Patent ID: 12219891

DESCRIPTION OF EMBODIMENTS

Hereinafter, embodiments of the present invention will be explained with reference to the accompanying drawings.

First Embodiment

Before explaining the remote control device (hereinafter referred to as the RCD) according to the first embodiment of the present invention, first of all, an explanation of the robot tractor1(hereinafter may be simply referred to as the “tractor”), which is an example of a work vehicle according to the first embodiment of the present invention, will be given.

The tractor1of the present invention includes the machine body2that performs autonomous driving in a field. As illustrated inFIG.1andFIG.2, the machine body2includes the work machine3to be used for agricultural work that can be attached and detached. Further, this machine body2is configured to be capable of changing the height and posture of the mounted work machine3.

The work machine3of the present embodiment is used for agricultural work. As this work machine3, for example, there are various work machines such as a tiller, plow, fertilizer applicator, mower, and seeder, and a work machine as desired according to the need can be selected from among these and mounted on the machine body2.

Note that, in the present specification, as illustrated inFIG.3, “autonomous driving” means that the autonomous driving control device51, etc., included in the tractor1controls each device or apparatus included in this tractor1for driving, so that the tractor1performs driving along a predetermined route.

In the following explanation, a tractor that performs autonomous driving may be referred to as an “unmanned tractor” or “robot tractor” and a tractor that performs driving and work under a direct control by an operator may be referred to as a “manned tractor”. In a case where a part of the agricultural work in a field is performed by an unmanned tractor, the remaining agricultural work is performed by a manned tractor.

In the present embodiment, the difference between an unmanned tractor and a manned tractor is the presence or absence of a direct control by an operator, and the configuration as a tractor is the same regarding both unmanned and manned tractors. In other words, even an unmanned tractor can be directly controlled by an operator on board (boarding the vehicle) (in other words, it can be used as a manned tractor). Further, if the operator gets off the vehicle, even a manned tractor can be made to perform autonomous driving and autonomous work (in other words, it can be used as an unmanned tractor).

With reference toFIG.1andFIG.2, the configuration of the tractor1will be explained. As illustrated inFIG.1, the front part of the machine body2of the tractor1is supported by the left-right pair of front wheels7and7and the rear part of the machine body2is supported by the left-right pair of rear wheels8and8. The front wheels7and7and the rear wheels8and8configure the driving part.

In the front of the machine body2, the hood9is arranged. In this hood9, the engine10which is a drive source for the tractor1and a fuel tank (not illustrated in the drawings) are housed. Although this engine10can be configured of a diesel engine, for example, there is not a limitation as such, and it is also possible that the engine10is configured of a gasoline engine, for example. Further, in addition to or instead of the engine, an electric motor may be used as the drive source.

In the rear of the hood9, the cabin11that an operator is to be aboard is arranged. Inside this cabin11, the steering wheel12for allowing the operator to perform a steering operation, the seat13on which the operator can sit, and various operation devices for performing various kinds of operations are mainly installed. However, agricultural work vehicles are not limited to those with the cabin11and may also be those without the cabin11.

Although illustration in the drawings is omitted, the examples of the above-described operation devices include, for example, a monitor device, throttle lever, main gear-shift lever, raising/lowering lever, PTO switch, PTO gear-shift lever, and multiple hydraulic gear-shift levers, etc. These operation devices are arranged in the vicinity of the seat13or in the vicinity of the steering wheel12.

The monitor device is configured to be capable of displaying various kinds of information of the tractor1. The throttle lever is for setting the rotation speed of the engine10. The main gear-shift lever is for performing an operation of changing the gear ratios of the transmission case22. The raising/lowering lever is for performing an operation of raising or lowering the height of the work machine3mounted on the machine body2within the predetermined range. The PTO switch is for performing an operation of connecting or disconnecting the power transmission to the PTO shaft (power take-off shaft) protruding outward from the rear end of the transmission case22. In other words, whereas the power is transmitted to the PTO shaft and the PTO shaft rotates so that the work machine3is driven when the PTO switch is in the ON state, the power to the PTO shaft is cut off and the PTO shaft does not rotate so that the work machine3stops when the PTO switch is in the OFF state. The PTO gear-shift lever is for performing an operation of changing the power to be input to the work machine3and specifically for performing an operation of changing the rotation speed of the PTO shaft. The hydraulic gear-shift lever is for performing an operation of switching the hydraulic external take-off valve.

As illustrated inFIG.1, the chassis20which configures the framework of the machine body2is installed in the lower part of the machine body2. The chassis20is configured with the machine body frame21, the transmission case22, the front axle23, the rear axle24, etc.

As illustrated inFIG.3, the tractor1includes the engine control device15, the transmission control device16, and the work machine control device17, which are capable of performing mutual communication via the vehicle bus line18, as the control part for controlling the behavior of the machine body2(forward traveling, backward traveling, stopping, turning, etc.) and the behavior of the work machine3(raising/lowering, driving, stopping, etc.). The engine control device15is electrically connected to the common rail device41, which is a fuel injection device installed in the engine10, and the transmission control device16is electrically connected to the transmission42, which includes a hydraulic gear-shift device or the like for shifting gears of the power from engine10. Further, the work machine control device17is electrically connected to the work machine raising/lowering actuator44.

Specifically, for example, the transmission42is a movable swash plate type hydraulic continuously-variable gear-shift device and is installed in the transmission case22. By controlling the transmission42with the control device4and adjusting the angle of the swash plate appropriately, the gear ratio of the transmission case22can be set to the desired gear ratio.

Further, to the engine control device15, a group of sensors such as the rotation speed sensor31for detecting the rotation speed of the engine10, the vehicle speed sensor32for detecting the rotation speed of the rear wheels8, and a steering angle sensor (illustration in the drawings is omitted) for detecting the rotational angle (steering angle) of the wheel12is electrically connected. The detection values of these sensors are converted into detection signals and sent to the engine control device15.

The tractor1including the control devices15to17as described above is configured to be capable of executing agricultural work while driving in a field with the control devices15to17performing mutual communication via the vehicle bus line18based on various kinds of operations by the operator on board inside the cabin11and controlling each part (machine body2, work machine3, etc.) of the tractor1. In addition, the tractor1in the present embodiment includes the remote control device RCD so that autonomous driving can be performed by remote control without an operator on board, for example.

Note that the remote control device RCD of the present invention is configured with the single first remote control terminal70(hereinafter may be referred to as the “tablet70”) and the single or multiple (in the case of the present embodiment, two) second remote control terminals100(hereinafter referred to as the “remote controllers100”), and the autonomous driving can be performed based on predetermined control signals that are output from these remote control devices RCD. Note that, for clearly identifying these two remote controllers100, the two remote controllers100may be referred to as the first remote controller100A and the second remote controller100B.

The first remote control terminal70is configured as a tablet-type personal computer, for example. In the present embodiment, a user who operates a manned tractor get aboard the manned tractor with the first remote control terminal70and sets the first remote control device on an appropriate support part in the manned tractor for operations, for example. Alternatively, a user different from the operator who operates the manned tractor performs an operation of generating a driving route with the first remote control terminal70outside the tractor. The user is able to refer to and check information (e.g., information from the various sensors attached to the robot tractor1) displayed on the display71of the first remote control terminal70. Further, the user is able to send control signals for controlling the tractor1to the control part of the tractor1by operating a hardware key arranged in the vicinity of the display71, a touch panel arranged on the display71, etc. Here, although it is assumed that the control signals that the first remote control terminal outputs to the control part of tractor1include signals related to the route of autonomous driving and autonomous work as well as start signals, end signals, emergency stop signals, temporary stop signals, and resume signals after a temporary stop in autonomous driving and autonomous work, there is not a limitation as such.

Specifically, as illustrated inFIG.3, various kinds of configurations such as the autonomous driving control device51for enabling this tractor1to perform autonomous driving are added. Furthermore, the tractor1includes various kinds of configurations such as the positioning antenna6, which is necessary to obtain position information of itself (the machine body) based on a positioning system. With such a configuration, it is possible for the tractor1to obtain the position information of itself based on the positioning system so as to perform autonomous driving in a field.

<Equipment Configuration of the Tractor1>

Next, the configurations included in the tractor1for autonomous driving will be explained in detail. Specifically, as illustrated inFIG.1andFIG.3, the tractor1includes the positioning antenna6, the camera35for monitoring, the obstacle sensor36, the steering actuator43, the antenna unit48for wireless communication, the autonomous driving control device51, the steering control device52, the positioning measurement device53, the wireless communication router (low-power data communication device)54, the remote controller receiver (specified low-power radio device)55, the sound emission part57, etc.

The positioning antenna6is for receiving signals from a positioning satellite configuring a positioning system such as a satellite positioning system (GNSS) or the like. As illustrated inFIG.1, the positioning antenna6is arranged on the upper surface of the roof of the cabin11. The signals received by the positioning antenna6are input to the positioning measurement device53illustrated inFIG.3, so that the position information of the tractor1is calculated by this positioning measurement device53as latitude and longitude information, for example. The position information calculated by the positioning measurement device53is obtained by the autonomous driving control device51to be utilized for controlling the tractor1.

Although the details will be described later, the camera35is installed at a predetermined position of the tractor1(e.g., at a predetermined position capable of looking around by 360 degrees entirely in front, behind, left, and right), so as to monitor whether obstacles such as people exist in the vicinity and surroundings of this tractor1and to send the captured image data that is captured by the camera35from the third wireless communication antenna48cto the tablet70via the autonomous driving bus line56.

Although the details will be described later as well, the obstacle sensor36is configured of an infrared sensor or the like, for example, and is installed at a predetermined position of the tractor1(e.g., at a predetermined position capable of looking around by 360 degrees entirely in front, behind, left, and right) as with the camera35, so as to be capable of monitoring whether obstacles such as people exist in the vicinity and surroundings of this tractor1. Further, the detection result data of the obstacle sensor36is sent from the third wireless communication antenna48cto the tablet70via the autonomous driving bus line56.

The steering actuator43is installed in the middle part of the rotation axis (steering axis) of the steering wheel12, for example, for adjusting the rotation angle (steering angle) of the steering wheel12.

As illustrated inFIG.1, the antenna unit48for wireless communication is arranged on the upper surface of the roof of the cabin11of the tractor1and includes the first to third wireless communication antennas48ato48c(seeFIG.3), which are connected for communication to the first to third wireless communication networks of different frequency bands.

1) The first wireless communication network is constructed with, for example, a specified low-power radio in the 920 MHz band or the like, which has a high data transmission speed, for the purpose of communication of positioning information according to the reference station60.

2) The second wireless communication network is constructed with, for example, a low-power data communication system in the 2.4 GHz band or the like for the purpose of high speed communication of a large amount of data such as image data.

3) The third wireless communication network is constructed with, for example, a specified low-power radio in the 400 MHz band or the like for an amount of data transmission less than that of the second wireless communication network.

Note that the first wireless communication antenna48ais electrically connected to the positioning measurement device53, the second wireless communication antenna48bis electrically connected to the wireless communication router54, and the third wireless communication antenna48cis electrically connected to the remote controller receiver55.

The wireless communication router54connected to the second wireless communication antenna48bcommunicates through the second wireless communication network with the tablet70which is capable of displaying an image and is operated by an operator outside the tractor1. Further, this wireless communication router54receives control signals from the tablet70and outputs the control signals to the autonomous driving control device51via the autonomous driving bus line56.

The remote controller receiver55connected to the third wireless communication antenna48cperforms wireless communication through the third wireless communication network with the later-described multiple (in the present embodiment, two) remote controllers100, which are operated by an operator outside the tractor1. Further, the remote controller receiver55is also configured to be capable of receiving control signals from each of the remote controllers100and, if control signals from these remote controllers are received, the remote controller receiver55sends the control signals to the autonomous driving control device51via the autonomous driving bus line56. Note that, although the two remote controllers100are used in the present embodiment, it is possible to increase the number of remote controllers.

Although the details will be described later, the autonomous driving control device51and the steering control device52are configured to be capable of mutually communicating with each of the engine control device15, the transmission control device16, and the work machine control device17via the vehicle bus line18.

Further, although the details will be described later, via the autonomous driving bus line56(which may be referred to as the “second bus line56”) in a communication system for autonomous driving, which is a different system from the communication system for operations with the vehicle bus line18(which may be referred to as the “first bus line18”), the autonomous driving control device51is capable of mutually communicating with each of the positioning measurement device53, the wireless communication router54, the remote controller receiver55, and the sound emission part57(warning unit for resuming of driving) which provides a notification for the surroundings with a buzzer for a predetermined period of time prior to resuming of driving after a temporary stop.

This autonomous driving control device51controls autonomous driving of the vehicle, based on information of a driving route generated on the tablet70. Further, this autonomous driving control device51checks the position of the tractor1on the driving route, calculates the steering angle and driving speed of the tractor1in consideration of the tilt angle information, etc., and communicates with each of the control devices15to17and52through the vehicle bus line18. Accordingly, the tractor1can perform agricultural work with the work machine3while performing autonomous driving along the driving route. In this way, the route inside the field area (driving area) in which the tractor1performs autonomous driving may be referred to as the “driving route” in the following explanations. Further, the area (work area) to be the target of agricultural work with the work machine3of the tractor1in the field area (driving area) is defined as the area excluding the headland area and margin from the entire field area and, when an operator or the like executes a work of registering the later-described registration points, the area is set based on these registration points as well as the entire length of the vehicle body of the tractor1, the work width, etc.

The steering control device52is capable of executing steering according to the vehicle speed of the tractor1by communicating with each of the engine control device15, the transmission control device16, and the work machine control device17via the first bus line18.

The positioning measurement device53is electrically connected to the first wireless communication antenna48ain the antenna unit48for wireless communication, so as to communicate with the later-described reference station (portable reference station)60through the first wireless communication network with a specified low-power radio (e.g., wireless communication network in the 920 MHz band). As illustrated inFIG.1, the antenna unit48for wireless communication is arranged on the upper surface of the roof of the cabin11. The positioning measurement device53communicates with the reference station60at a position close to the field via the first wireless communication antenna48a, so as to thereby correct satellite positioning information of the tractor1(mobile station) based on correction information from the reference station60and obtain the current position of the tractor1. For example, various kinds of positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real-time kinematic positioning) can be applied.

In the present embodiment, for example, RTK positioning is applied and the tractor1, which is on the mobile station side, includes the positioning antenna6and, in addition, the reference station60including the reference station positioning antenna61is included. The reference station60is arranged at a position (reference point) where the driving of the tractor1is not hindered, such as around the field. Position information of the reference point, which is the installation position of the reference station60, is set in advance. The reference station60includes the reference station communication device62capable of performing communication via the first wireless communication network which is constructed between the positioning measurement device53of the tractor1and a communication device with the first wireless communication antenna48a.

In RTK positioning, the carrier phase (satellite positioning information) from the positioning satellites63is measured by both of the reference station60installed at the reference point and the positioning antenna6of the tractor1, which is on the mobile station side for the target of which position information is to be obtained. The reference station60generates correction information including measured satellite positioning information, position information of the reference point, etc., each time satellite positioning information is measured with the positioning satellite63or each time a set period of time elapses, so as to send the correction information from the reference station communication device62to the first wireless communication antenna48aof the tractor1. The positioning measurement device53of the tractor1(which corresponds to the mobile station) corrects the satellite position information measured by the positioning antenna6by use of the correction information sent from the reference station60, so as to obtain the current position information (e.g., latitude information and longitude information) of the tractor1.

Note that, although a high-accuracy satellite positioning system utilizing a GNSS-RTK method is used in the present embodiment, there is not a limitation as such, and any other positioning system may be used as long as position coordinates can be obtained with high accuracy. GNSS-RTK is a positioning method in which the accuracy is improved by performing correction based on information of a reference station whose position is known, and there are multiple methods depending on the methods for distributing information from the reference station. Since the present invention is not dependent on GNSS-RTK systems, the details are omitted in the present embodiment.

Further, the positioning measurement device53is capable of measuring, not only position information of the tractor1(machine body2) according to satellite positioning, but also information of the front, rear, left, and right tilt angles according to inertial measurement. The information of the tilt angles measured by the positioning measurement device53is obtained in a state of being associated with the position information (latitude and longitude information) by the autonomous driving control device51and is utilized for controlling the tractor1. Note that the positioning measurement device53can also measure the height position of the positioning antenna6relative to the field surface and the height of the tractor1(machine body2) accordingly.

The sound emission part57notifies workers or the like being around the tractor1that a driving resuming signal has been output to the tractor1as a notification that the tractor1will resume autonomous driving soon and as a warning for evacuating from the field for their safety. In a case where an operator of the remote controller100with which a temporary stop is performed performs a resuming operation, the sound emission part57of the present embodiment is thereby activated for a predetermined period of time in synchronization of the tractor1receiving the driving resuming signal that is output (only) from the remote controller100with which the resuming operation is performed, and the sound emission part57is configured with a buzzer included in the tractor1in the present embodiment. That is, the buzzer sound (warning sound) that is loud enough to be heard at least by the workers who monitor and operate the remote controllers100around the tractor1(within a radius of approximately 500 meters) is emitted.

<Autonomous Driving Control Device51>

As illustrated inFIG.3, based on an operation of an operator to the emergency stop button110of the later-described remote controllers100, the autonomous driving control device51communicates with the engine control device15so as to thereby stop the fuel injection in the common rail device41and communicates with the transmission control device16so as to thereby activate the braking behavior of the later-described brake device26while the transmission42is in a neutral state. Here, it is also possible that the autonomous driving control device51communicates with the steering control device52, so as to thereby control the steering actuator43so that the wheel12will be at the neutral position and make the direction of the left and right front wheels7and7face the forward travelling direction.

As illustrated inFIG.3, via the second bus line56, the autonomous driving control device51checks each of the communication state of the positioning measurement device53with the reference station60(communication state in the “first communication network”), the communication state of the wireless communication router54with the tablet70(communication state in the “second communication network”), and the communication state of the remote controller receiver55with the remote controllers100(communication state in the “third communication network”).

Further, upon confirming that the communication state of any of the first to third communication networks has been cut off, the autonomous driving control device51communicates with the engine control device15, the transmission control device16, etc., so as to thereby emergently stop the autonomous driving of the tractor1. Note that, in a case where the positioning measurement device53, the wireless communication router54, and the remote controller receiver55respectively do not receive signals from the communication counterparts for a predetermined period of time, it will be determined that the communication with the communication counterparts has been cut off.

Furthermore, the left-right pair of brake devices26that apply brakes on the left and right rear wheels8and8with the two systems, i.e., the operation of a brake pedal or parking brake lever and the automatic control, is installed in the tractor1. That is, both of the left and right brake devices26are configured to apply brakes on both of the left and right rear wheels8and8with an operation on the brake pedal (or parking brake lever) in the braking direction. Further, the brake device26corresponding to the rear wheel8on the inner side of the turn is configured to automatically perform the braking behavior due to a command of the transmission control device16if the rotational angle of the wheel12exceeds a predetermined angle (what is termed as the auto-braking).

As described above and illustrated inFIG.3, the camera35that captures images of the front, sides, and rear is mounted on the tractor1. Further, as also described above, the obstacle sensor36that detects whether or not there is an obstacle in the front, sides, or rear is mounted on the tractor1. The obstacle sensor36is configured of a laser sensor, ultrasonic sensor, etc., and recognizes an obstacle existing in the front, sides, and rear of the tractor1and generates a detection signal.

These camera35and obstacle sensor36are configured to be capable of performing wireless communication with the wireless communication router54and configured to send obstacle detection signals and image signals to the autonomous driving control device51via the wireless communication router54and the autonomous driving bus line56. Further, if the wireless communication router54sends an image signal from the camera35to the tablet70through the second wireless communication network, it is thereby possible to display an image of the surroundings of the tractor1on the tablet70. Note that it is also possible that the camera35and the obstacle sensor36are configured to be connected by wire to the autonomous driving control device51via the second bus line56.

As illustrated inFIG.1, the reference station60includes the reference station positioning antenna61that receives signals from the positioning satellite63, the wireless communication antenna64that performs wireless communication with the tractor (work vehicle)1which performs autonomous driving, and the reference station communication device62that is electrically connected to each of the reference station positioning antenna61and the wireless communication antenna64. The reference station60is installed at the reference point for specifying the position of the tractor (work vehicle)1, which is the mobile station. The reference station60is configured to be disassembled into multiple components, and each disassembled component is configured to be in a size that is transportable for the tractor1.

The reference station60, which is installed at the reference point by assembling each disassembled component of the disassembled reference station60, is designed to send signals from the positioning satellite63, which are received by the reference station positioning antenna61, to the reference station communication device62. Further, the reference station communication device62is designed to generate correction information including measured satellite positioning information, position information of the reference point, etc. Furthermore, the reference station60sends the correction information, which is generated by the reference station communication device62, from the reference station wireless communication antenna64, which is connected to the first wireless communication network for communication (which is capable of communicating with the first wireless communication antenna48aof the tractor1illustrated inFIG.3).

Note that, in the present embodiment, a temporary stop of the tractor1includes a case of stopping due to a temporary stop signal that is output by the tablet70or the remote controllers100, a case of stopping since the obstacle sensor36determines that there is an obstacle, a case in which connection for communication between the tablet70or the remote controllers100and the tractor1is lost during automatic driving of the tractor1, etc. Further, the emergency stop of the tractor1includes a case of stopping due to an emergency stop signal which is output by the tablet70and the remote controllers100, etc.

<Tablet70(First Remote Control Terminal70)>

The first remote control terminal70of the present embodiment is configured as a tablet type personal computer including a touch panel and, as illustrated inFIG.4AandFIG.5, the liquid crystal display part71(which may be referred to as the “display71”), the display control part72, the touch panel type operation part73, the storage part74, the sending/receiving part75, the control part76that controls these, etc., are included.

Further, although the tablet70of the present embodiment may have the same function as the notification part130which is installed in the later-described remote controllers100, since it is possible to monitor the situation of the surroundings of the tractor1on the screen of the display screen71(hereinafter may be referred to as the “liquid crystal display part71” or the “display71”) of the tablet70at any time in this embodiment and, in particular, since there will be a pop-up displayed on the screen of the display71of the tablet70in a case where there is any abnormality or failure in relation to the tractor1, the tablet70does not have the same function as the notification part130of the remote controllers100.

The input of the liquid crystal display part71is connected to the output of the control part76, so that images captured by the camera35that is mounted on the tractor1are loaded and displayed on the liquid crystal display screen.

The input of the display control part72is connected to the output of the control part76and the output of the display control part72is connected to the input of the liquid crystal display part71, so that such a control of appropriately switching the screens displayed on the liquid crystal display part71or the like is performed by operating the operation part73, which will be subsequently explained, etc.

Further, in particular, the display control part72of the present embodiment is capable of selecting any one of the tablet70and the single or multiple (in the present embodiment, two) second remote control terminals as a remote control device that can execute an operation of resuming driving of the tractor1. That is, in a case where the tractor1temporarily stops, a terminal that can resume the driving (hereinafter may be referred to as the “terminal capable of resuming driving”) can be selected from among multiple remote control devices. Furthermore, this display control part72is configured to display a terminal capable of resuming driving, which is capable of performing the operation of resuming driving, on the later-described work selection screen WSA (seeFIG.8) in the lower part of the screen of the display71in a selectable manner from among the first remote control terminal and the single or multiple second remote control terminals. Note that, in the initial state, only the first remote control terminal is displayed on the display71, and the second remote control terminals (100) are configured to be displayed after the communication with the tractor1is established.

Further, as will be described later with reference toFIG.9andFIG.10, according to the configuration of the display control part72, the form of displaying the remote controller100to be the remote controllable terminal on the display71of the tablet70is changed if the connection for communication between the tractor1and the second remote control terminal (remote controller100) is lost.

Further, according to the configuration of this display control part72, if the connection for communication between the one of the two remote controllers100that is selected as the terminal capable of resuming driving and the tractor1is lost and then the connection for communication with the tractor1is restored, it will be stored that the remote controller100that was selected immediately before the loss of the connection for communication had been the terminal capable of resuming driving.

Further, according to the configuration of the display control part72of this tablet70, in a case where at least one of the two remote controllers100is selected as the terminal capable of resuming driving, a disclaimer screen enabling the control of resuming driving of the tractor1with the remote controller100is displayed.

Further, the display71includes a touch panel that can be operated with touching by the user, and the driving of the tractor1can be controlled by touching the items displayed on the display71. Furthermore, the display71displays a screen for checking the working state in a case where the tractor1is performing work. On the screen for checking the working state, the generated driving route and the tractor1are displayed in the center of the screen, the emergency stop icon is displayed on the upper right side of the screen, and the temporary stop icon is displayed on the upper left side of the screen. In addition, an item for transitioning to a screen capable of checking detailed work information is provided on the right side of the screen, and, by touching the item, the “work information setting mode” capable of checking the remaining amount of battery of the remote controllers100can be displayed.

The storage part74is configured with, for example, a ROM (Read Only Memory), RAM (Random Access Memory), or the like which stores data related to a driving route of the tractor1in the field area (driving area), data of the remote controllers100that are registered due to pairing, etc., and the storage part74is connected to the control part76.

In this way, the display71of the tablet70can display the screen for checking the working state. Further, on the screen for checking the working state, the emergency stop button image71A (seeFIG.4A) is displayed in the upper right part of the screen as an icon for emergently stopping the autonomous driving of the tractor1. Similarly, the temporary stop button image71B (seeFIG.4A) is displayed in the upper left part of the display71as an icon for starting or stopping the autonomous driving of the tractor1in a smaller size than the emergency stop button image71A. In this way, on the display71, since the emergency stop button image71A is displayed in the easily-recognizable upper right part of the display71, the position of the emergency stop button image71A can be easily recognized when the operator wants to emergently stop the tractor1, and thus delay of the emergency stop operation and an erroneous operation can be prevented.

Note that, regarding the configuration of the tablet70of the present embodiment, considering that right-handed people are generally the majority, since it is customary and familiar to provide an operation to the emergency stop button, etc., with the right hand, which is the dominant hand, while holding the tablet70with the left hand, the emergency stop button image71A is displayed in the upper right part of the display71. However, in consideration of the use by left-handed people as well, it is configured to be capable of switching the setting to the configuration of displaying and forming the emergency stop button image71A on in the upper left of the display71.

Furthermore, as illustrated inFIG.4B, for example, the display71of the present embodiment can display the “work information setting mode” on the screen, so as to set the terminal capable of resuming driving. On the screen for checking the working state, by touching the item for transitioning to the screen on which the work information can be checked in detail, it is possible to switch to the screen that is set as the work information setting mode. Further, in the area where the settings of selecting and switching of remote control terminals or the like can be performed (hereinafter referred to as the “selection area WSA” (seeFIG.8)) in the lower part of the screen of the work information setting mode, multiple (in this embodiment, three kinds) icons to be the targets of selection of the remote control device capable of performing the operation of resuming driving of the tractor1during a temporary stop, i.e., the tablet image T indicated by “Tablet”, the first remote controller image RA indicated by “First remote”, and the second remote controller image RB indicated by “Second remote”, are displayed.

Further, on the work information setting mode screen, the state where a rectangle display image bordering the entire periphery of an image so that the periphery of the respective image is enclosed indicates the state where the icon is operable (hereinafter may be referred to as “selected”), that is, being a “terminal capable of the resuming operation”.

For example, in the case ofFIG.4B, as the icons for selecting a terminal capable of the driving resuming operation, the tablet image T and the first remote controller image RA are displayed. On the other hand, although the second remote controller image RB is registered, there is no connection for communication with tractor1. Therefore, only the tablet image T and the first remote controller image RA can be selected as the remote control devices that are currently capable of the resuming operation. Furthermore, especially in the case ofFIG.4B, since the image F enclosing the periphery of the tablet image T of the tablet70is displayed, this tablet image T corresponds to the terminal capable of the resuming operation.

Further, when the screen is in the display state illustrated in thisFIG.4B, F that encloses the periphery of the first remote controller image RA is displayed by touching the first remote controller image RA with a finger. That is, the terminal capable of the resuming operation will be changed from the tablet70to the first remote controller.

The tablet70of the present embodiment with such a configuration allows the operator to refer to the information displayed on the touch panel of the tablet70(e.g., information of the field required for performing autonomous driving) and to perform various kinds of operations while visually checking the information. Further, the operator can operate the tablet70and send various kinds of control signals for controlling the tractor1to the autonomous driving control device51of the tractor1.

Note that the first remote control terminal70of the present embodiment is not limited to such a tablet type personal computer, and, instead, the first remote control terminal70can be configured with a laptop type personal computer, for example. Alternatively, in a case where a manned tractor (illustration in the drawings is omitted) is made to drive so as to accompany the unmanned tractor1, a monitor device mounted on the manned tractor can be used as the first remote control device.

<Remote Controller100>

Regarding the remote controllers100, as illustrated inFIG.6, the first switch part110(hereinafter referred to as the “emergency stop button110”), the second switch part120(hereinafter referred to as the “temporary stop button120”), and the notification part130, etc., are installed in the remote controller body101. Of these, the notification part130includes the light emission part130ahaving an LED lamp that emits light in multiple forms of light emission and the audio output part130bthat emits sound in multiple audio forms. Note that the second remote control terminal100of the present embodiment is configured with the two remote controllers, and, to clearly identify these, the two remote controllers may be referred to as the first remote controller100A and the second remote controller100B, as described above.

Further, these remote controllers100are carried by multiple (in the present embodiment, two) operators who monitor the tractor1at places in the area where the tractor1working near the field can be visually checked and the buzzer sound from the sound emission part57of the tractor1can be heard, and, usually, each of the operators can appropriately remotely operate the tractor1with wireless communication as need.

Here, an explanation will be given of the relationship between the tractor1and the remote controllers100. If an external device such as the service tool45or tablet70requests the remote controllers100of the tractor1for pairing with the remote controllers100, the remote controller receiver55transitions to the pairing mode for authentication of the remote controllers100. Further, if the remote controller receiver55that has transitioned to the pairing mode receives a signal from the remote controllers100, the remote controller receiver55stores the remote controller IDs (identification information) of the remote controllers100and then sends the stored remote controller IDs to the remote controllers100, so as to establish the pairing.

If the service tool45which can set various kinds of functions of the tractor1is connected by wire to the vehicle bus line18of the tractor1and a service person operates the service tool45, the authentication process (pairing) of the remote controllers100will thereby be executed by the remote controller receiver55. The remote controller receiver55of the tractor1can authenticate multiple (in the present embodiment, two) remote controllers100, which will be stored in association with the remote controller numbers that correspond to the remote controller IDs of the respective remote controllers100used for stopping.

If the remote controller number to be the authentication target is selected and an instruction for pairing registration is provided due to an operation performed to the service tool45, the remote controller receiver55is notified of the remote controller number to be the target of the pairing registration via the autonomous driving control device51. Upon receiving the instruction for the pairing registration, the remote controller receiver55recognizes the remote controller number to be the target of the pairing registration and transitions to the pairing mode in which signals from the remote controller100can be received.

If the remote controller100accepts an operation performed to the emergency stop button110or the temporary stop button120, the remote controller100reads out the remote controller ID, which is identification information assigned for each remote controller100, from the storage part140and sends the remote controller ID to the remote controller receiver55via the sending/receiving part75. The following explanation will be given on the premise that the remote controller ID is sent to the remote controller receiver55based on an operation performed to the emergency stop button110. Upon receiving the remote controller ID of the remote controller100, the remote controller receiver55stores the received remote controller ID in association with the remote controller number. Further, the remote controller receiver55stores a communicator ID, which is identification information assigned for the remote controller receiver55of each tractor1. The remote controller receiver55generates a response signal, in which the received remote controller ID and the receiver ID are combined, and sends the response signal to the remote controller100via the third wireless communication antenna48c.

If the remote controller100receives the response signal from the remote controller receiver55, the remote controller100confirms that the remote controller ID, which is confirmed from the response signal, matches the remote controller ID of itself, so as to recognize that the pairing has established. Furthermore, the remote controller100extracts the receiver ID from the response signal and stores the receiver ID in the storage part140, so as to specify the remote controller receiver55and the tractor1of which the pairing has established. Further, if an operation directed to the remote controller100and the emergency stop button110is accepted, the light emission part130ais made to light with the third color (yellow) as a notification of being the pairing mode. Thereafter, if the pairing with the remote controller receiver55has established, the remote controller100provides a notification of the establishment of the pairing with the notification part130.

Note that the pairing registration is performed through wired connection in a case of the service tool45, the pairing registration is performed through wireless connection in a case of the tablet70.

As illustrated inFIG.7, the remote controller100of the present embodiment includes the above-described emergency stop button110, temporary stop button120, light emission part130aand audio output part130bthat configure the notification part130, as well as storage part140, remote controller sending/receiving part150, control part160, etc. Furthermore, in the present embodiment, although a resuming button is included as a temporary means to be used in a case where the resuming operation with the emergency stop button110and the temporary stop button120cannot be performed, this resuming button is not specifically essential.

The emergency stop button110is for emergently stopping the driving tractor1in order to secure the safety in a case of the occurrence of such an emergency where a person enters the field during driving of the tractor1which is a work vehicle, for example, and, to be conspicuous at the time of an operation, the emergency stop button110is formed to be the largest shape among the buttons installed on the front face of the remote controller body101and is installed with a description of “STOP” on the upper side of the remote controller body101. The output of this emergency stop button110is connected to the input of the control part160, and, by pressing this emergency stop button110, the emergency stop signal is sent to the autonomous driving control device51on the tractor1side via the control part160, so that the tractor1emergently stops.

The temporary stop button120is for stopping the driving tractor1in such a case of ending or temporarily suspending a predetermined work with the tractor1which is a work vehicle, for example (i.e., in such a case of a normal work break with a low degree of urgency). The temporary stop button120of the present embodiment has a shape slightly smaller than the emergency stop button110and is marked at an appropriately central part of the remote controller body101with a stop sign for which two thick and wide vertical bars are arranged close to each other. The output of this temporary stop button120is connected to the input of the control part160, and, by pressing this temporary stop button120, the temporary stop signal is sent to the autonomous driving control device51on the tractor1side via the control part160, so that the tractor1temporarily stops.

Further, as will be described in detail in the later-described function section, the present embodiment is specifically configured to be capable of resuming driving by performing a specific operation using the emergency stop button110and this temporary stop button120. That is, the driving of the stopped tractor1can be resumed by performing a pressing operation on the emergency stop button110and the temporary stop button120at approximately the same time and releasing the pressing of the emergency stop button110and the temporary stop button120within a specific period of time. Further, as another form, in a state where the tractor1is in a temporary stopped state, the driving of the stopped tractor1can be resumed by performing a pressing operation on the temporary stop button120for a specific period of time and releasing the pressing within a specific period of time.

Note that, although the present embodiment has a configuration in which either of the tablet70and the single or multiple remote controllers100can be selected as the terminal capable of resuming driving by use of the tablet70, it is also possible that, in a case where multiple remote controllers100are included, the resuming operation can be performed only by the one of the remote controllers that temporarily stopped the driving of the tractor1. The autonomous driving control device51of the tractor1stores the remote controllers100in an identifiable manner at the time of pairing registration. Therefore, it is configured so that whether the signal of the resuming operation is output to the tractor1by any one of the remote controllers100can be determined.

Further, the present invention including the present embodiment is configured so that, in a case where abnormality is detected by the obstacle sensor36included in the tractor1, the driving resuming signal from the tablet70and the remote controllers100is not accepted. Therefore, it is configured so that, in a case where abnormality is detected by the obstacle sensor36, even though the driving resuming signal is output from the tablet70and the remote controllers100to the control part160, the driving of the tractor1will not be resumed. Note that the abnormality detected by the obstacle sensor36includes a case in which the obstacle sensor36detects an obstacle and a case in which the obstacle sensor36is not properly working.

Regarding the light emission part130aand the audio output part130b, the vehicle situation of the tractor1in the automatic driving state can be checked from the light emission mode and the audio mode. The light emission part130afunctions as a means of remotely checking the current surrounding environment of the tractor1in the automatic driving state. For example, it is configured with an LED (light emitting diode) that emits light in the following three kinds of modes.If light in green color is emitted, the tractor1is in the automatic driving state.If light in yellow color is emitted, the tractor1is in the temporary stop state.If light in red color is emitted, the tractor1is in the emergency stop state.

The above is what the operator of the remote controllers100will be notified of. Note that, in such a case where the connection for communication between the remote controller100and the tractor1is lost, the light emission part130aemits light in green color and the audio output part130boutputs a buzzer sound for a predetermined period of time. If the communication between the tractor1and the remote controller100is lost, the automatic driving mode of the tractor1is cancelled, and, in a case where the connection for communication with the tractor1is not restored, the power source of the remote controller100will be turned off.

On the other hand, the audio output part130bfunctions as a means of remotely checking the vehicle condition of the tractor1in the automatic driving state as with the light emission part130a. For example, it is configured so that checking can be done in the following audio modes.In a case where the tractor1temporarily stops, the buzzer sound is output for several seconds (e.g., one second).In a case where the tractor1emergently stops (in this case, it corresponds to the case where the communication between the tractor1and the remote controller100is lost), the buzzer sound is intermittently output for a predetermined period of time (e.g., ten seconds).

The above is what the operator of the remote controllers100will be notified of. Note that the present invention is not particularly limited to have such light emission modes and audio modes.

Furthermore, as described above, in a case where the tractor1is temporarily stopped, the light emission part130aof the remote controller100blinks in yellow color. In such a case, in a situation where the operator of the remote controller100is so far away from the tractor1that he/she cannot see the tractor1, the state of the tractor1cannot be checked. Therefore, it is configured so that, in a case where the tractor1is temporarily stopped, the state of the tractor1can be checked with the notification part130via an operation to the remote controller100. Specifically, whether the driving of the tractor1can be resumed can be checked with the light emission part130aand the audio output part130bby operating the temporary stop button120on the remote controller100. For example, in a case where the tractor1is in a state where the resuming operation cannot be performed, the light emission part130alights up in red color (first color) and the audio output part130boutputs a buzzer sound (first sound). Further, in a case where the tractor1is in a state where the resuming operation can be performed, the light emission part130alights up in green color (second color) and the audio output part130boutputs a buzzer sound (second sound). Note that the above-described first sound and second sound may be different sounds or the same sound. In the present invention, as described above, the resuming operation can be performed by the remote controller100that performed the current temporary stop (the last stop) only. Note that, as another embodiment described above, even in a case where the driving can be resumed by the remote controller100that performed the temporary stop operation only, the current situation of the tractor1can be checked by the remote controllers100other than the remote controller100that performed the temporary stop operation.

The storage part140is for storing the remote controller ID which is sent to the tractor1at the time of registration along with pairing with the tractor1and is configured with a ROM (Read Only Memory), RAM (Random Access Memory), or the like that is connected to the control part160.

The emergency stop signal associated with the operation to the emergency stop button110, the temporary stop signal associated with the operation to the temporary stop button120, the resuming control signal generated by operating the emergency stop button110and the temporary stop button120approximately at the same time, the accessorial resuming signal associated with the operation on a resuming button (illustration in the drawings is omitted) which is supplementarily installed, etc., are output by the remote controller sending/receiving part150to the tractor1side via the control part160, and the remote controller sending/receiving part150is for receiving various kinds of signals that are sent from the tractor1side and for outputting the various kinds of signals to the control part160.

The resuming button is an operation button for resuming the temporarily-stopped tractor1but is not normally used, and the resuming button, whose output is connected to the input of the control part160, can be used or operated in such a case where the resuming control signal which should be normally generated by a simultaneous operation to the emergency stop button110and the temporary stop button120is not generated and any one of these buttons has a problem or abnormality, for example. Note that, since the resuming button of the present embodiment is not normally used, the resuming button is installed at a position that is not easily seen in normal times. For example, a small right-pointing triangular symbol is notated and installed inconspicuously at the bottom part near a logo or the like indicating the name of the company, which is not illustrated in the drawings.

<Screen Transition Operation>

Next, the screen transition operation on the tablet70, which is the first remote control terminal according to an embodiment of the present invention, will be explained with reference toFIG.5,FIG.8, etc.

After an instruction for the automatic driving is provided from the tablet70to the tractor1, the control part76illustrated inFIG.5forms patterns which are to be the respective icons for making it possible to appropriately select and display the tablet70, which is the first remote control terminal, and the first remote controller100A and second remote controller100B, which are the second remote control terminals, in the work selection area WSA displayed in the lower part of the work information setting mode screen illustrated inFIG.8. These are hereinafter referred to as the “tablet icon T”, the “first remote icon RA”, and the “second remote icon RB”, respectively.

On the screen illustrated inFIG.8, the tablet icon T and the first remote icon RA are displayed in solid line. That is, only the tablet70and first remote controller100A are in the state where the registration by the pairing with the tractor1is done and the connection for communication is established and, thus, are displayed in a manner capable of being selected as the terminal capable of resuming driving. Such a state is referred to as being an “active icon”. On the other hand, the second remote icon RB, which is indicative of the second remote controller100B, is registered with the tractor1but is displayed in dashed line since the connection for communication is lost. Such a display state is referred to as being an “inactive icon”.

In the case ofFIG.8, a narrow-shaped image (hereinafter referred to as the fringe F) enclosing the outside of the tablet icon T is displayed. That is, the tablet icon T is displayed so as to indicate that the tablet70is the terminal capable of performing the operation of resuming the driving of the tractor1. Such a state is referred to as being a “launch icon”. Further, by touching an icon displayed as an “active icon”, it can be turned into a “launch icon”. Note that, in the initial state, i.e., before the start of autonomous driving of the tractor1, the launch icon and the active icon are the tablet icon T only since registration along with pairing with the remote controllers100has not been done.

Further, as for the launch icon, always only one launch icon is selectively displayed in the work selection area WSA, in order to prevent occurrence of the later-described interference of different operations, and it is configured so that two launch icons cannot be generated simultaneously. Note that, as long as safety is ensured, it is also possible that driving can be resumed by two or more remote control devices.

In addition, even if the remote controller100is registered by pairing with the tractor1and the first remote icon RA and the second remote icon RB are displayed as active icons on the display of the tablet70, the tablet icon T is displayed as the launch icon from the aspect of safety. Here, in a case where either the first remote icon RA or the second remote icon RB is selected as the launch icon, such a disclaimer requesting confirmation of safety as illustrated inFIG.11AandFIG.11Bwill be displayed.

Here, an explanation will be given of occurrence of the above-described interference of different operations. In conventional autonomous driving systems, there is a proposal having a configuration with multiple second remote control terminals such as remote controllers, so that multiple operators working in the same field carry the second remote control terminals, respectively, so as to improve the monitoring system as well as improve safety in the field.

In the autonomous driving system described above, although the safety is improved since the emergency stop can be performed by the multiple remote controllers, different operations may be performed simultaneously by multiple remote controllers (hereinafter referred to as “interference of different operations”). In such cases, there is a risk that unintended autonomous driving is executed due to interference of different operations. Further, for example, there may be a situation in which, in a case where a work vehicle is temporarily stopped by any one of the remote control terminals when a person enters the field where the work vehicle is working, an operator of a remote control terminal such as a remote controller other than the operator who executed the temporary stop erroneously resumes the driving of the work vehicle without checking the safety. On the other hand, in the automatic driving system according to the present embodiment, it is possible to realize an automatic driving system with a high degree of safety, in which, when one work vehicle is operated by multiple remote control terminals, the occurrence of a situation where respective remote control terminals perform different operations (interference of different operations) can be prevented.

Switching Operation and Display of the Transition State: Example 1

Next, the operation of switching these three kinds of icons will be explained in detail with reference toFIG.9andFIG.10. Note that, for specifically explaining the transition behavior, the description specifying the respective stages ST is used on the drawings, and the respective stages are indicative of the contents displayed in the current work selection area WSA. Further, in Example 1, the registration by pairing with the tractor1has been completed for the first remote controller100A only.

First, inFIG.9, the remote control terminal that can resume driving of the tractor1, i.e., the launch icon, in the initial state is the tablet icon T (first stage ST1a). Note that, in this state, the connection for communication between the first remote controller100A and the tractor1is lost.

Here, for example, in a case where the connection for communication between the first remote controller100A and the tractor1is restored, the first remote icon RA will be displayed as an active icon (second stage ST1b).

Furthermore, if this first remote icon RA that has become an active icon is touched, the display (pattern) of the fringe F part of the tablet icon T that had been the launch icon until then disappears, and, concurrently, the fringe F pattern is generated and displayed around the active icon RA (third stage ST1c). Accordingly, the first remote icon RA is switched to and functions as the launch icon.

Note that, in a case of transitioning to the display state of this third stage ST1c, a screen with a description of such a disclaimer requesting confirmation of safety as illustrated inFIG.11AandFIG.11Bwill be displayed. First, the screen ofFIG.11Ais displayed, and, if the icon Y1with display of “Yes” is touched, the screen will transition to the screen ofFIG.11B, so that the screen on which a disclaimer requesting confirmation of safety will be displayed again, and, if the icon Y2with display of “Yes” is touched, the screen will transition to the next display screen, i.e., the third stage ST1c. Note that, if either of the “No” icon N1and the “No” icon N2displayed inFIG.11AandFIG.11Bis touched, the display does not transition to the third stage STc and returns back to the second stage ST1b.

Furthermore, in a case where the connection for communication between the first remote controller100A and the tractor1is lost when the first remote icon RA is the launch icon as in the third stage ST1c, the display of the inner area part disappears, so that the display will be as in the fourth stage ST1d. Note that, in a case where the connection for communication between the tractor1and the first remote controller100A or the tablet70is lost, the automatic driving of the tractor1will be stopped due to safety issues.

Further, if the communication state is restored, the display returns to the same state as in the third stage ST1cagain (fifth stage ST1e). In other words, even if the communication state is lost, if the communication recovers, the previous setting state will be restored since the autonomous driving control device51stores the state immediately before the communication state was cut off.

Further, if the tractor1starts automatic driving, the tractor1requests the tablet70for transferring a route path. Accordingly, a route path is periodically transferred from the tablet70to the tractor1, so that it is possible to continue the automatic driving. Note that, in a case where the automatic driving continues, the state in which the launch icon is selected can be maintained (sixth stage ST1f).

On the other hand, in a case where the power source of the engine is turned off, the screen transitions to the initial setting screen (seventh stage ST1g).

Another Switching Operation and Display of the Transition State: Example 2

Subsequently, another transition form will be explained with reference toFIG.10. Further, in Example 2, unlike Example 1, the registration by pairing with the tractor1has been completed for not only the first remote controller100A but also for the second remote controller100B. InFIG.10, the tablet icon T is displayed as the launch icon, and the first remote icon RA and the second remote icon RB are displayed as inactive icons (first stage ST2a).

In a case where the connection for communication between the first remote controller100A and the tractor1has recovered in the first stage ST2a, the first remote icon RA will be displayed in solid line and transition to the state of an active icon (second stage ST2b).

Further, in a case where the connection for communication between the second remote controller100B and the tractor1has recovered in the second stage ST2b, the second remote icon RB will be displayed in solid line and transition to the state of an active icon (third stage ST2c).

Furthermore, of these active icons, i.e., the first remote icon RA and the second remote icon RB, if the first remote icon RA is touched, the transition will be performed so that the first remote icon RA will be displayed as the launch icon (fourth stage ST2d) although the tablet icon T is displayed as the launch icon in the initial state. Note that, for transitioning to this fourth stage ST2d, as explained in Example 1, the transition to the fourth stage ST2dwill not be performed unless providing the operations of selecting “Yes” Y1and Y2at both times when the display is switched toFIG.11AandFIG.11B.

Next, if a communication lost state occurs between the second remote controller100B and the tractor1or the tablet70in this fourth stage ST2d, the display of the second remote icon RB, which had been an active icon, will disappear and become an inactive icon, and thus it is possible to check the state where the communication state with the second remote controller100B is lost (fourth stage ST2d′).

On the other hand, when the loss of communication occurs between the first remote controller100A and the tractor1in the fourth stage ST2d, the display of the internal part of the first remote icon RA, which had been the launch icon, will disappear, and thus it is possible to check the state where the communication state with the first remote controller100A is lost (fifth stage ST2e).

Further, if the communication state recovers later, the display returns to the same state as in the fourth stage ST2dagain (sixth stage ST2f).

Note that, in the state of the first stage ST2a, i.e., in the case where only the tablet70is connected for communication with the tractor1and the connection for communication between the first remote controller100A and the second remote controller100B and the tractor1is lost, if the connection for communication between the second remote controller100B and the tractor1recovers, for example, the second remote icon RB will be displayed in solid line and transition to the state of being an active icon (second stage ST2b′).

Here, furthermore, in a case where the connection for communication between the first remote controller100A and the tractor1recovers, the first remote icon RA will also be displayed in solid line and transition to the state of being an active icon. Accordingly, it is possible to select not only the second remote controller100B but also the first remote controller100A as the terminal capable of resuming driving.

<Operations, Functions, Etc.>

Next, with reference toFIG.3toFIG.13(especially the flowchart ofFIG.12and the timing chart ofFIG.13), the operations (functions) of the tablet70and the remote controllers100will be explained.

Note that, in the autonomous driving system of the present embodiment, as described above, the one tablet70and the two remote controllers100A and100B are used for performing a remote operation of the tractor1. However, regarding these two remote controllers, as explained in above-described Example 1 and Example 2, in a case where the remote controllers100and the tractor1are connected for communication, the remote controllers100can be selected as the terminal capable of resuming driving by use of the tablet70. Therefore, here, the setting state of the sixth stage ST2fin Example 2 above as illustrated inFIG.10is displayed, and it is assumed that the first remote controller100A is the terminal capable of resuming driving.

Further, in the present embodiment, the autonomous driving control device51of the tractor1stores the remote controllers100in an identifiable manner at the time of pairing registration. Therefore, it is configured so that whether the signal of the resuming operation is output to the tractor1by any one of the remote controllers100can be determined. Accordingly, it is also possible that a unique fail-safe system different from the tablet70side functions, so that the resuming can be performed only by the remote controller that lastly performed the temporary stop operation (remote controller that performed the last stop operation). Therefore, even if neither one of the remote controllers is selected as the driving remote controller on the tablet70side, it is possible to avoid such a situation of losing control due to interference of different operations caused by the two remote controllers100A and100B simultaneously performing different operations.

Note that the one tablet70and the two remote controllers100are configured to execute communication with the tractor1by wireless communication networks having different communication methods, respectively. Further, as described above, the tablet70includes the display71that can be operated via a touch panel. On the other hand, each remote controller100is equipped with the temporary stop button120that temporarily stops autonomous driving of the tractor1, the emergency stop button110that emergently stops autonomous driving of the tractor1at an emergency, and the notification part130(light emission part130aand audio output part130b) which is a means for allowing the operator of the remote controller to check the current driving state of the tractor1after a temporary stop or an emergent stop.

Therefore, according to the present embodiment, the operation of resuming the driving of the stopped tractor1can be performed in such a procedure explained below. Note that, in this case, one remote control terminal is designated by the above-described method, so that the three kinds of remote control terminals, i.e., the tablet70and the two remote controllers100, provide different instructions (so as not to cause interference of different operations) to the tractor1. Note that, here, it is assumed that the first remote controller100A is set as the terminal capable of performing remote operations.

Further, in this embodiment, regarding the procedure of detection of an obstacle, a detailed explanation is omitted and a brief explanation will be given so as not to deviate from the present invention. That is, if there is an obstacle by any chance, the obstacle will be detected at such a timing as illustrated inFIG.13, i.e., the time t1, and a notification of abnormality will be given to the tablet70at the time t2which is immediately after that. Further, at the same time t2, the light emission part130aand the audio output part130bof the first remote controller100A will operate, and the red color lamp lights up (or blinks) and the buzzer or the like emits sound for a notification. Furthermore, at the time t4, in a case where the abnormal state is resolved, the notification behavior with the tablet70and the remote controller100will end. Then, the first remote controller100A will have the light emission part130aemit light in green color and return to the original state (state capable of resuming).

At first, if there is no obstacle for the tractor1during driving and working, the tractor1which is a work vehicle normally performs autonomous driving inFIG.12andFIG.13, for example (first step S1).

Then, while the tractor1is driving, a decision as to whether it needs to be stopped is made at all times (second step S2).

Then, in this second step S2, when the operator decides to temporarily stop the tractor1, the procedure goes to the third step S3. Note that, in the second step S2, if the temporary stop is not performed, the procedure returns to the first step S1.

In this third step S3, for example, since the first remote controller100A is selected and set as the terminal capable of performing a remote operation in advance, the operation can be performed only by this first remote controller100A. Accordingly, by providing the operation of pressing the temporary stop button120of the first remote controller100A, the driving tractor1can be stopped immediately.

Next, the operator or the like who performed the temporary stop decides to resume the driving of the tractor1(fourth step S4). Here, if the resuming of the driving is not desired, the procedure returns to the fourth step S4again.

On the other hand, in a case where the resuming of the driving of the temporarily-stopped tractor1is to be performed, the operator of the first remote controller100A can perform the operation of resuming the driving. That is, at the time t5, the temporary stop button120of the first remote controller100A is pressed, and, almost without a delay (after the minute time Δt2has elapsed), the emergency stop button110is pressed at the time t6(fifth step S5). Note that, in this case, the resuming of the driving cannot be executed by the second remote controller100B, which did not perform the stop operation.

Accordingly, since the operation of resuming driving is started after the temporary stop of the tractor1which is a work vehicle, at the time t6, prior to the resuming of the driving, the warning sound such as a loud buzzer sound for notifying (alarming) the workers around the tractor1that the resuming behavior will be started soon will be emitted from the tractor1for only three seconds (sixth step S6).

That is, within the period of time of the sound emission, i.e., the time t7, the operator of the first remote controller100A who hears the alarm sound of this tractor1releases the pressing of the emergency stop button110of the first remote controller100A, and, at the same time or almost the same time (after the minute time Δt3has elapsed), i.e., the time t8, the operator also releases the operation of pressing the temporary stop button120(seventh step S7).

Note that, as for the operations of releasing the pressing of the two buttons here, for example, in a case where only the operation of pressing the emergency stop button110is released during the time of the sound emission of the warning sound for about three seconds, the tractor1will be in the temporary stop state after the sound emission of the warning sound ends. On the other hand, conversely, if only the emergency stop button110is continuously pressed and held, the tractor1will remain in the emergency stop state even after the sound emission of the warning sound ends.

Accordingly, at the time t9, the autonomous driving of the tractor1in the temporary stop can be resumed (eighth step S8).

In this way, the remote controller100resumes the driving of the tractor1in a case of performing a driving resuming operation in which, after the tractor1temporarily stops in response to a temporary stop operation performed to the temporary stop button120, both emergency stop button110and temporary stop button120will be in the pressing state for the first predetermined period of time. Further, in a case where both emergency stop button110and temporary stop button120have been in the pressed state, the remote controller100makes the sound emission part57of the tractor1emit a buzzer sound (warning sound), which indicates that the driving of the tractor1will be resumed, for the second predetermined period of time (e.g., three seconds), and, in a case where the respective pressing operations on the emergency stop button110and temporary stop button120are both released within the second predetermined period of time, the remote controller100resumes driving of the tractor1.

Note that it is also possible that the remote controller100resumes the driving of the tractor1in a case where the driving resuming operation is performed after the tractor1emergently stops in response to the emergency stop operation performed to the emergency stop button110.

<Effects>

Therefore, in the present embodiment, since the tablet70and the remote controllers100respectively execute wireless communications with the tractor1via wireless communication networks having communication methods different from each other, the multiple wireless communication networks function as a fail safe, so that the safety is improved. Further, it is possible to select appropriate communication methods according to the data capacity of the communication performed by the tablet70and the data capacity of the communication performed by the remote controllers100.

Further, according to the present embodiment, it is possible for the operator to carry the remote controller100and thereby perform the emergency stop operation for the autonomously-driving tractor1by operating the emergency stop button110of either one of the two remote controllers100at an emergency. Further, for example, the operator who carries the tablet70and one of the remote controllers100can let another worker to have the other one of the remote controllers100so as to respectively use the tablet70and the remote controllers100in a flexible manner according to the situations.

Further, according to the present embodiment, on the display71(seeFIG.4A) of the tablet70, the emergency stop button image71A for stopping the autonomous driving of the tractor1is displayed in the upper right position, and the temporary stop button image (start button image)71B of the tablet70is displayed at the opposite position with respect to the left and right direction in a slightly smaller size than the emergency stop button image71A. Therefore, the emergency stop button image71A and the temporary stop button image71B can be simultaneously arranged together on the same display screen.

Therefore, when the operator wants to emergently stop the tractor1, since he or she can instantly recognize the position of the emergency stop button image71A without performing a bothersome operation to switch screens, for example, so that the delay of the emergency stop operation and erroneous operations can be prevented.

Further, according to the present embodiment, since the remote controllers100include the light emission part130aand audio output part130bas the notification part130that provides a notification of the state of the tractor1, the state of the tractor1can be surely recognized on a real time basis even in a situation of being away from the autonomously-driving tractor1, so that the safety in the driving of the tractor1can be significantly improved.

Further, according to the present embodiment, the operation of the emergency stop button image71A on the tablet70is performed by pressing (touching) the display71of the touch panel type, even in a case where the operator does not have a feeling of providing a pressing (touching) operation, the emergency stop button110(seeFIG.6) of the remote controllers100can be firmly pressed. Therefore, if the operator uses the remote controllers100, the operator can thereby certainly feel that the pressing operation is performed, and thus reliable operations can be performed. Note that, in this case, the operator can use either emergency stop button110on the remote controller100side or emergency stop button image71A on the tablet70side for emergently stopping the tractor1.

Note that, although the two remote controllers100are used in the present embodiment, it is possible to increase the number of remote controllers. Then, other than the operator monitoring the autonomously-driving tractor1, a worker working in the same field may also carry the remote controller100, so that thereby the state of the tractor1can be well recognized with the notification by the LED lamps of the light emission part130aand the audio of the audio output part130b. Moreover, since the emergency stop button110of the remote controller100can be operated at an emergency, the safety of the workers in the field can be significantly improved by improving the monitoring system of the autonomously-driving tractor1.

Further, according to the present embodiment, as illustrated inFIG.4B, for example, the “work information setting mode” illustrated inFIG.8can be set on the display71by operating the screen switch button73A. By switching to the screen that is set as this work information setting mode, the work selection area WSA is formed in the lower part of the screen for selecting and setting the terminal capable of resuming, as described above, so that three kinds of icons, i.e., the tablet image T indicated by “Tablet”, the first remote controller image RA indicated by “First remote”, and the second remote controller image RB indicated by “Second remote”, can be display, and thus it is convenient that the terminals can be easily changed and switched with a touching operation using a finger, etc.

Further, in the state where the rectangle display images F bordering the entire peripheries of the images so that the peripheries of the respective images are enclosed are enclosed are displayed in such an area in the display screen, operable launch states can be set and displayed with those icons, and thus the launching operation can be performed easily and quickly.

With the tablet70with such a configuration, it is possible for the operator to perform various kinds of operations while referring to and checking the information displayed on the touch panel of the tablet70(e.g., information of the field required for performing autonomous driving), and thus the risk that an erroneous operation occurs will be suppressed.

The automatic driving system according to the present embodiment described above can be specified as follows.

APPENDIX 1

An autonomous driving system equipped with a first remote control terminal that is capable of communicating with a work vehicle and generates a driving route of the work vehicle and executes driving control and one or more second remote control terminals that are capable of communicating with the work vehicle and execute driving control of the work vehicle, wherein the first remote control terminal includes a display control part that is capable of selecting either one of the first remote control terminal and the second remote control terminal to be allowed to resume the driving of the work vehicle, and the display control part displays only the second remote control terminals for which communication with the work vehicle has been established in a selectable manner.

The autonomous driving system according to Appendix 1 is an autonomous driving system equipped with a display screen that is capable of communicating with a work vehicle and capable of displaying various kinds of information, a first remote control terminal that generates a driving route of the work vehicle and executes driving control, and a plurality of second remote control terminals that are capable of communicating with the work vehicle and execute the driving control of the work vehicle, wherein the first remote control terminal includes a display control part that is capable of executing a work of selecting a “remote controllable terminal” to be capable of performing remote control from among the plurality of remote control terminals as for allowing any one of the first remote control terminal and the plurality of second remote control terminals to execute the driving resuming operation of the stopped work vehicle, and, on the display screen, the display control part is configured to display designated/selected one of the remote control terminals for which communication with the work vehicle has been established on the screen as the remote controllable terminal, which is capable of the driving resuming operation.

APPENDIX 2

The autonomous driving system according to Appendix 1, wherein the display control part changes the form of displaying the second remote control terminal in a case where the connection for communication between the work vehicle and the second remote control terminal is lost.

The autonomous driving system according to Appendix 2, wherein, in a case where the connection for communication between the work vehicle and any one of the second remote control terminals is lost, in order to make it possible to check the state thereof, the display control part is configured to change the form of displaying the second remote controllable terminal on the display screen of the first remote control terminal.

APPENDIX 3

The autonomous driving system according to Appendix 1 or 2, wherein the display control part stores the selected second remote control terminal in a case where the connection for communication between the selected second remote control terminal and the work vehicle is lost and then the connection for communication with the work vehicle recovers.

The autonomous driving system according to Appendix 3, wherein, in a case where the connection for communication between the selected second remote control terminal and the work vehicle is lost and then the connection for communication with the work vehicle recovers, the display control part stores the selection setting situation of the second remote controllable terminal which had been selected from among the second remote control terminals immediately before the connection for communication is lost.

APPENDIX 4

The autonomous driving system according to any one of Appendix 1 to 3, wherein, in a case where the second remote control terminal is selected, the display control part provides a notification that the second remote control terminal is allowed to resume the driving of the work vehicle.

The autonomous driving system according to Appendix 4, wherein, in a case where the second remote control terminal is selected, for confirmation that the driving of the work vehicle will be resumed by the second remote controllable terminal, the display control part notifies the second remote controllable terminal that the control of resuming the driving of the work vehicle is possible.

With the automatic driving system according to the present embodiment, since the display control part installed in the first remote control terminal is capable of displaying only the second remote control terminal for which communication with the work vehicle has been established out of the plurality of remote control terminals on the display screen as the remote controllable terminal which is capable of the driving resuming operation, it is possible to avoid occurrence of a situation in which remote control terminals perform operations that are different from each other in a case where a plurality of operators operate a plurality of remote control terminals for one work vehicle (interference of different operations), and thus the autonomous driving system with a high degree of safety can be realized.

Second Embodiment

Next, the second embodiment according to the present invention will be explained with reference toFIG.14toFIG.16. In the present embodiment, the tractor1(main part thereof) and tablet70have the same configurations as those in the first embodiment, and thus the same symbols are used for the same parts to avoid duplicate explanations.

That is, the remote controller100′ illustrated inFIG.14of the present embodiment is configured to generate a driving resuming signal with the control part160by a long-press operation on the temporary stop button120. Therefore, regarding the remote controller100′ illustrated inFIG.14, the control part160′ of the components of the respective parts partially differs from the control part160of the remote controller100of the first embodiment illustrated inFIG.7in terms of their configurations. In addition, due to these configurations, the autonomous driving control device51on the tractor1side in the configuration block diagram illustrated inFIG.3is partially different so that, if a driving resuming signal which is generated by a long-press behavior on the temporary stop button120′ of the remote controller100′ is input, the driving of the temporarily-stopped tractor1will be resumed.

Note that, also in the autonomous driving system of the present embodiment, since the two remote controllers100A and100B are included to be usable as with the first embodiment, such a setting for only either one of these two remote controllers to be usable (launch remote controller) is provided as explained in the first embodiment in order to prevent interference of different operations. Note that, also in the present embodiment, such a setting for only the first remote controller100A to be usable is performed on the tablet70side in advance.

Therefore, according to the present embodiment, in the flowchart illustrated inFIG.15and the timing chart illustrated inFIG.16, the fifth′ step S5′ and the seventh′ step S7′ and the emergency stop button110′, the temporary stop button120′, the storage part140′, and the control part160′ of the components of the remote controller100are different from those in the case of the first embodiment. Note that, regarding these emergency stop button110′, temporary stop button120′, storage part140′ and the control part160′, only the configurations related to the control of the resuming operation are different, and thus the detailed explanations will be omitted.

On the other hand, regarding the procedure of the resuming operation or the like, in a case where the resuming of the driving of the temporarily-stopped tractor1in the fifth′ step S5′, the operator of the first remote controller100A, which performed the temporary stop (which is currently operable), can perform the operation of resuming driving. That is, in the time t5, the temporary stop button120of the first remote controller100A is pressed to a long-pressed state for a predetermined period of time or more (e.g., five seconds or more).

Accordingly, since the operation of resuming driving is started after the temporary stop of the tractor1, which is a work vehicle, at the time t6, prior to the resuming, the warning sound such as a buzzer sound notifying (alarming) the workers around the tractor1that the resuming behavior will be started soon will be emitted from the tractor1for only three seconds (sixth step S6). For example, upon the operation of pressing the temporary stop button120of the first remote controller100A to a long-pressed state continuously for five seconds, the control part160′ outputs a sound emission instruction to the tractor1, so that a buzzer sound will be emitted for three seconds from the sound emission part57.

At the time t7during the sound emission (e.g., for three seconds), i.e., at the time t7after an elapse of at least five seconds or more from the time t5at which the pressing of the button operation is started, the operator of the first remote controller100A who hears the alarm sound of this tractor1releases the behavior of pressing the temporary stop button120′ of the first remote controller100A (seventh step S7).

Accordingly, at the time t7, the autonomous driving of the tractor1in the temporary stop can be resumed (eighth step S8′). Note that, in a case where the temporary stop button120is kept being pressed for a predetermined period of time or more in this eighth′ step S8′, the tractor1will not resume the driving behavior and become the temporarily-stopped state when a predetermined period of time elapses after the end of the sound emission of the alarming sound, which is a notification of starting of the driving.

Note that the second step S2to the fourth step S4are the same as in the previous first embodiment, so the explanations thereof will be omitted.

As described above, the remote controller100′ of the present embodiment provides driving-related instructions to the tractor1that is capable of autonomous driving. Further, the remote controller100′ outputs a driving resuming signal to the tractor1so as to resume the driving of the tractor1in a case where, after the tractor1temporarily stops in response to a temporary stop operation performed to the temporary stop button120, the driving resuming operation which includes the pressing operation which is to continuously press the temporary stop button120′ for the first predetermined period of time (e.g., five seconds) and the release operation which is to release the pressing operation performed to the temporary stop button120within the second predetermined period of time (e.g., three seconds) that follows the first predetermined period of time. Accordingly, since there is no need that the switch for resuming the driving of the stopped tractor1is separately installed, the remote controller100′ can be downsized. Thus, it is possible to downsize the remote control terminal (remote controller100or100′) which provides instructions related to driving to the tractor1capable of autonomous driving and to realize the autonomous driving system in which, in a case where the tractor1stops, the driving of the tractor1can be resumed by the remote control terminal.

Further, in a case where the tractor1temporarily stops in response to the temporary stop operation performed on the temporary stop button120′ and then the operation of continuously pressing the temporary stop button120′ for the predetermined period of time or more, the remote controller100′ causes the sound emission part57of the tractor1to emit the buzzer sound (warning sound), which indicates that the driving of the tractor1will be resumed, for the second predetermined period of time. Accordingly, prior to the resuming of driving, it is possible to notify the workers around the tractor1that the behavior of resuming driving will be started soon, and the user of the remote controller100′ can know that the operation of resuming driving has been enabled.

Note that, in the above-described first embodiment and second embodiment, it is also possible that the driving of the tractor1is resumed by the remote controller100in a case where the driving resuming operation is performed after the tractor1emergently stops in response to the emergency stop operation performed on the emergency stop button110.

Further, in the above-described first embodiment and second embodiment, it is also possible that the tractor1is configured to resume driving in a case where the function of the obstacle sensor36(obstacle detection part) is enabled (or normal) and not to resume driving in a case where the function of the obstacle sensor36is disabled (or abnormal), As described above, if the tractor1is configured to resume driving only in a case where the obstacle sensor36is normally operating, it is thereby possible to prevent resuming of driving that is not intended by the users.

The present invention is not limited to the above-described embodiments and can be embodied in various forms. The configurations of the respective parts are not limited to those in the embodiments illustrated in the drawings, and various modifications can be made without departing from the gist of the present invention.