JP6660909B2 - Remote control for emergency stop - Google Patents

Description

  The present invention relates to an emergency stop remote control that is operated when a work vehicle autonomously travels.

  2. Description of the Related Art In recent years, an autonomous traveling system for autonomously traveling an unmanned work vehicle with no operator on board has been developed in order to efficiently and easily perform agricultural work in a field (see Patent Document 1). The autonomous traveling system disclosed in Patent Document 1 is remotely operated by a server device installed in a house or the like distant from the work vehicle. The work state of the work vehicle cannot be visually observed, and it is difficult to respond in an emergency. is there. Therefore, in order to operate the autonomous traveling of the work vehicle in a workplace such as a field, an autonomous traveling system using an operation terminal by a wireless communication terminal device has been developed (see Patent Documents 2 and 3).

JP 2011-254704 A JP-A-2006-093127 JP-A-2006-168883

  However, in an autonomous driving system using an operation terminal operated by a touch panel such as a tablet-type personal computer, it is necessary to visually search for operation buttons on the touch panel, and there is a possibility that a delay may occur in an emergency response operation. . Further, in the autonomous traveling system, in order to ensure safety during an emergency response, the work vehicle must be stopped reliably, and it is preferable that a failure of the emergency stop switch can be confirmed. Further, downsizing of the operation terminal is required so that the operator can easily carry the operation terminal.

  The present invention has been made in view of the above situation, and has a technical problem to provide an emergency stop remote control that can safely operate a work vehicle that is autonomously traveling.

The present invention relates to an emergency stop remote control including a communication interface for communicating with a work vehicle that autonomously travels, an emergency stop button for stopping the autonomous travel of the work vehicle, and a control unit that controls a communication operation by the communication interface. And a notifying unit for notifying a communication state with the work vehicle and an operation state of the work vehicle , wherein the control unit detects an abnormality in any of the communication state with the work vehicle and the operation state of the work vehicle. When confirming, and confirming that the remaining amount of the battery mounted as a power supply is equal to or less than a predetermined value, the notification unit indicates a communication abnormality with the work vehicle or an operation abnormality of the work vehicle. The first notification can be executed, and the second notification different from the first notification indicating that the remaining battery level has decreased can be executed .

The emergency stop remote controller includes, as the notification unit, a light emitting unit that emits light in a plurality of light emitting modes, and a sound output unit that outputs a plurality of sounds, and the light emitting mode of the light emitting unit and the sound of the sound output unit. The communication state with the work vehicle, the operation state of the work vehicle, and a decrease in the remaining battery level may be notified by a combination of the above.

The first notification may be executed by one of the light emitting unit and the audio output unit, and the second notification may be executed by the other of the light emitting unit and the audio output unit .

The first notification may be executed before the second notification .

  According to the present invention, since the communication state with the work vehicle is notified by providing the notification unit, the operator can easily recognize that remote control using the emergency stop remote control is possible. In addition, since the operating state of the work vehicle is also notified by the notification unit, even when the work vehicle is located at a position distant from the operator, the traveling state of the work vehicle can be grasped, and the autonomous traveling of the work vehicle can be safely performed. Can operate.

  In addition, according to the present invention, since the remaining battery level can be confirmed by the notification unit of the emergency stop remote controller, a separate device for checking the remaining battery level of the emergency stop remote controller is not required, and the work vehicle can be operated on the field. The battery level of the remote controller for emergency stop can be recognized before the operation, and the battery can be replaced.

FIG. 1 is an overall side view of a robot tractor according to an embodiment. It is a top view of a robot tractor. It is a functional block diagram of a robot tractor. It is the front view, top view, and right side view of a remote control device. It is a rear view of a remote control device. It is a front view, a plan view, a bottom view, a left side view, and a right side view of an example of an emergency stop remote controller. It is a front view of one embodiment of a wireless communication terminal device. It is the front view and top view for demonstrating the attachment / detachment state of the remote control for emergency stop. It is a functional block diagram of a remote controller for emergency stop. 6 is a timing chart showing an operation based on an operation on an emergency stop button of the emergency stop remote controller. 6 is a timing chart showing an operation state of the emergency stop remote controller after power is turned on. It is a flowchart which shows the state notification operation | movement of the emergency stop remote control. It is a flowchart which shows the detection operation | movement of the battery remaining amount of the remote control for emergency stop.

<Autonomous driving system>
Hereinafter, embodiments of the present invention will be described with reference to the drawings. First, a description will be given of a robot tractor 1 (hereinafter, a “robot tractor” may be simply referred to as a “tractor” or an “unmanned tractor”), which is an example of a work vehicle according to the present invention. The tractor 1 includes a body 2 that autonomously travels in a field. As shown in FIGS. 1 and 2, the work unit 3 is detachably provided on the machine body 2. The working machine 3 is used for agricultural work. The working machine 3 includes, for example, various working machines such as a cultivator, a plow, a fertilizer, a mower, a seeder, and the like. Can be attached to The machine body 2 is configured to be able to change the height and posture of the mounted work machine 3.

  In this specification, the autonomous traveling means that the configuration provided for the tractor 1 for traveling is controlled by an autonomous traveling control device 51 or the like included in the tractor 1 as shown in FIG. 1 means running. In this specification, the autonomous work means that the configuration provided for the tractor 1 for the work is controlled by the autonomous traveling control device 51 and the like, and the tractor 1 performs the work along a predetermined route.

<Tractor>
The configuration of the tractor 1 will be described with reference to FIGS. As shown in FIG. 1, the body 2 of the tractor 1 has a front portion supported by a pair of left and right front wheels 7, and a rear portion supported by a pair of left and right rear wheels 8. The front wheels 7, 7 and the rear wheels 8, 8 constitute a traveling unit.

  A hood 9 is arranged at the front of the body 2. The hood 9 houses an engine 10 and the like, which is a drive source of the tractor 1. The engine 10 can be constituted by, for example, a diesel engine, but is not limited to this, and may be constituted by, for example, a gasoline engine. Further, an electric motor may be used as a drive source in addition to or instead of the engine.

  A cabin 11 on which an operator rides is arranged behind the hood 9. Inside the cabin 11, a steering handle 12 for an operator to perform a steering operation, a seat 13 on which the operator can sit, and various operation devices for performing various operations are mainly provided. I have. However, the agricultural work vehicle is not limited to the one with the cabin 11 and may be one without the cabin 11.

  Although not shown, examples of the operating device include a monitor device, a throttle lever, a main shift lever, a lifting lever, a PTO switch, a PTO shift lever, and a plurality of hydraulic shift levers. These operating devices are arranged near the seat 13 or near the steering handle 12.

The monitor device is configured to be able to display various information of the tractor 1. The throttle lever sets the rotation speed of the engine 10. The main transmission lever is used to change the transmission ratio of the transmission case 22. The elevating lever operates to raise and lower the height of the work implement 3 mounted on the machine body 2 within a predetermined range. PTO switch is mission case 2
The power transmission to the PTO shaft (power take-out shaft) projecting outward from the rear end side of the power transmission shaft 2 is performed. That is, when the PTO switch is ON, power is transmitted to the PTO shaft, the PTO shaft rotates, and the work machine 3 is driven. On the other hand, when the PTO switch is OFF, power to the PTO shaft is cut off. The PTO shaft does not rotate, and the work machine 3 stops. The PTO speed change lever is used to change the power input to the work implement 3 and, specifically, to change the rotation speed of the PTO shaft. The hydraulic shift lever switches the hydraulic external take-out valve.

  As shown in FIG. 1, a chassis 20 constituting the skeleton is provided at a lower portion of the body 2. The chassis 20 includes a body frame 21, a transmission case 22, a front axle 23, a rear axle 24, and the like.

  The body frame 21 is a support member at a front portion of the tractor 1, and supports the engine 10 directly or via a vibration isolating member or the like. The transmission case 22 changes the power from the engine 10 and transmits the power to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the transmission case 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the transmission case 22 to the rear wheels 8.

  As shown in FIG. 3, the tractor 1 is a vehicle serving as a control unit for controlling the operation of the body 2 (forward, backward, stop, turn, etc.) and the operation of the work implement 3 (elevation, drive, stop, etc.). An engine control device 15, a transmission control device 16, and a work implement control device 17 that can communicate with each other via a bus line 18 are provided. The engine control device 15 is electrically connected to a common rail device 41 as a fuel injection device provided in the engine 10, and the transmission control device 16 includes a hydraulic transmission for shifting power from the engine 10, and the like. It is electrically connected to the transmission 42. The work implement control device 17 is electrically connected to the work implement elevating actuator 44. Further, the tractor 1 is configured so that a service tool 19 such as a computer operated by a service person can be electrically connected to the vehicle bus line 18.

  The common rail device 41 injects fuel into each cylinder of the engine 10. In this case, the fuel injection valves of the injectors for the respective cylinders of the engine 10 are controlled to open and close by the engine control device 15, so that the high-pressure fuel pumped from the fuel tank to the common rail device 41 by the fuel supply pump is supplied from the injectors to the engine 10. The injection pressure, injection timing, and injection period (injection amount) of the fuel injected from each of the cylinders and supplied from each injector are controlled with high accuracy.

  The transmission 42 is, for example, a hydraulic swash plate type continuously variable transmission that is provided in the transmission case 22. By controlling the transmission 42 by the transmission control device 16 and appropriately adjusting the angle of the swash plate, the transmission ratio of the transmission case 22 can be set to a desired transmission ratio.

  The lifting actuator 44 moves the working machine 3 to a retracted position (a position where farm work is not performed) or a work position (a position where farm work is performed), for example, by operating a three-point link mechanism connecting the work machine 3 to the body 2. Either raise or lower. By controlling the lifting / lowering actuator 44 by the working machine control device 17 to appropriately move the working machine 3 up and down, farm work can be performed by the working machine 3 at a desired height in a field area, for example.

The engine control device 15 includes a rotation speed sensor 31 for detecting the rotation speed of the engine 10, a vehicle speed sensor 32 for detecting the rotation speed of the rear wheel 8, and a turning angle (steering angle) of the steering wheel 12.
The detection value of a sensor such as the steering angle sensor 33 for detecting the rotation angle is converted into a detection signal and transmitted.

  The tractor 1 including the control devices 15 to 17 described above communicates with each other via the vehicle bus line 18 based on various operations performed by an operator boarding the cabin 11, and By controlling each part (the machine body 2, the working machine 3, etc.), it is configured to be able to perform the agricultural work while traveling in the field. In addition, the tractor 1 of the embodiment can autonomously travel on the basis of a predetermined control signal output from the remote control device 70, for example, without an operator boarding.

  More specifically, as shown in FIG. 3, the tractor 1 is provided with various components such as an autonomous traveling control device 51 for enabling autonomous traveling. Further, the tractor 1 has various components such as a positioning antenna 6 necessary for acquiring position information of (the aircraft itself) based on the positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and travel autonomously on the field.

  Next, the configuration of the tractor 1 for autonomous traveling will be described in detail. Specifically, as shown in FIGS. 1 and 3, the tractor 1 includes an autonomous traveling control device 51, a steering control device 52, a positioning and surveying device 53, a wireless communication router (low power data communication device) 54, and a remote control receiver. (Specific low power wireless device) 55, steering actuator 43, positioning antenna 6, wireless communication antenna unit 48, and the like.

  The autonomous traveling control device 51 and the steering control device 52 are configured to be able to communicate with each of the engine control device 15, the transmission control device 16, and the work implement control device 17 via the vehicle bus line 18. In addition, the autonomous traveling control device 51 includes a positioning and surveying device 53, a wireless communication router 54, and an autonomous traveling bus line 56 in an autonomous traveling communication system that is different from the steering communication system using the vehicle bus line 18. The remote control receiver 55 can communicate with each other.

  The steering actuator 43 is provided, for example, in the middle of the rotation axis (steering axis) of the steering handle 12 and adjusts the turning angle (steering angle) of the steering handle 12. When the tractor 1 travels on a predetermined route (as an unmanned tractor), the steering control device 52 calculates an appropriate rotation angle of the steering handle 12 so that the tractor 1 travels along the route, and calculates the rotation angle. The steering actuator 43 is controlled so that the steering handle 12 rotates at the rotation angle thus set. Further, the steering control device 52 communicates with the engine control device 15, the transmission control device 16, and the work implement control device 17 via the vehicle bus line 18 to execute steering according to the vehicle speed of the tractor 1. it can. The steering actuator 43 does not adjust the turning angle of the steering handle 12 but may adjust the steering angle of the front wheel 7 of the tractor 1. Does not rotate.

  The positioning antenna 6 receives a signal from a positioning satellite constituting a positioning system such as a satellite positioning system (GNSS), for example. As shown in FIG. 1, the positioning antenna 6 is arranged on the upper surface of the roof 14 in the cabin 11. The signal received by the positioning antenna 6 is input to the positioning surveying device 53 shown in FIG. 3, and the positioning surveying device 53 converts the position information of the tractor 1 (strictly speaking, the positioning antenna 6) into, for example, latitude / longitude information. Is calculated. The position information calculated by the positioning and surveying device 53 is obtained by the autonomous traveling control device 51 and used for controlling the tractor 1.

The positioning and surveying device 53 is electrically connected to the first wireless communication antenna 48a in the wireless communication antenna unit 48, and is described later through a first wireless communication network (for example, a 920 MHz band wireless communication network) using specific low-power radio. Communication with a reference station (portable reference station) 60 to be performed. As shown in FIG. 1, the wireless communication antenna unit 48 is arranged on the top surface of the roof 14 in the cabin 11. The positioning surveying device 53 corrects the satellite positioning information of the tractor 1 (mobile station) by receiving correction information (positioning correction information) from the reference station 60 installed near the field via the first wireless communication antenna 48a. Then, the current position of the tractor 1 is obtained. For example, various 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 in addition to having the positioning antenna 6 in the tractor 1 on the mobile station side, a reference station 60 having a reference station positioning antenna 61 is provided. The reference station 60 is disposed at a position (reference point) that does not hinder the traveling of the tractor 1, such as around a field. Position information of a reference point that is an installation position of the reference station 60 is set in advance. The reference station 60 is provided with a reference station communication device 62 capable of communicating via a first wireless communication network constructed between the positioning surveying device 53 of the tractor 1 and a communication device using the first wireless communication antenna 48a.

  In the RTK positioning, the carrier phase (satellite positioning information) from the positioning satellite 63 is measured by both the reference station 60 installed at the reference point and the positioning antenna 6 of the tractor 1 on the side of the mobile station whose position information is to be obtained. ing. The reference station 60 generates correction information including the measured satellite positioning information and the position information of the reference point each time the satellite positioning information is measured from the positioning satellite 63 or every time the set period elapses, and the reference station communication device 62 Transmits the correction information to the first wireless communication antenna 48a of the tractor 1. The positioning surveying device 53 of the tractor 1 (corresponding to a mobile station) corrects the satellite positioning information measured by the positioning antenna 6 using the correction information transmitted from the reference station 60, and obtains the current position information of the tractor 1 ( For example, latitude information / longitude information).

  In this embodiment, a high-precision satellite positioning system using the GNSS-RTK method is used. However, the present invention is not limited to this, and another positioning system may be used as long as high-precision position coordinates can be obtained. You may. The GNSS-RTK is a positioning method in which the accuracy is improved by correcting based on information of a reference station whose position is known, and there are a plurality of methods depending on the method of distributing information from the reference station. Since the present invention does not depend on the GNSS-RTK method, details of the present embodiment are omitted.

  The positioning surveying device 53 can measure not only the position information of the tractor 1 (body 2) by satellite positioning but also the inclination angle information of front, rear, left and right by inertial measurement. The tilt angle information measured by the positioning surveying device 53 is acquired by the autonomous traveling control device 51 in a state where it is associated with position information (latitude / longitude information), and is used for controlling the tractor 1. In addition, the positioning surveying device 53 can also measure the height position of the positioning antenna 6 with respect to the field scene, and thus the vehicle height of the tractor 1 (body 2).

  The wireless communication antenna unit 48 is disposed on the upper surface of the roof 14 of the cabin 11 of the tractor 1 and is connected to first to third wireless communication networks having different frequency bands for communication. It has. The first wireless communication network is constructed by, for example, a 920 MHz band specific low-power radio having a high data transmission rate in order to communicate positioning correction information from the reference station 60. The second wireless communication network is constructed with, for example, a 2.4 GHz band low power data communication system or the like in order to perform high-speed data communication such as image data. Since the third wireless communication network has a smaller data transmission amount than the second wireless communication network, it is constructed, for example, with a 400 MHz band specific low-power wireless communication. Note that a part of the antennas 48a to 48c may be arranged in the cabin 11.

  The first wireless communication antenna 48a is electrically connected to the positioning surveying device 53, the second wireless communication antenna 48b is electrically connected to the wireless communication router 54, and the third wireless communication antenna 48c is It is electrically connected to the remote control receiver 55. The wireless communication router 54 connected to the second wireless communication antenna 48b communicates with the remote operation device 70 capable of displaying an image operated by an operator outside the tractor 1 through the second wireless communication network. The wireless communication router 54 receives a control signal from the remote control device 70 and transmits the control signal to the autonomous travel control device 51 via the autonomous travel bus line 56. The remote control receiver 55 connected to the third wireless communication antenna 48c communicates with the emergency stop remote control 71 operated by an operator outside the tractor 1 through the third wireless communication network. The remote control receiver 55 receives a control signal from the emergency stop remote controller 71 and transmits the control signal to the autonomous traveling control device 51 via the autonomous traveling bus line 56.

  The remote control device 70 is specifically configured as a tablet-type personal computer having a touch panel. The operator can confirm by referring to information displayed on the touch panel of the remote control device 70 (for example, information on a field necessary for performing autonomous traveling). Further, the operator operates the remote control device 70 to transmit a control signal for controlling the tractor 1 to the autonomous traveling control device 51 of the tractor 1. Note that the remote control device 70 of the embodiment is not limited to a tablet-type personal computer, but may be configured by, for example, a notebook-type personal computer. Alternatively, a monitor device mounted on another tractor different from the tractor 1 can be used as the remote control device.

  The autonomous traveling control device 51 compares the traveling route generated by the remote control device 70 with the position information of the tractor 1, and performs autonomous operation at a prescribed traveling speed while causing the tractor 1 to perform prescribed work along the traveling route. In order to make the vehicle travel, the steering angle of the tractor 1, the target engine speed, the gear ratio, and the like are calculated and communicated with the control devices 15 to 17 and 52 via the vehicle bus line 18. Thereby, the tractor 1 can perform the agricultural work by the work implement 3 while autonomously traveling along the traveling route. As described above, a route in the field area (traveling area) in which the tractor 1 autonomously travels may be referred to as a “traveling path” in the following description. In the field area (running area), an area (work area) to be subjected to the agricultural work by the work machine 3 of the tractor 1 is determined as an area excluding the headland and the allowance from the entire field area. Are set based on these registered points and the working width of the tractor 1 when the registered point is registered.

  The emergency stop remote control 71 is a remote control switch for urgently stopping the tractor 1, and is owned by an operator who operates the remote control device 70. When an operator operates the switch, the emergency stop remote control 71 sends an emergency stop control signal. Send. The emergency stop remote controller 71 transmits an emergency stop control signal when the operator presses the emergency stop button 72. Further, the emergency stop remote controller 71 is configured to be detachable from the remote control device 70 and configured to be attachable to a strap (a string-shaped member) so as to be tightly attached to a body such as hanging on an operator's neck.

  The autonomous traveling control device 51 stops the fuel injection in the common rail device 41 by communicating with the engine control device 15 based on the operation of the emergency stop button 72 on the emergency stop remote control 71 by the operator, and the transmission control device. The communication with the transmission 16 causes the transmission 42 to be in the neutral state, and then causes a braking operation by the brake device 26 to be described later. At this time, the autonomous traveling control device 51 controls the steering actuator 43 so that the steering wheel 12 is set to the neutral position by communicating with the steering control device 52, and directs the left and right front wheels 7, 7 in the straight traveling direction. It may be.

  The autonomous traveling control device 51 communicates with the reference station 60 in the positioning and surveying device 53 (communication state in the first communication network), and communicates with the remote control device 70 in the wireless communication router 54 (communication state in the second communication network). And the communication state (communication state in the third communication network) of the remote control receiver 55 with the emergency stop remote controller 71 is confirmed via the autonomous traveling bus line 56. When confirming that the communication state in any one of the first to third communication networks has been interrupted, the autonomous traveling control device 51 communicates with the engine control device 15, the transmission control device 16, and the like to thereby control the tractor 1 Emergency stop of autonomous driving. The autonomous traveling control device 51 shuts down communication with the communication partner when the positioning surveying device 53, the wireless communication router 54, and the remote control receiver 55 do not each receive a signal from the communication partner for a predetermined period or more. Is determined to have been made.

  Further, the tractor 1 is provided with a pair of left and right brake devices 26, 26 for applying brakes to the left and right rear wheels 8, 8 by two systems of operation and automatic control of a brake pedal and a parking brake lever. That is, both the left and right brake devices 26, 26 are configured to apply a brake to both the left and right rear wheels 8, 8 by operating the brake pedal (or the parking brake lever) in the braking direction. Further, when the rotation angle of the handle 12 becomes equal to or larger than a predetermined angle, the brake device 26 for the rear wheel 8 on the inside of the turning automatically performs a braking operation according to a command of the transmission control device 16 (see FIG. So-called autobrake).

  The portable reference station 60 includes a reference station wireless communication antenna 64 for delivering correction information, a reference station positioning antenna 61 for receiving a signal from the positioning satellite 63, and a reference station electrically connected to each of the wireless communication antenna 64 and the positioning antenna 61. And a communication device 62. The portable reference station 60 is installed at a reference point in specifying the position of the tractor (work vehicle) 1 serving as a mobile station. The portable reference station 60 is configured to be disassembled into a plurality of members, and each disassembled member is configured to have a size that can be accommodated in a predetermined case and transported.

  After assembling the disassembled member, the portable reference station 60 installed at the reference point sends a signal from the positioning satellite 63 received by the reference station positioning antenna 61 to the reference station communication device 62, and the satellite positioning information measured by the reference station communication device 62. And correction information including position information of the reference point and the like. Then, the portable reference station 60 distributes the correction information generated by the reference station communication device 62 via the first wireless communication network.

<Wireless communication terminal device (remote operation device and emergency stop remote control)>
Next, an embodiment of the wireless communication terminal device 88 will be described with reference to FIGS. As shown in FIG. 7, as a wireless communication terminal device 88 for operating the unmanned tractor 1 which is an autonomous traveling work vehicle, a remote operation device (terminal device main body) 70 for executing wireless communication with the tractor 1 and a remote controller 71 for emergency stop are provided. Have. The remote control device 70 and the emergency stop remote controller 71 each communicate with the tractor 1 through wireless communication networks having different communication systems. The remote control device 70 includes a display 74 that can be operated with a touch panel. The emergency stop remote control 71 is configured to be detachable from the outer frame of the remote control device 70. In addition, the emergency stop remote controller 71 includes an emergency stop button 72 for stopping the tractor 1 from running autonomously, and a start button (start button) 73 for restarting the tractor 1 from running autonomously. The emergency stop button 72 and the start button 73 are each constituted by a momentary type switch that conducts a contact when pressed, and the emergency stop button 72 also functions as a power-on switch. Note that “restarting the autonomous traveling of the tractor 1” means that after the autonomous traveling is started by the remote control device 70, the autonomous traveling is temporarily stopped, and then the autonomous traveling is restarted. The temporary stop of the autonomous traveling may be performed by the remote control device 70 or may be performed by the emergency stop remote controller 71. The temporary stop of the autonomous running by the emergency stop remote controller 71 may be executed by, for example, operating the start button 73, or a temporary stop remote controller different from the emergency stop remote controller 71 may be used. Is also good.

  As shown in FIGS. 4 and 5, the remote control device 70 includes a display 74 on a front surface 70a, a camera 75 on a rear surface 70b, a terminal cover 76 for a power connection terminal on a right side surface 70c, and a left side surface 70d And a terminal cover 77 for an external connection terminal to which a USB or the like can be connected. In addition, a remote control mounting portion 79 is detachably mounted on the outer peripheral portion of the upper right portion of the remote control device 70 from the front surface 70a to the rear surface 70b via the upper surface 70e. The remote control mounting portion 79 has a substantially U-shaped cross section, and has a tapered ridge 80 having a width narrower toward the base end on the upper surface thereof.

  As shown in FIG. 6, the emergency stop remote controller 71 has a vertically long substantially rectangular parallelepiped shape, and includes an emergency stop button 72, a start button 73, and a lamp 81 on a front surface 71a. The lamp 81 is configured by an LED, and notifies the state of the tractor 1 by, for example, turning off, lighting, blinking, or a change in color. The emergency stop remote controller 71 has a built-in buzzer 155 (see FIG. 9) for notifying the state of the tractor 1 by voice. The operator can recognize the state of the tractor 1 by the notification operation of the lamp 81 and the buzzer 155 even when the operator carries the emergency stop remote controller 71 alone, even in a situation where the tractor 1 is slightly away from the autonomously traveling tractor 1, thereby improving safety. it can.

  A suspending member attaching portion 83 to which a suspending member 82 such as a strap can be attached is provided on one end surface 71b of the emergency stop remote controller 71. On one side surface 71c of the emergency stop remote controller 71, a mounting groove 84 is provided to engage with the ridge 80 of the remote controller mounting portion 79. The mounting groove 84 is formed from a middle portion of the one side surface 71c to one end surface 71b, has a tapered shape that becomes narrower toward the one side surface 71c, and the end of the one side surface 71c is opened. In the present embodiment, the hanging member mounting portion 83 is provided on one end surface 71b of the emergency stop remote controller 71 on which the emergency stop button 72 is provided, but the other end surface (that is, the emergency stop remote controller 71) is used. May be provided on the side where the start button 73 is provided).

  As shown in FIGS. 7 and 8, the emergency stop remote controller 71 is configured such that the mounting groove 84 is engaged with the ridge portion 80 of the remote controller mounting portion 79 mounted on the remote controller 70, whereby the remote controller 70 is stopped. Removably attached to. The emergency stop remote controller 71 is attached to the remote controller attachment unit 79 so that the front surface 71a faces the same direction as the front surface 70a of the remote control device 70.

  In addition, an emergency stop button image 86 for stopping the autonomous traveling of the tractor 1 is displayed on the upper right portion of the display 74 of the remote control device 70, and a start or stop button image for starting or stopping the autonomous traveling of the tractor 1 is displayed. 87 is displayed in the upper left part of the display 74. In this way, the emergency stop button image 86 is displayed near the mounting position of the emergency stop remote controller 71 on the display 74, so that the emergency stop button 72 and the emergency stop button image 86 can be arranged collectively. When the operator wants to stop the tractor 1 urgently, the positions of the emergency stop button 72 and the emergency stop button image 86 can be easily recognized, so that delay and erroneous operation of the emergency stop operation can be suppressed.

  In addition, since the start of the wireless communication with the tractor 1 is not performed urgently, the start button 73 and the start or stop button image 87 are mutually moved with the emergency stop remote control 71 attached to the remote control device 70. Even if they are arranged at distant positions, the risk of erroneous operation is low, and there is no particular problem.

In addition, since the operation of the emergency stop button image 86 is to press (touch) the touch panel display 74, the operator does not feel the pressing operation, but the emergency stop button 72 can be pressed firmly. The feeling of a push operation is obtained. The operator may use either the emergency stop button 72 or the emergency stop button image 86 when urgently stopping the tractor 1.

  The emergency stop remote controller 71 with which the tractor 1 can communicate is not limited to one, and can communicate with a plurality of emergency stop remote controllers 71. An operator other than the operator who operates the remote control device 70 (including an operator who is working in the same field) carries the emergency stop remote controller 71 and notifies the tractor by notifying the lamp 81 and the buzzer 155. 1 can be recognized and the emergency stop button 72 of the emergency stop remote controller 71 can be operated in an emergency, so that the monitoring system of the tractor 1 that travels autonomously can be improved, and the safety of workers in the field can be improved.

<Emergency stop remote control>
Next, the internal configuration and each operation of the emergency stop remote controller 71 will be described below with reference to FIGS. As shown in FIG. 9, the emergency stop remote control 71 includes a wireless communication antenna 151 and a communication interface 152 that are connected to a third wireless communication network so as to be able to communicate with the remote control receiver 55 in the tractor 1. In addition, the emergency stop remote controller 71 includes a control unit 153 that controls each unit in the emergency stop remote controller 71, and a memory 154 that stores a receiver ID of the remote control receiver 55 that is a communication partner. Further, the emergency stop remote controller 71 includes an emergency stop button 72 and a start button 73 that are operated by an operator, and a lamp 81 and a buzzer 155 that perform a notification operation to the operator.

  When a switching signal is generated by the contact / separation of the contact based on the operation of the emergency stop button 72 and is input to the control unit 153, the control unit 153 performs power-on or emergency stop based on the state of the switching signal. judge. In addition, when a switching signal is generated and input to the control unit 153 by the contact / separation of the contact based on the operation on the start button 73, the control unit 153 performs a mutual authentication process (pairing process) with the remote control receiver 55. ). The control unit 153 executes communication with the remote control receiver 55 by controlling the communication interface 152. Then, the control unit 153 operates the lamp 81 and the buzzer 155 according to the state of the tractor 1 based on the signal from the remote control receiver 55 and the remaining battery level in the emergency stop remote control 71.

  As shown in FIG. 10, when the emergency stop button 72 is operated by the operator, the emergency stop remote controller 71 is turned on by the control unit 153 and starts the communication operation by the communication interface 152. That is, when the operator separates the contacts of the switch constituting the emergency stop button 72 after the contact is connected, a switching signal having a rise and a fall based on the contact and separation of the emergency stop button 72 is input to the control unit 153. The control unit 153 determines that power-on has been instructed, executes power-on to the control unit 153, and starts communication operation by the communication interface 152.

  When the emergency stop button 72 is operated by the operator after turning on the power to the control unit 153, the control unit 153 determines that the emergency stop of the tractor 1 has been instructed. Then, the emergency stop remote controller 71 transmits an emergency stop signal from the communication interface 152 to the remote controller receiver 55 of the tractor 1. That is, when a contact of a switch constituting the emergency stop button 72 is connected by an operator and a switching signal having a rise based on the connection of the emergency stop button 72 is input to the control unit 153, the control unit 153 sets the tractor 1 The emergency stop signal is immediately transmitted to the remote control receiver 55 from the communication interface 152.

  The emergency stop remote controller 71 is configured such that the emergency stop button 72 is turned on when the switch is pressed, and also functions as a power-on switch. Then, the control unit 153 executes power-on when the contact of the emergency stop button 72 is connected and then separated, and after the power-on, when the contact of the emergency stop button 72 is connected, through the communication interface 152. A stop signal is transmitted to the tractor 1 to stop the autonomous traveling of the tractor 1. As a result, the emergency stop button 72 can be provided with two functions, and the number of switches provided on the emergency stop remote control 71 can be reduced to a small number, so that the emergency stop remote control 71 can be downsized.

  Further, if an oxide film is formed at the contact of the emergency stop button 72 so that it does not conduct even when the emergency stop button 72 is pressed, power cannot be turned on by operating the emergency stop button 72. Therefore, the malfunction of the emergency stop button 72 can be confirmed before the power of the emergency stop remote control 71 is turned on without operating the emergency stop remote control 71. Therefore, the emergency stop remote control is required before the tractor 1 starts autonomous traveling. It is possible to make the operator recognize that the emergency stop by the operation to 71 is impossible.

  If the emergency stop button 72 does not return even if it is pressed due to a failure, the contact state of the emergency stop button 72 continues when the emergency stop button 72 is operated to turn on the power. At this time, after confirming the connection of the contact of the emergency stop button 72 (rising of the switching signal), the control unit 153 determines the separation of the contact of the emergency stop button 72 (falling of the switching signal) even after a predetermined time has elapsed. If it is not confirmed, the power may not be turned on. Thus, the emergency stop button 72 can be checked for a defect before the emergency stop remote control 71 is turned on. Therefore, it is impossible to perform an emergency stop by operating the emergency stop remote control 71 before the tractor 1 starts autonomous traveling. Can be recognized by the operator.

  As described above, the emergency stop remote controller 71 includes the communication interface 152 that communicates with the autonomously traveling work vehicle, the emergency stop button 72 that stops the autonomous traveling of the tractor 1, and the control unit that controls the communication operation by the communication interface 152. 153, and the emergency stop button 72 is constituted by a switch that contacts and separates contacts, and also functions as a power-on switch. Since the emergency stop button 72 is also used as a power-on switch, the operator can confirm the presence or absence of a failure or power shortage at the time of power-on by checking whether or not the power can be turned on based on the operation of the emergency stop button 72. Therefore, before starting the autonomous running of the tractor 1, the accident based on the failure of the emergency stop remote controller 71 during the automatic running of the tractor 1 is prohibited, for example, by prohibiting the use of the faulty emergency stop remote controller 71. Can be prevented. Further, by using the emergency stop button 72 also as a power-on switch, not only the operation time for emergency stop can be shortened, but also the emergency stop remote controller 71 can be made compact so that the operator can easily carry it.

The control unit 153 turns on the power when the operation on the emergency stop button 72 satisfies the first criterion before the power is turned on, and on the other hand, when the operation on the emergency stop button 72 satisfies the second criterion after the power is turned on. Then, a stop signal for stopping the autonomous traveling of the tractor 1 is transmitted from the communication interface 152. The time required for the operation of the emergency stop button 72 to satisfy the first criterion is longer than the time required for the operation of the emergency stop button 72 to satisfy the second criterion. By shortening the operation time of the emergency stop button 72 for transmitting the stop signal compared to the operation time of the emergency stop button 72 for turning on the power, the emergency stop signal transmission operation can be performed. The operation to the button 72 can be immediately performed. Therefore, when the emergency stop button 72 is operated during autonomous traveling of the tractor 1, the time for stopping the tractor 1 can be shortened, so that safety during autonomous traveling of the tractor 1 can be guaranteed. On the other hand, by extending the operation time of the emergency stop button 72 for turning on the power, the operator can recognize the state of the remote controller 71 for emergency stop.

  The control unit 153 determines that the first criterion is satisfied when detecting both the contact and separation of the contact at the emergency stop button 72, and determines one of the contact and separation of the contact at the emergency stop button 72 (the contact in this embodiment). Connection) is determined to satisfy the second criterion. While the emergency stop button 72 can be prevented from being turned on by the physical fixation of the emergency stop button 72 or accidental contact, the emergency stop of the tractor 1 can be reliably stopped after the power is turned on. You can instruct and ensure safety.

  As shown in FIG. 11, when the power supply to the control unit 153 is executed, the emergency stop remote controller 71 notifies the power-on, and then, every predetermined time Tx (for example, 1 second), sets the operation time (wake-up time). ) The power is supplied to the control unit 153 for Tx1 (Tx1 <Tx, for example, 0.3 seconds), and a state in which the communication interface 152 can perform a reception operation (wake-up state). During the sleep time Tx2 (= Tx-Tx1) other than the operation time Tx1 at the predetermined time Tx, the emergency stop remote controller 71 sets the control unit 153 to a state in which the communication interface 152 does not perform the reception operation (sleep state), and Reduce power consumption after switching on. At this time, by setting the operation time Tx1 shorter than the sleep time Tx2, the power consumption of the emergency stop remote controller 71 after the power is turned on can be significantly reduced, and at the same time, the transmission from the remote control receiver 55 is performed every predetermined time Tx. The received communication establishment confirmation signal (heartbeat signal) can be reliably received.

  Next, the state notification operation of the emergency stop remote controller 71 will be described below with reference to the flowcharts of FIGS. The emergency stop remote controller 71 includes a lamp 81 and a buzzer 155 as a notification unit that can notify the operation state of the tractor 1 and the communication state with the remote control receiver (wireless communication device) 55, respectively. By providing the lamp 81 and the buzzer 155 as the notification unit, the communication state with the remote control receiver 55 is notified, so that the operator can easily recognize that the remote control by the emergency stop remote control 71 is possible. In addition, the operating state of the tractor 1 is also notified, so that the traveling state of the tractor 1 can be grasped even when the tractor 1 is located at a position away from the operator.

  The lamp 81 is configured by an LED (light emitting unit) that emits light in a plurality of light emitting modes, and the buzzer 155 is configured as a sound output unit that outputs a plurality of sounds. The emergency stop remote controller 71 notifies each of the normal operation of the tractor 1, the stop of the tractor 1, the communication abnormality with the remote control receiver 55, and the decrease in the remaining battery level by a combination of the light emission mode of the lamp 81 and the sound of the buzzer 155. I do. By changing the operation of the lamp 81 and the buzzer 155, it is possible to notify each of a normal operation, a communication abnormality, and a stop of the tractor 1, so that the emergency stop remote controller 71 is compactly configured. In addition, while being portable, the operator can effectively grasp the communication state and the traveling state.

  As shown in FIG. 12, when the operation to the emergency stop button 72 satisfies the first criterion in the power-off state (that is, when the power-on operation is performed) (Yes in STEP 1), the control unit 153 operates as shown in FIG. , The power is turned on, and the communication by the wireless communication antenna 151 and the communication interface 152 is enabled (STEP 2). The control unit 153 turns on the lamp 81 and outputs sound from the buzzer 155 to notify that the power is turned on (STEP 3). At this time, for example, the lamp 81 is turned on in the first color (green) for a predetermined time Ty1 (2 seconds) and then turned off for a predetermined time Ty2 (1 second), and the buzzer 155 is turned on for a predetermined time Tz1 (0.1 second). To fire. When performing the power-on notification operation, the control unit 153 holds the wake-up state and prohibits the transition to the sleep state.

The emergency stop remote controller 71 is in a wake-up state, and has a predetermined time T (for example, 1 second).
When the heartbeat signal transmitted from the remote control receiver 55 of the tractor 1 is received by the communication interface 152 before the time elapses, it is notified that communication with the remote control receiver 55 has been established (STEP 4 to STEP 6). That is, the control unit 153 receives the heartbeat signal from the remote control receiver 55 of the tractor 1, confirms that the communication with the remote control receiver 55 is normal, and notifies that the communication has been established. To this end, the lamp 81 is turned on and the sound is output from the buzzer 155.

  In STEP 6, for example, during the operation time Tx1 during which the emergency stop remote controller 71 is in the wake-up state, the lamp 81 is turned on in the first color (green), and the buzzer 155 is turned on for a predetermined time Tz2 (0.1 second). ) Is intermittently repeated. That is, when communication with the remote control receiver 55 is established, the emergency stop remote controller 71 causes the lamp 81 to start blinking in the first color (green) for each time Tx, and the buzzer 155 to operate immediately after the communication is established. Alerts repeatedly when in wake-up state.

  After the communication with the remote control receiver 55 is established, the emergency stop remote controller 71 confirms the reception of the heartbeat signal from the remote control receiver 55 every time Tx, and receives the heartbeat signal before the predetermined time Tx elapses. If so, the operation state of the tractor 1 is confirmed (STEP 7 to STEP 9). At this time, when the tractor 1 is performing the work operation normally (No in STEP 9), the emergency stop remote controller 71 notifies that the autonomous traveling of the tractor 1 is normal (normal operation) (STEP 10). Then, the process proceeds to STEP7. In STEP 10, for example, during the operation time Tx1 during which the emergency stop remote controller 71 is in the wake-up state, the lamp 81 is lit in the first color (green). That is, when communication with the remote control receiver 55 is established, the emergency stop remote controller 71 causes the lamp 81 to blink in the first color (green) every time Tx.

  When the tractor 1 is stopped (Yes in STEP 9), the emergency stop remote controller 71 notifies that the tractor 1 is stopped (stop of the tractor 1) (STEP 11). In STEP 11, for example, the lamp 81 blinks in the second color (red) every predetermined time Ty2, and the buzzer 155 emits a predetermined time Tz2 (Tz2> Tz1). At this time, the blinking cycle Ty2 of the lamp 81 in the second color is set to the same time as the predetermined time Tx, the lighting time for each blinking cycle is set to the same time as the operation time Tx1, and N cycles (for example, 3 cycles) ), The transition to the sleep state may be prohibited, and the alarm time Tz2 of the buzzer 155 may be set to time N × Tx + Tx1. As a result, immediately after recognizing the stop of the tractor 1, the lamp 81 is flashed in the second color for N cycles, and at the same time, after the buzzer 155 is issued, the wake-up state and the sleep state are repeated, and the wake-up is repeated. In this state, the stop of the tractor 1 is notified by lighting only the lamp 81 in the second color.

  When the emergency stop remote controller 71 cannot receive the heartbeat signal from the remote controller receiver 55 (No in STEP5 or No in STEP7), the communication with the remote controller receiver 55 of the tractor 1 is interrupted. (Communication error) is notified (STEP 12). In STEP 12, for example, the lamp 81 blinks in the third color (yellow) every predetermined time Ty3, and the buzzer 155 issues a predetermined time Tz3 (Tz3> Tz1). At this time, the flashing cycle Ty3 of the lamp 81 in the third color is set to the same time as the predetermined time Tx, and the lighting time for each flashing cycle is set to the same time as the operating time Tx1, as in the case of notifying the stop of the tractor 1. At the same time, the transition to the sleep state for N cycles (for example, three cycles) may be prohibited, and the alarm time Tz3 of the buzzer 155 may be set to N × Tx + Tx1.

The emergency stop remote controller 71 is equipped with a battery (not shown) as a power supply, detects the remaining battery level by the control unit 153, and notifies the user with a lamp 81 and a buzzer 155 when the remaining battery level becomes low. Notify the battery capacity drop by the unit. As shown in FIG.
Detects the power supply voltage and the power supply current at the time of energization after the power is turned on, and calculates the remaining battery power from the change amounts of the power supply voltage and the power supply current (STEP 21).

  The emergency stop remote controller 71 notifies the battery remaining amount calculated by the control unit 153 to the remote controller receiver 55 of the tractor 1 via the wireless communication antenna 151 and the communication interface 152 (STEP 22). When the tractor 1 receives the remaining battery level notification signal with the third wireless communication antenna 48c and the remote control receiver 55 and checks the remaining battery level of the emergency stop remote controller 71, the second wireless communication antenna 48b and the wireless communication router 54 , A battery remaining amount notification signal is transmitted to the remote control device 70. The remote control device 70 recognizes the battery remaining amount of the emergency stop remote controller 71 based on the received battery remaining amount notification signal, and displays the battery remaining amount of the emergency stop remote controller 71 on the display 74.

  When the controller 153 determines that the calculated remaining battery level is equal to or less than the predetermined amount X% (for example, 5%), the emergency stop remote controller 71 notifies the user of the decrease in the remaining battery level (STEP 23 to STEP 24). . In STEP 24, for example, during the operation time Tx1 during which the emergency stop remote controller 71 is in the wake-up state, the lamp 81 is lit in the second color (red), and the buzzer 155 is set to the predetermined time Tz4 (0.1 second). ) Is intermittently repeated. That is, when the emergency stop remote controller 71 confirms that the remaining battery level is low, the lamp 81 starts blinking in the second color (red) every time Tx and the buzzer 155 is in the wake-up state immediately after the communication is established. (For example, twice).

  As described above, the emergency stop remote controller 71 is supplied with electric power from a battery, and when the remaining battery level becomes equal to or less than a predetermined value, the notification unit using the lamp 81 and the buzzer 155 outputs the remaining battery level. A predetermined notification indicating a decrease is given. Therefore, since the battery level drop can be confirmed by the notification unit of the emergency stop remote controller 71, a separate device (remote control device 70) for checking the battery level of the emergency stop remote controller 71 is not required, and the tractor 1 is moved to the field. The battery remaining of the remote controller 71 for emergency stop can be recognized before the operation is performed, and the battery can be replaced. For example, running out of the battery during the operation can be prevented.

  The emergency stop remote controller 71 performs the following control when any one of the communication abnormality and the stop of the tractor 1 occurs and the battery remaining amount becomes a predetermined value or less (battery remaining amount decreases). One of the lamp 81 and the buzzer 155 is caused to execute a notification indicating a communication abnormality and the stop of the tractor 1, and the other of the lamp 81 and the buzzer 155 is notified to indicate a decrease in the remaining battery level. By notifying different events (communication abnormality or tractor 1 stoppage and remaining battery level) by the sound of the buzzer 155 and the light emission of the lamp 81, the operator can recognize that a plurality of problems have occurred.

  When the control unit 153 recognizes that the tractor 1 has stopped and the remaining battery level has decreased at the same time, the emergency stop remote controller 71 according to the present embodiment first sets the lamp 81 to the second position to notify the tractor 1 of the stop. The buzzer 155 emits a predetermined time Tz2 at the same time that the color (red) blinks at a predetermined time Ty2 (the same time as the operation time Tx1). Thereafter, during the operation time Tx1 during which the emergency stop remote controller 71 is in the wake-up state, the lamp 81 is lit in the second color (red), and the buzzer 155 emits the predetermined time Tz4 (0.1 second). The information is intermittently repeated to notify the battery level drop. Thus, after notifying the stoppage of the tractor with a high priority, it is possible to continue notifying the decrease in the remaining battery level, and the operator can immediately respond to the stoppage of the tractor 1 and to operate the emergency stop remote controller 71. Recognize battery replacement.

When the control unit 153 simultaneously recognizes the communication abnormality with the remote control receiver 55 and the low battery level, it first turns on the lamp 81 in the second color (red) for a predetermined time in order to notify the communication abnormality. At the same time as blinking every Ty3 (the same time as the operation time Tx1), the buzzer 155 emits a predetermined time Tz3. Thereafter, during the operation time Tx1 during which the emergency stop remote controller 71 is in the wake-up state, the lamp 81 is turned on in the second color (red), and the buzzer 155 is turned on for a predetermined time Tz4 ( (0.1 second) is intermittently repeated to notify the battery level drop. As a result, it is possible to continue to notify of the decrease in the remaining battery level after notifying the communication abnormality having a high priority, and the operator can immediately respond to the stop of the tractor 1 and the battery of the remote controller 71 for emergency stop. Can recognize exchange.

  In the autonomous traveling system according to the present embodiment, a plurality of emergency stop remote controllers 71 can be used for one tractor 1. That is, when three emergency stop remote controllers 71 can be used for the autonomous driving system, three operators operate the emergency stop of the tractor 1 with the emergency stop remote controller 71, and one of the three operators The remote controller 70 and the emergency stop remote controller 71 are operated.

  At this time, the tractor 1 stops when communication with any one of the one remote control device 70 and the three emergency stop remote controllers 71 becomes impossible. If one of the three emergency stop remote controllers 71 becomes unable to communicate with the tractor 1 after the tractor 1 starts autonomous traveling, the emergency stop remote controller 71 that has become unable to communicate turns the lamp 81 into the third lamp. While the communication abnormality is reported as the color (yellow), the remaining two emergency stop remote controllers 71 report the stop of the tractor 1 using the lamp 81 as the second color (red). In other words, out of the plurality of emergency stop remote controllers 71, the emergency stop remote controller 71 that has lost communication with the tractor 1 uses the lamp 81 as the third color and has established communication with the tractor 1. Indicates that the lamp is in the second color.

  Also, by transmitting the remote control number of the emergency stop remote controller 71 that has become unable to communicate from the tractor 1 to the remote controller 70, the emergency stop remote controller 71 that becomes unable to communicate is displayed on the display of the remote controller 70. Can be displayed. Thereby, not only the operator who operates the emergency stop remote controller 71 having the communication abnormality but also the operator who operates the remote control device 70 can recognize which emergency stop remote controller 71 has become unable to communicate. Stopping can be safely dealt with.

  Further, by transmitting the remaining battery level of each of the plurality (three) of emergency stop remote controllers 71 together with the remote controller number from the tractor 1 to the remote controller 70, the remote controller 70 can determine the remaining battery level for each remote controller number. By recognizing the amount, the remaining battery level of each of the plurality of emergency stop remote controllers 71 can be displayed on the display 74. Therefore, the operator who operates the remote control device 70 needs to replace the batteries before the emergency stop remote controller 71 notifies the battery remaining amount low by recognizing the remaining battery level of each of the plurality of emergency stop remote controllers 71. The emergency stop remote controller 71 is confirmed, and the battery of the emergency stop remote controller 71 is prevented from running out, so that the autonomous traveling of the tractor 1 can be stably continued.

  The present invention is not limited to the above embodiment, but can be embodied in various forms. The configuration of each unit is not limited to the illustrated embodiment, and various changes can be made without departing from the spirit of the present invention.

1 Robot tractor (work vehicle)
48 wireless communication antenna unit 48a first antenna 48b second antenna 48c third antenna 51 autonomous traveling control device 52 steering control device 53 positioning side device 54 wireless communication router 55 remote control receiver 56 autonomous traveling bus line 70 remote control device (device) Body)
71 Remote controller for emergency stop 72 Emergency stop button 73 Start button (start button)
74 Display 81 Lamp (Notification part)
151 Wireless communication antenna 152 Communication interface 153 Control unit 154 Memory 155 Buzzer

Claims (4)

A communication interface for communicating with a work vehicle that autonomously travels, an emergency stop button for stopping the autonomous travel of the work vehicle, and an emergency stop remote control including a control unit that controls a communication operation by the communication interface,
A communication unit with the work vehicle and a notification unit that notifies the operation state of the work vehicle ,
The control unit confirms an abnormality in any of a communication state with the work vehicle and an operation state of the work vehicle, and confirms that a remaining amount of a battery mounted as a power supply is equal to or less than a predetermined value. In this case, the notification unit executes the first notification indicating the communication abnormality with the work vehicle or the operation abnormality of the work vehicle, and performs the second notification different from the first notification indicating the decrease in the remaining battery level. Remote control for emergency stop, characterized in that the remote control can be executed . The notification unit includes a light emitting unit that emits light in a plurality of light emission modes, and a sound output unit that outputs a plurality of sounds.
The communication state with the work vehicle, the operation state of the work vehicle, and a decrease in the remaining battery level are notified by a combination of a light emission mode of the light emitting unit and a sound of the sound output unit. Remote control for emergency stop. The first notification is executed by one of the light emitting unit and the audio output unit,
The emergency stop remote controller according to claim 2, wherein the second notification is executed by the other of the light emitting unit and the audio output unit. The emergency stop remote controller according to claim 1, wherein the first notification is performed before the second notification. 5.

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