 81, the second main area 82, and the main display area 80, respectively. Furthermore, if the data type information is second captured information, the display control unit 31b determines that the corresponding display form is a captured image and that the display area is the first sub-area 91. Furthermore, if the data type information is device information (PTO shaft rotation speed), the display control unit 31b determines that the corresponding display form is an animation image and that the display area is the second sub-area 92. Furthermore, if the data type information is device information (work device height above ground), the display control unit 31b determines that the corresponding display form is a meter image and that the display area is the third sub-area 93.

[0117] Next, when the display control unit 31b determines that the type of the remote-operated work machine 1 is a rice transplanter 1B, if the data type information is the first captured image, drive information, warning information, or second captured image information, it makes the same determination as above. Furthermore, if the data type information is device information (planting density setting information), the display control unit 31b determines that the corresponding display format is a numerical image and a meter image, and that the display area is the second sub-area 92. Furthermore, if the data type information is device information (remaining seedlings), the display control unit 31b determines that the corresponding display format is a meter image, and that the display area is the third sub-area 93.

[0118] Next, when the display control unit 31b determines that the type of the remote-operated work machine 1 is a combine harvester 1C, if the data type information is the first captured image, driving information, and warning information, the display control unit 31b makes the same determination as above. Furthermore, if the data type information is the third captured image information, the display control unit 31b determines that the corresponding display format is a captured image and the display area is the first sub-area 91. Furthermore, if the data type information is device information (total air volume), the display control unit 31b determines that the corresponding display format is a meter image and the display area is the second sub-area 92. Furthermore, if the data type information is device information (taste information), the display control unit 31b determines that the corresponding display format is a 3D image and the display area is the fourth sub-area 94.

[0119] When the remote device 30 receives the corresponding data Q from the remote-controlled work machine 1, it displays the detection information and sensing information (data body) on the display device 34 based on the identification information of the remote-controlled work machine 1 and the identification information of the data.

[0120] For example, when the display control unit 31b receives the correspondence data Q via the second communication device 23, it refers to the correspondence table T and acquires the display format and display area of ​​the display information corresponding to the type information of the remote-operated work machine 1 and the data type information of the correspondence data Q. The display control unit 31b converts the information related to remote operation (the data body of the correspondence data Q) into predetermined display information. After converting the display information, the display control unit 31b displays the display information in the predetermined display area defined in the correspondence table T.

[0121] 7A is a diagram showing an example of a remote control screen GA when remotely controlling the tractor 1A. When the display control unit 31b receives the correspondence data Q1 including the type information of the tractor 1A, the display control unit 31b causes the display device 34 to display the remote control screen GA.

[0122] 7B is a diagram showing an example of a remote control screen GB when remotely controlling the rice transplanter 1B. When the display control unit 31b receives the correspondence data Q2 including the type information of the rice transplanter 1B, the display unit 34 displays the remote control screen GB.

[0123] 7C is a diagram showing an example of a remote control screen GC when remotely controlling the combine harvester 1C. When the display control unit 31b receives the correspondence data Q3 including the type information of the combine harvester 1C, the display unit 34 displays the remote control screen GC.

[0124] Fig. 8 is a flowchart showing the procedure for displaying the remote control screen GA. Each step of the flowchart shown on the left side of Fig. 8 is executed by the on-board control device 21A based on a software program stored in the storage device 22A. Each step of the flowchart shown on the right side of Fig. 8 is executed by the display control unit 31b of the remote device 30 based on a software program stored in the storage device 32.

[0125] When the remote device 30 starts up and receives an instruction input to remotely control the tractor 1A via the input device 36, the control device 31 starts controlling the remote control of the tractor 1A. As shown in Fig. 8, when the control device 31 of the remote device 30 starts controlling the remote control of the tractor 1A, the display control unit 31b of the remote device 30 starts processing to display the remote control screen GA on the display device 34 (S100).

[0126] The on-board control device 21A of the tractor 1A (remotely operated work machine 1) transmits correspondence data Q including an image captured by the camera 26A from the tractor 1A to the remote device 30 via the second communication device 23A (S101).

[0127] When the first communication device 33 of the remote device 30 receives the correspondence data Q, the display control unit 31b displays the captured image in a predetermined area on the remote control screen GA of the display device 34 based on the type information and data type information of the remote-operated work machine 1 contained in the received correspondence data Q and the correspondence table T (S102). Details of the area in which the display control unit 31b displays the captured image will be described later.

[0128] In addition, the on-board control device 21A transmits the corresponding data Q including the driving information 61A of the tractor 1A to the remote device 30 via the second communication device 23A (S103).

[0129] When the first communication device 33 of the remote device 30 receives the correspondence data Q, the display control unit 31b displays the driving information 61A in the second main area 82 on the remote control screen GA of the display device 34 based on the type information and data type information of the remote work machine 1 contained in the received correspondence data Q and the correspondence table T (S104).

[0130] In addition, the on-board control device 21A transmits the correspondence data Q including the warning information 62A of the tractor 1A to the remote device 30 via the second communication device 23 (S105).

[0131] When the first communication device 33 of the remote device 30 receives the correspondence data Q, the display control unit 31b displays warning information 62A in the second main area 82 on the remote control screen GA of the display device 34 based on the type information and data type information of the remote work machine 1 contained in the received correspondence data Q and the correspondence table T (S106).

[0132] In addition, the on-board control device 21A transmits the correspondence data Q including the device information 63A of the tractor 1A to the remote device 30 via the second communication device 23 (S107).

[0133] When the first communication device 33 of the remote device 30 receives the correspondence data Q, the display control unit 31b displays the device information 63A in the secondary display area 90 on the remote control screen GA of the display device 34 based on the type information and data type information of the remote work machine 1 contained in the received correspondence data Q and the correspondence table T (S108).

[0134] Furthermore, the display control unit 31b causes a map image 64A, which associates the position information of the tractor 1A contained in the correspondence data Q received in steps S101, S103, S105, and S107 with the field map M1, to be displayed in the fourth sub-area 94 of the remote control screen GA of the display device 34 (S109). Furthermore, when the display area of ​​the device information 63A received in step S107 is the fourth sub-area 94, the display control unit 31b converts the device information 64A into display information (image) as supplementary information 65A and displays it on top of the map image 64A (S110).

[0135] Similarly, in the case of the rice transplanter 1B and the combine harvester 1C, when the remote device 30 receives a predetermined instruction input from the input device 36, the remote device 30 starts remote control of the rice transplanter 1B or the combine harvester 1C, and the display control unit 31b starts displaying the remote control screens GB and GC shown in Figures 7B and 7C. The display control unit 31b receives corresponding data Q from the rice transplanter 1B or the combine harvester 1C, and displays information related to remote control as the remote control screen GB or GC on the display device 34. In other words, the display control flow performed by the display control unit 31b of the remote device 30 is the same when the remote control target is the tractor 1A, the rice transplanter 1B or the combine harvester 1C, and the tractor 1A, and therefore details will be omitted.

[0136] The remote-operated work machine 1 sequentially executes steps S101, S103, S105, and S107 to transmit the correspondence data Q to the remote device 30. The display control unit 31b sequentially executes steps S102, S104, S106, and S108 to S110 related to display each time the remote device 30 receives the correspondence data Q. The remote device 30 may temporarily store the received correspondence data Q in the internal memory 31a, and then periodically execute the display process for the correspondence data Q stored in the internal memory 31a all at once.

[0137] Next, the captured images (first captured images 71A to 71C, second captured images 72A and 72B, and third captured image 73C) displayed by the display control unit 31b will be described for each display area using FIGS. 7A to 7C.

[0138] The display control unit 31b displays the first captured images 71A to 71C captured in the direction of travel in the first main area 81, regardless of the type of remote-controlled work machine 1. As shown in Figures 7A to 7C, the display control unit 31b displays the corresponding first captured images 71A to 71C in the first main area 81 on the remote control screens GA to GC.

[0139] The display control unit 31b displays in the first sub-area 91 captured images captured in different directions depending on the type of remote-controlled work machine 1. In the following description, at least one of the tractor 1A and the rice transplanter 1B may be referred to as a first work machine, and the combine harvester 1C may be referred to as a second work machine.

[0140] 7A and 7B, on the remote control screen GA or GB of the first work implement (tractor 1A or rice transplanter 1B), the display control unit 31b displays, in the first sub-area 91, second captured images 72A and 72B captured in the direction opposite to the traveling direction of the remote-controlled work implement 1. As shown in Fig. 7C, on the remote control screen GC of the second work implement (combine 1C), the display control unit 31b displays, in the first sub-area 91, a third captured image 73C captured of the reaping device 50 at the front of the machine body 3C. The second captured images 72A and 72B and the third captured image 73C are captured in different directions.

[0141] 7A to 7C, the display control unit 31b displays drive information 61A to 61C indicating information about the drive system of the remotely operated work machine 1 in a second main area 82 of the main display area 80. On the remote control screens GA to GC, drive information 61A to 61C such as the travel speed of each remotely operated work machine 1 (traveling devices 7A to 7C), the rotation speed of the prime movers 4A to 4C, and the gear change position of the transmissions 5A to 5C corresponding to the type of remotely operated work machine 1 are displayed in the second main area 82.

[0142] When a warning condition occurs in the remote-controlled work machine 1, the display control unit 31b displays warning information 62A to 62C related to the warning condition in the main display area 80 of the remote control screen G. Specifically, when warning information 62A to 62C is attached to the correspondence data Q from the remote-controlled work machine 1, the display control unit 31b displays the warning information 62A to 62C between the first main area 81 and the second main area 82, superimposed on the first main area 81 and / or the second main area 82. For example, as shown in FIGS. 7A to 7C, each of the warning information 62A to 62C is displayed in the second main area 82 of the corresponding remote control screen GA to GC.

[0143] The display control unit 31b displays the device information 63 in the second sub-area 92 or the third sub-area 93 depending on the type of remote-operated work machine 1. As described above, the device information 63 is information related to the device performing the agricultural work detected by the third detection devices 29A to 29C, and differs depending on the type of remote-operated work machine 1.

[0144] The device information 63A1 and 63A2 are information related to the work implement 2 attached to the tractor 1A. For example, the device information 63A1 includes information on the rotation speed of the PTO shaft that operates the work implement 2. The device information 63A2 includes information indicating the height above ground of the work implement 2. As shown in FIG. 7A , the display control unit 31b displays the device information 63A1 in the second sub-area 92 on the remote control screen GA. The display control unit 31b displays the device information 63A2 in the third sub-area 93. The device information 63A2 is displayed on a fourth captured image 74A that captures the side of the tractor 1A.

[0145] The device information 63B1 and 63B2 are information related to the seedling planting device 40. For example, the device information 63B1 includes information about the seedling planting device 40, such as planting density setting information, fertilization setting information, and planting depth setting information for the planting tines 41. The device information 63B12 includes the remaining number of seedlings on the seedling carrier 42. As shown in FIG. 7B , the display control unit 31b displays the device information 63B1 in the second sub-area 92 on the remote control screen GB. The display control unit 31b displays the device information 63B2 in the third sub-area 93. The device information 63B2 is displayed on a fourth captured image 74B that captures the side of the rice transplanter 1B.

[0146] The device information 63C1 and 63C2 are information about the reaping device 50, the thresher 51, the grain tank 52, and the grain stored in the grain tank 52. For example, the device information 63C1 includes information about the reaping height of the reaping device 50 and information about the wind force at the threshing device 51. The device information 63C2 includes information about the remaining capacity of the grain tank 52. As shown in FIG. 7B , the display control unit 31b displays the device information 63C1 in the second sub-area 92 on the remote control screen GC. The display control unit 31b displays the device information 63C2 in the third sub-area 93. The device information 63C2 is displayed on a fourth captured image 74B that captures the side of the rice transplanter 1B.

[0147] The display control unit 31b displays map images 64A to 64C showing the position of the remote-controlled work machine 1 in the fourth sub-area 94 of the sub-display area 90 as information relating to remote control.

[0148] The map images 64A-64C include a field map M1 stored in the storage device 32 and current position information of the remote-operated work machine 1. The display control unit 31b converts the field map M1 and current position information of the remote-operated work machine 1 into map images 64A-64C depending on the type of the remote-operated work machine 1. The display control unit 31b displays supplemental information 65A-65C, which varies depending on the type of the remote-operated work machine 1, on the map images 64A-64C. The supplemental information 65A-65C is guidance to assist the remote-operated work machine 1 in accordance with the work content being performed. The supplemental information 65A-65C includes the actual traveled route that the remote-operated work machine 1 has traveled in the field, the planned future travel route, information included in the device information 63A-63C, information related to the agricultural work stored in the storage device 32, and the like.

[0149] The supplemental information 65A includes a past work route 65A1 and a planned travel route 65A2 of the tractor 1A on the field map M1. The display control unit 31b displays the map image 64A and the supplemental information 65A in the fourth sub-area 94 as the remote control screen GA.

[0150] The supplemental information 65B includes a work history route 65B1 of the rice transplanter 1B on the field map M1. The display control unit 31b displays the map image 64B and the supplemental information 65B in the fourth sub-area 94 as the remote control screen GB.

[0151] The supplemental information 65C includes a work history route 65C1 of the combine harvester 1C on the field map M1, transporter position information 65C2 of the transporter transporting the grain harvested by the combine harvester 1C, and a taste map M2. The taste map M2 is map information that associates taste information of the grain stored in the grain tank 52 detected by the third detection device 29C with the location information where the taste information was detected. The display control unit 31b displays the map image 64C and the supplemental information 65C in the fourth sub-area 94 as the remote control screen GC.

[0152] In the embodiment described above, the display control unit 31b of the remote device 30 references the correspondence table T in the storage device 32 to determine the display format and display area (display position) of each piece of information on the remote control screen G. However, the remote work machine 1 may transmit the correspondence data Q including information specifying the display position on the remote control screen G (i.e., information related to the display). Specifically, the storage devices 22A-22C of the remote work machine 1 store the correspondence table T for the type of the remote work machine 1. The on-board control device 21 transmits the correspondence data Q to the remote device 30, which includes the data body of the detection information and sensing information and additional information related to the display on the remote control screen G based on the correspondence table T. The display control unit 31b of the remote device 30 converts the data body into display information based on the display information included in the correspondence data Q from the remote work machine 1, and displays the data body in a predetermined display area.

[0153] The main characteristic features and effects of the remote device 30 and remote control system 100 in the embodiment described above are as follows.

[0154] (Item A1) A remote device 30 comprising a first communication device 33 capable of communicating with multiple types of remote work machines 1, a remote control device 35 that remotely controls the remote work machine 1 via the first communication device 33, and a display device 34 that displays information related to the remote control of the remote work machine 1 on a remote control screen G, wherein the display device 34 varies the display information and / or the display format of the display information displayed on the remote control screen G depending on the type of the remote work machine 1.

[0155] The remote device 30 relating to item A1 enables remote control of different types of remote work machines 1, and the remote operator can properly grasp information from the display device 34 when remotely controlling each type of remote work machine 1.

[0156] (Item A2) The display device 34 is a remote device 30 described in item A1 that displays on the remote control screen G a main display area 80 in which the display information and the display format of the display information are common regardless of the type of the remote work machine 1, and a sub-display area 90 in which the display information and / or the display format of the display information differ depending on the type of the remote work machine 1.

[0157] According to the remote device 30 relating to item A2, even when a remote operator remotely controls different types of remote work machines 1, a common display is displayed in the main display area 80 regardless of the type, and a display for each type is displayed in the secondary display area 90, so that the remote operator can easily grasp the information necessary for remote control without feeling uncomfortable.

[0158] (Item A3) The remote device 30 according to Item A2, wherein the secondary display area 90 is arranged around the primary display area 80 and surrounds the primary display area 80.

[0159] According to the remote device 30 relating to item A3, the remote operator can easily and intuitively identify whether the information displayed on the display device 34 is information common to the remote work machine 1 or information for each type of remote work machine 1.

[0160] (Item A4) The display device 34 displays one or more captured images taken in a common direction regardless of the type of the remote work machine 1 in the main display area 80, and displays one or more captured images taken in a different direction depending on the type of the remote work machine 1 in the secondary display area 90. This remote device 30 is described in items A2 or A3.

[0161] According to the remote device 30 relating to item A4, an image captured in a common direction regardless of the type of remote work machine 1 is displayed in the main display area 80, so the remote operator can check the situation in the common direction, and an image captured in a direction according to the type of remote work machine 1 is displayed in the secondary display area 90, so the remote operator can properly check the situation for each type of remote work machine 1.

[0162] (Item A5) The display device 34 is a remote device 30 described in Item A4, in which the first main area 81 of the main display area 80 displays first captured images 71A to 71C captured in the direction of travel of the remote work machine 1.

[0163] According to the remote device 30 relating to item A5, an image of the direction of travel and an image corresponding to the type of remote-controlled work machine 1 can be displayed simultaneously, allowing the remote operator to perform remote control appropriately.

[0164] (Item A6) The remote device 30 according to Item A5, wherein the first main area 81 is arranged in the center of the remote control screen G.

[0165] According to the remote device 30 according to item A6, the remote operator can intuitively understand that the displayed captured image indicates the direction of travel.

[0166] (Item A7) The display device 34 displays, in the first sub-area 91 of the sub-display area 90, second captured images 72A, 72B that are captured in a direction different from the first captured images 71A, 71B, capturing an image of the area around the work device 2 of the first work machine 1A, 1B, when the remote work machine 1 is a first work machine 1A, 1B, and displays a third captured image 73C that is captured in a direction different from the direction of travel, when the remote work machine 1 is a second work machine 1C of a different type from the first work machine 1A, 1B. This remote device 30 is described in item A5 or A6.

[0167] According to the remote device 30 relating to item A7, the captured images displayed on the first work machine 1A, 1B and the second work machine 1C can be made different, allowing the remote operator to perform remote control appropriately.

[0168] (Item A8) The remote device 30 according to Item A7, wherein the second captured images 72A and 72B are images captured in the direction opposite to the traveling direction.

[0169] According to the remote device 30 according to item A8, the remote operator can grasp the situation in the direction opposite to the direction in which the remote-controlled work machine 1 is traveling.

[0170] (Item A9) The display device 34 displays device information 63 regarding the work devices 2, 40, 50, 51, and 52 possessed by the remote work machine 1, and the device information 63 is information that differs depending on the type of the remote work machine 1, and is a remote device 30 described in any one of items A2 to A8 displayed in at least the second sub-area 92 of the sub-display area 90.

[0171] According to the remote device 30 relating to this item A9, the remote operator can view the display device 34 and grasp information relating to the work devices 2, 40, 50, 51, 52 corresponding to the type of remote-controlled work machine 1.

[0172] (Item A10) The display device 34 is a remote device 30 described in Item A9, in which the third sub-area 93 of the sub-display area 90 displays the device information 63 or fourth captured images 74A to 74C captured from the side of the remote work machine 1, depending on the type of the remote work machine 1.

[0173] According to the remote device 30 relating to this item A10, it is possible to switch between displaying the device information 63 and the side image according to the type of remote work machine 1, allowing the remote operator to appropriately perform remote operation.

[0174] (Item A11) The display device 34 displays a map image 64 indicating the position of the remote work machine 1 in the fourth sub-area 94 of the sub-display area 90 as information regarding the remote control, and displays supplementary information 65 that differs depending on the type of the remote work machine 1 on the map image 64, a remote device 30 described in any one of items A2 to A10.

[0175] According to the remote device 30 relating to this item A11, it is possible to display information relating to the position of the remote-controlled work machine 1 according to the type of the remote-controlled work machine 1, and the remote operator can appropriately perform remote control.

[0176] (Item A12) The display device 34 displays guidance to assist in the work performed by the remote work machine 1 as the supplementary information 65 on the map image 64, in accordance with the work content of the work. The remote device 30 described in Item A11.

[0177] According to the remote device 30 relating to item A12, guidance according to the work content can be displayed, so that the remote operator can efficiently perform remote control by looking at the display device 34.

[0178] (Item A13) The display device 34 is a remote device 30 described in any one of items A2 to A12, which displays, as information regarding the remote control, drive information 61 indicating information about the drive system of the remote work machine 1, including the prime movers 4A to 4C and / or running devices 7A to 7C possessed by the remote work machine 1, in the second main area 82 of the main display area 80.

[0179] According to the remote device 30 relating to item A13, the remote operator can view the display device 34 and grasp information relating to the traveling devices 7A to 7C of the remote work machine 1, thereby enabling appropriate remote control.

[0180] (Item A14) A remote device 30 described in any one of items A2 to A13, in which the display device 34 displays warning information 62 regarding the warning condition in the main display area 80 of the remote control screen G when a warning condition occurs in the remote work machine 1.

[0181] According to the remote device 30 relating to item A14, the warning information 62 can be displayed in an area where the remote operator's line of sight is focused, so that the remote operator can identify the warning information 62 and perform appropriate operations.

[0182] (Item A15) The display device 34 displays, in a first main area 81 of the main display area 80, first captured images 71A to 71C captured in the direction of travel of the remote work machine 1 as information related to the remote control, and in a second main area 82 of the main display area 80, drive information 61A to 61C indicating information about the drive system of the remote work machine 1, including the prime movers 4A to 4C and / or traveling devices 7A to 7C possessed by the remote work machine 1, as information related to the remote control, the first main area 81 and the second main area 82 are arranged side by side one above the other, and the warning information 62 is displayed between the first main area 81 and the second main area 82, superimposed on the first main area 81 and / or the second main area 82. This remote device 30 is described in item A14.

[0183] According to the remote device 30 of item A15, the amount of eye movement required when visually checking the first captured images 71A to 71C, the drive information 61A to 61C, and the warning information 62 is reduced, thereby reducing the workload of the remote operator.

[0184] (Item A16) The type of the remote work machine 1 is a remote device 30 described in any one of items A1 to A15, which includes at least two of a tractor 1A, a rice transplanter 1B, and a combine 1C equipped with a work device 2.

[0185] According to the remote control device 30 relating to item A16, remote control of the tractor 1A, rice transplanter 1B, and combine harvester 1C equipped with the work implement 2 can be realized.

[0186] (Item A17) A remote device 30 described in Item A16, which cites Item A7, in which the first working machine includes at least one of the tractor 1A and the rice transplanter 1B, and the second working machine includes the combine 1C.

[0187] According to the remote device 30 relating to item A17, the captured images displayed on at least one of the tractor 1A and rice transplanter 1B can be made different from those displayed on the combine 1C, allowing the remote operator to perform remote control appropriately.

[0188] (Item A18) The display device 34 displays, as the device information 63A, information about the work device 2 attached to the tractor 1A when the type of the remote-controlled work machine 1 is the tractor 1A, and, as the device information 63B, displays at least the remaining amount of seedlings or seedling materials including the seedlings when the type of the remote-controlled work machine 1 is the rice transplanter 1B, and, as the device information 63C, displays the remaining capacity of the grain tank 52 of the combine 1C when the type of the remote-controlled work machine 1 is the combine 1C. This remote device 30 is described in Item A16, which quotes Item A9.

[0189] According to the remote device 30 relating to this item A18, the remote operator can view the display device 34 and grasp the device information 63 corresponding to the type of remote-operated work machine 1.

[0190] (Item A19) A remote control system 100 comprising a remote device 30 according to any one of items A1 to A18, and the remote work machine 1 remotely controlled by the remote device 30, wherein the remote work machine 1 has a second communication device 23 that communicates with the first communication device 33.

[0191] According to the remote control system 100 according to item A19, it is possible to realize the remote control system 100 that provides the advantageous effects described above.

[0192] Although the present invention has been described above, the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

[0193] 1: Remotely controlled work machine 1A: Tractor 1B: Rice transplanter 1C: Combine harvester 1A, 1B: First work machine 1C: Second work machine 2: Work device 4A to 4C: Prime mover 7A to 7C: Traveling device 23A to 23C: Second communication device 30: Remote device 33: First communication device 34: Display device 35: Remote control device 40: Seedling planting device (work device) 50: Harvesting device (work device) 51: Thresher (work device) 52: Grain tank (work device) 61 (61A to 61C): Driving information 62 (62A to 62C): Warning information 63: Device information 64: Map image 65: Supplementary information 71A to 71C: First captured image 72A to 72B: Second captured image 73C : Third captured image 74A to 74C: Fourth captured image 80: Main display area 81: First main area 82: Second main area 90: Sub display area 91: First sub area 92: Second sub area 93: Third sub area 94: Fourth sub area 100: Remote control system G (GA to GC): Remote control screen

Claims

1. A first communication device capable of communicating with a plurality of types of remote working machines, a remote control device for remotely controlling the remote working machines via the first communication device, and a display device for displaying information related to the remote control of the remote working machines on a remote control screen. The display device is a remote device that varies the display information and / or the display form of the display information on the remote control screen according to the type of the remote working machine.

2. The display device according to claim 1, wherein the remote control screen displays a main display area in which the display information and the display form of the display information are common regardless of the type of the remote working machine, and a sub-display area in which the display information and / or the display form of the display information are different according to the type of the remote working machine.

3. The remote device according to claim 2, wherein the sub-display area is arranged around and surrounds the main display area.

4. The display device according to claim 2, wherein the main display area displays one or more captured images taken in a common direction regardless of the type of the remote working machine, and the sub-display area displays one or more captured images taken in different directions according to the type of the remote working machine.

5. The display device according to claim 4, wherein the first main area of the main display area displays a first captured image taken in the traveling direction of the remote working machine.

6. The remote device according to claim 5, wherein the first main area is arranged at the center of the remote control screen.

7. The display device, in the first sub-area of the sub-display area, when the remote working machine is a first working machine, displays a second captured image that captures the periphery of the working device of the first working machine and is taken in a direction different from the first captured image, and when the remote working machine is a second working machine of a type different from the first working machine, displays a third captured image taken in a direction different from the traveling direction. The remote device according to claim 5.

8. The remote device according to claim 7, wherein the second captured image is an image taken in the direction opposite to the traveling direction.

9. The display device displays device information related to the working device of the remote working machine. The device information is different information according to the type of the remote working machine and is displayed at least in the second sub-area of the sub-display area. The remote device according to claim 2.

10. The display device according to claim 9, wherein in a third sub-region of the sub-display region, device information or a fourth captured image obtained by imaging the side direction of the remote working machine is displayed according to the type of the remote working machine.

11. The display device according to claim 2, wherein as information related to the remote operation, a map image indicating the position of the remote working machine is displayed in a fourth sub-region of the sub-display region, and supplementary information different according to the type of the remote working machine is displayed on the map image.

12. The display device according to claim 11, wherein guidance for assisting the operation according to the operation content performed by the remote working machine is displayed as the supplementary information on the map image.

13. The display device according to claim 2, wherein as information related to the remote operation, drive information indicating information on a drive system of the remote working machine including a prime mover and / or a traveling device of the remote working machine is displayed in a second main region of the main display region.

14. The display device according to claim 2, wherein when a warning condition occurs in the remote working machine, warning information related to the warning condition is displayed in the main display region of the remote operation screen.

15. The display device, as information related to the remote operation, displays a first captured image obtained by imaging the traveling direction of the remote working machine in a first main region of the main display region, and displays drive information indicating information on a drive system of the remote working machine including a prime mover and / or a traveling device of the remote working machine in a second main region of the main display region. The first main region and the second main region are arranged side by side vertically. The warning information is displayed so as to overlap the first main region and / or the second main region between the first main region and the second main region. The remote device according to claim 14.

16. The type of the remote working machine includes at least any two of a tractor equipped with a working device, a rice transplanter, and a combine. The remote device according to any one of claims 1 to 15.

17. The first working machine includes at least one of the tractor and the rice transplanter, and the second working machine includes the combine. The remote device according to claim 16, which cites claim 7.

18. When the type of the remote working machine is the tractor, the display device displays, as the device information, information on a working device attached to the tractor; when the type of the remote working machine is the rice transplanter, the display device displays, as the device information, at least the remaining amount of seedlings or seedling materials including the seedlings; and when the type of the remote working machine is the combine harvester, the display device displays, as the device information, the remaining capacity of the grain tank of the combine harvester. The remote device according to claim 16, which cites claim 9.

19. A remote control system comprising the remote device according to any one of claims 1 to 15 and the remote working machine remotely controlled by the remote device, wherein the remote working machine has a second communication device that communicates with the first communication device.

Images