JP7264395B2 - REMOTE CONTROL SYSTEM FOR WORK VEHICLE, REMOTE CONTROL DEVICE, AND REMOTE CONTROL METHOD - Google Patents

Description

TECHNICAL FIELD The present invention relates to a remote control system, a remote control device, and a remote control method for work vehicles, and is particularly suitable for use in a system for remotely controlling travel of a plurality of work vehicles.

In recent years, as the population of farmers has decreased, the consolidation of farmland to farmers and the expansion of the scale of management have progressed. Therefore, it is expected that it will become difficult to secure skilled workers in the future. Under these circumstances, it is required to realize highly productive farming techniques while coping with a large number of farms with a limited number of workers. For example, there are high expectations for the development of technology to increase the work area per worker by utilizing automated driving work vehicles.

In relation to this, conventionally, a system for remotely controlling travel of a plurality of autonomous travel work vehicles is known (see Patent Documents 1 and 2, for example). The control system described in Patent Document 1 makes the unmanned tractor autonomously travel and work while measuring the position of the unmanned tractor using a satellite positioning system. Specifically, the remote control device transmits information about the work area and work content of the field in charge to the unmanned tractor, makes the unmanned tractor autonomously travel and work, and monitors the state of the operation (autonomous travel and work) of the unmanned tractor. Monitor. In addition, the remote control device is configured to selectively operate multiple unmanned tractors such as emergency stop, temporary stop, restart, change of vehicle speed, change of engine speed, elevation of work equipment, turning on/off of PTO clutch, etc. It is

In addition, in the multi-vehicle parallel running work system described in Patent Document 2, two or more autonomous traveling work vehicles can be remotely controlled by one remote control device, and multiple vehicles are made to run side by side along a set travel route at the same time. get the work done. Specifically, when an operation to start work is performed by a remote control device, a plurality of autonomous working vehicles run side by side and perform work by reciprocating along a preset travel route in the field. carries a remote control device in its vicinity. The remote control device can control multiple autonomous working vehicles individually, and can switch to and operate each autonomous working vehicle, and can simultaneously control multiple vehicles for work start and emergency stop.

Japanese Patent No. 6384545 JP 2016-95659 A

When a work vehicle autonomously travels along a preset route, a situation may arise in which it is difficult to continue autonomous travel. For example, the vehicle may not be able to follow the route due to the influence of the soil condition, or may not be able to follow the route due to the presence of unintended obstacles. In such a case, it is necessary to stop the autonomous driving, but in order to proceed with the work efficiently even in such a case, it is required to drive the work vehicle by another method while ensuring safety.

However, although Patent Documents 1 and 2 describe emergency stopping of a plurality of unmanned tractors by remote control during autonomous travel, they do not consider how to continue the travel of the unmanned tractors. In particular, when multiple work vehicles are running autonomously at the same time, if it becomes difficult for any one or more of them to continue autonomous driving, how can multiple work vehicles be operated while ensuring safety? The issue is whether or not to run the work vehicle.

The present invention has been made to solve such problems, and it is possible to efficiently drive a plurality of work vehicles by appropriately switching between autonomous traveling and remote-controlled traveling while ensuring safety. The purpose is to enable

In order to solve the above-described problems, the present invention includes a vehicle control device mounted on each of a plurality of work vehicles, and a remote control device present outside the work vehicle, wherein the remote control device can be used to control the plurality of vehicle control devices. In a remote control system for a work vehicle configured to control the travel of a plurality of work vehicles according to instructions given to each of them, an autonomous travel mode in which autonomous travel is performed by automatic steering control of the vehicle control device along a set travel route, and and a remote-controlled travel mode in which remote-controlled travel is performed according to instructions including steering control transmitted from the remote control device to the vehicle control device, and the remote control device and the vehicle control device in which the remote-controlled travel mode is set at the same time. The setting of modes for a plurality of vehicle control devices is controlled so as not to be two or more.

According to the present invention configured as described above, when a plurality of work vehicles are simultaneously traveling in either the autonomous traveling mode or the remote-controlled traveling mode, a mode setting instruction is given in accordance with the operation of the remote operator. is controlled so that two or more vehicle control devices for which the remote-controlled travel mode is set are controlled at the same time. can be prevented from occurring. For this reason, when a situation occurs in which it is difficult for one or more of the work vehicles that are traveling to continue autonomous driving, two or more work vehicles will not enter the remote control driving mode at the same time. A plurality of work vehicles can continue to travel while switching modes. As a result, it is possible to efficiently drive a plurality of work vehicles by appropriately switching between autonomous traveling and remote-controlled traveling while ensuring safety.

1 is a diagram showing an example of the overall configuration of a remote control system for a work vehicle according to this embodiment; FIG. 1 is a block diagram showing a functional configuration example of a vehicle control device and a remote control device according to this embodiment; FIG. It is a figure which shows the hardware structural example of the operation part with which the remote control of this embodiment is provided. It is a figure which shows an example of the monitoring screen displayed on a display by the monitoring screen display control part of this embodiment. 4 is a flowchart showing an operation example of the remote control device according to the embodiment;

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing an example of the overall configuration of a remote control system for a work vehicle (hereinafter simply referred to as a remote control system) according to this embodiment. As shown in FIG. 1, the remote control system of the present embodiment is mounted on each of a plurality of work vehicles 100 _-1 to 100 _-4 (in the following description, simply referred to as work vehicles 100 unless otherwise distinguished). vehicle control devices 10 _-1 to 10 _-4 (in the following description, simply referred to as vehicle control devices 10 when they are not particularly distinguished) and base stations external to work vehicles 100 _-1 to 100 _-4 and a remote operator 20 residing in 200 .

Work vehicles 100 _-1 to 100 _-4 are provided with work machines 101 _-1 to 101 _-4 (in the following description, simply referred to as work machines 101 unless otherwise distinguished). The working machine 101 is arbitrary, but in this embodiment, as an example, it is assumed that the working machine 101 is a tiller that is used by being connected to the rear of the vehicle body. The work machine 101 is configured to be vertically movable. The work machine 101 is lowered during work and raised when not working.

The vehicle control device 10 and the remote control device 20 are connected via a wireless communication means such as a wireless LAN, so that mutual wireless communication can be performed. In the remote control system of the present embodiment, travel and work of the plurality of work vehicles 100 are controlled according to instructions respectively given from the remote operation device 20 to the plurality of vehicle control devices 10 . In addition, based on status information (details will be described later) transmitted from the plurality of vehicle control devices 10 to the remote control device 20, the remote control device 20 is caused to display a monitoring screen for monitoring the running of the plurality of vehicle control devices 10. .

In this embodiment, an example of a system capable of simultaneously running one to four work vehicles 100 by remote control will be described. If it is

FIG. 2 is a block diagram showing a functional configuration example (partly including a hardware configuration) of the vehicle control device 10 and the remote control device 20. As shown in FIG. As shown in FIG. 2, the vehicle control device 10 includes a wireless communication unit 11, a mode setting unit 12, a travel control unit 13, and a state information transmission unit 14 as functional configurations. The vehicle control device 10 also includes a route data storage unit 15 as a storage medium. Various sensors 16 are electrically connected to the vehicle control device 10 .

Each functional block 11 to 14 can be configured by any of hardware, DSP (Digital Signal Processor), and software. For example, when configured by software, each of the functional blocks 11 to 14 is actually configured with a computer CPU, RAM, ROM, etc., and a program stored in a recording medium such as RAM, ROM, hard disk, or semiconductor memory. is realized by the operation of

The remote operation device 20 also includes a wireless communication unit 21, a mode control unit 22, a remote control instruction unit 23, a status information reception unit 24, and a monitoring screen display control unit 25 as functional configurations. The remote control device 20 also includes an operation unit 26 and a display 27 as hardware configurations. The remote control device 20 also includes a route data storage unit 28 as a storage medium.

Each functional block 21 to 25 can be configured by hardware, DSP, or software. For example, when configured by software, each of the functional blocks 21 to 25 is actually configured with a computer CPU, RAM, ROM, etc., and a program stored in a recording medium such as RAM, ROM, hard disk, or semiconductor memory. is realized by the operation of

The wireless communication unit 11 of the vehicle control device 10 and the wireless communication unit 21 of the remote control device 20 perform wireless communication with each other. The wireless communication units 11 and 21 transmit various instruction information for controlling traveling and work of the plurality of work vehicles 100 from the remote operation device 20 to the vehicle control device 10 . Also, the wireless communication units 11 and 21 transmit various state information detected by various sensors 16 of the vehicle control device 10 to the remote control device 20 from the vehicle control device 10 .

The mode setting unit 12 of the vehicle control device 10 sets a mode related to traveling of the work vehicle 100 according to an instruction (hereinafter referred to as a mode setting instruction) received from the remote control device 20 . Modes that can be set in this embodiment include an autonomous driving mode in which autonomous driving is performed by automatic steering control along a preset driving route, and an instruction including steering control received from the remote operation device 20 (hereinafter referred to as a remote operation instruction). and a standby mode in which the work vehicle 100 is placed in a standby state without performing either autonomous traveling or remote-controlled traveling. That is, the mode setting unit 12 sets any one of the autonomous traveling mode, the remote controlled traveling mode, and the standby mode according to the mode setting instruction received from the remote control device 20 .

The travel control unit 13 executes travel control including steering of the work vehicle 100 according to the mode set by the mode setting unit 12 . When the autonomous driving mode is set by the mode setting unit 12, the driving control unit 13 controls the data of the driving route stored in the route data storage unit 15 and the work detected by the position/direction sensors included in the various sensors 16. Based on the current position and current direction of the vehicle 100 (hereinafter referred to as vehicle position/direction), the vehicle position/direction deviation with respect to the travel route is successively detected, and the work vehicle 100 is steered so as to reduce the deviation. automatic control. In addition, when the autonomous travel mode is set, the travel control unit 13 automatically performs control related to travel other than steering, such as travel speed and gear shift of the work vehicle 100 . That is, after starting autonomous travel, the travel control unit 13 automatically controls all travel without receiving instructions from the remote control device 20 .

The route data storage unit 15 stores route data representing a travel route set in advance in the field on which the work vehicle 100 travels. This route data is transmitted from the remote control device 20 to the vehicle control device 10 and stored in the route data storage unit 15, for example, before the work vehicle 100 starts traveling. The method of storing route data in the route data storage unit 15 is not limited to wireless transmission as described above. For example, a removable storage medium storing route data may be connected to the vehicle control device 10 and the data may be transferred from the removable storage medium to the route data storage unit 15 . Note that the route data storage unit 15 may further store data (hereinafter referred to as field data) used for displaying a bird's-eye view image of the field on a monitoring screen, which will be described later. In addition, the route data storage unit 15 may further store map data of agricultural fields. The field map data can be used, for example, as data for monitoring whether work vehicle 100 has deviated from the field.

When the remote control travel mode is set by the mode setting unit 12 , the travel control unit 13 executes travel control of the work vehicle 100 according to remote control instructions transmitted from the remote operation device 20 . The remote control instructions in this case include instructions for starting/stopping the engine, instructions for starting/stopping travel, instructions for steering control, instructions for running speed control, and instructions for shift control.

When the mode setting unit 12 sets the autonomous traveling mode or the remote-controlled traveling mode, the travel control unit 13 also controls elevation and driving of the work implement 101 provided in the work vehicle 100 . When the autonomous travel mode is set, the travel control unit 13 automatically controls the lifting and driving of the work implement 101 at set timings according to the work data stored together with the route data in the route data storage unit 15 . On the other hand, when the remote control travel mode is set, the travel control unit 13 controls the lifting and driving of the working machine 101 according to remote control instructions transmitted from the remote operation device 20 .

When the standby mode is set by the mode setting unit 12 , the travel control unit 13 causes the engine to operate, shifts the speed to neutral to enter an idling state, and stops the work vehicle 100 . Also, the power of the PTO shaft is stopped by the PTO clutch, and the working machine 101 is raised to the upper home position and waits. As will be described later, when the standby mode is set, the remote control device 20 does not transmit a remote control instruction to the vehicle control device 10 . Therefore, the vehicle control device 10 does not cause the work vehicle 100 to travel or operate the work implement 101 according to the remote control instruction.

The state information transmitting unit 14 transmits running state information indicating the running state of the work vehicle 100 detected by the various sensors 16 and working state information indicating the working state of the work machine 101 detected by the various sensors 16 to the remote control device. 20 sequentially. The driving state information includes, for example, vehicle position/direction, steering angle, driving speed, gear stage, engine speed, engine load factor, vehicle body tilt angle (roll angle and pitch angle), remaining amount of fuel, coolant temperature, battery It includes information such as voltage and image of vehicle surroundings. Further, the work state information includes, for example, information such as the height of work implement 101 and PTO rotation speed.

The various sensors 16 include a plurality of sensors necessary for acquiring the above-described running state information and work state information. Here, each of the plurality of work vehicles 100 is equipped with a camera that captures the surroundings of the work vehicle 100 as one of the various sensors 16 . In this embodiment, as an example, six cameras for photographing the front, rear, left, right, oblique rear left, and oblique rear right of the work vehicle 100 are mounted. The installation position and installation angle of the front camera that captures an image of the front of the work vehicle 100 are adjusted so that the image capture range includes a part of the vehicle body. The installation position and installation angle of the rear camera for photographing the rear of work vehicle 100 are adjusted so that the photographing range includes work implement 101 .

In this way, the state information transmission section 14 has a function of sequentially transmitting vehicle surrounding images captured by the camera to the remote control device 20, and corresponds to an "information transmission section" in the claims.

The mode control unit 22 of the remote control device 20 controls mode setting for the plurality of vehicle control devices 10 according to the operation of the operation unit 26 by the operator (remote operator) of the remote control device 20 . In this embodiment, the mode control unit 22 stores information about which mode is set for which work vehicle 100 . While the plurality of work vehicles 100 are traveling in either the autonomous traveling mode or the remote-controlled traveling mode, the number of vehicle control devices 10 to which the remote-controlled traveling mode is set does not become two or more at the same time. It controls mode setting for the vehicle control device 10 .

Specifically, when the vehicle control device 10- _i of one work vehicle 100 _- i (i = any of 1 to 4) is set to the remote control travel mode, the mode control unit 22 The vehicle control device 10 _-j of another work vehicle 100 _-j (j=one of 1 to 4; j≠i) is prevented from being operated to set the remote control traveling mode, and other work is performed. A mode setting instruction for setting the remote control driving mode is not transmitted to the vehicle control device 10 _-j of the vehicle 100 _-j . At this time, the travel control units 13 provided in the vehicle control devices 10 _-1 to 10 _-4 of the plurality of work vehicles 100 _-1 to 100 _-4 operate according to the mode already set by the mode setting unit 12 to control the work vehicle 100 _-1 . Continue cruise control including steering at ~ _100-4 .

The remote control command unit 23 transmits various remote control commands to the vehicle control device 10 _- i of the work vehicle 100 _-i in which the remote control travel mode is set according to the operation of the operation unit 26 by the remote operator. . As described above, the remote control instructions include instructions for starting/stopping the engine of the work vehicle 100, instructions for starting/stopping travel, instructions for steering control, instructions for travel speed control, instructions for shift control, and instructions for work vehicle 100. It includes an instruction for raising and lowering the machine 101, an instruction for driving the work machine 101, and the like.

FIG. 3 is a diagram showing a hardware configuration example of the operation unit 26. As shown in FIG. As shown in FIG. 3, the operation unit 26 of this embodiment includes a steering wheel 31, pedals 32, a group of switches 33, and a shift lever . The steering 31 , the pedals 32 and the shift lever 34 are configured to resemble those actually provided in the work vehicle 100 . As a result, the remote operator can operate the operation unit 26 with a feeling close to that of actually operating the actual work vehicle 100 .

The switch group 33 includes a vehicle selection switch 331 for selecting one of the plurality of work vehicles 100 _-1 to 100 _-4 and a mode for selecting any one of the autonomous traveling mode, remote controlled traveling mode and standby mode. and a selection switch 332 . When setting any mode for the work vehicle 100, first, the vehicle selection switch 331 is operated to select one of the work vehicles _100-1 to _100-4 , and then the mode selection switch 332 is operated. to select the desired mode. When such an operation is performed, the mode control unit 22 sets the mode selected by the mode selection switch 332 to the vehicle control device 10 of the work vehicle 100 selected by the mode selection switch 332 . Send configuration instructions.

However, when the vehicle control device 10 _-i of one work vehicle 100 _-i is set to the remote control travel mode, the vehicle selection switch 331 is operated to select another work vehicle 100 _-j . Also, the mode control unit 22 invalidates the operation and does not accept the operation of the mode selection switch 332 for selecting the other work vehicle 100 _-j . In this case, the mode control unit 22 does not transmit a mode setting instruction for setting the remote control traveling mode to the vehicle control device 10 _-j of the other work vehicle 100 _-j .

Note that when the vehicle control device 10 _-i of one work vehicle 100 _-i is set to the remote control driving mode, another work vehicle 100 _-j is selected by the vehicle selection switch 331, and then the mode is selected. The mode control unit 22 may invalidate the selection operation of the remote-controlled travel mode when the switch 332 is operated to select the remote-controlled travel mode.

For example, when the vehicle control device _10-1 of the first work vehicle _100-1 is set to the remote control travel mode, the vehicle control device _10-2 of the second work vehicle _100-2 When an operation to set the remote-controlled travel mode is performed, the mode control unit 22 invalidates the operation and sets the remote-controlled travel mode to the vehicle control device _10-2 of the second work vehicle _100-2 . Do not send mode setting instructions for At this time, the travel control unit 13 of the first work vehicle 100 _-1 continues the travel control of the first work vehicle 100 _-1 according to the remote control travel mode already set by the mode setting unit 12 . In addition, the travel control units 13 of the second to fourth work vehicles 100 _-2 to 100 _-4 operate in accordance with the autonomous travel mode or the standby mode already set by the mode setting unit 12 to operate the respective work vehicles 100 _-2 to 100 _- . Continue with ₄ travel control.

The switch group 33 further includes various switches 333 for instructing start/stop of the engine of the work vehicle 100 , start/stop of traveling, elevation of the work machine 101 , and drive of the work machine 101 . When the remote operator operates various switches 333 while the work vehicle 100 in which the remote-controlled travel mode is set is selected by operating the vehicle selection switch 331, instruction information corresponding to the operated switch is displayed. It is generated by the remote control instruction section 23 . The remote control command unit 23 transmits a remote control command including this command information to the work vehicle 100 selected by the vehicle selection switch 331 (the work vehicle 100 set to the remote control travel mode).

The switch group 33 further includes an emergency switch 334 . When the emergency switch 334 is operated by the remote operator, the mode control unit 22 simultaneously transmits a mode setting instruction for setting the standby mode to the vehicle control devices 10 of all the work vehicles 100 . For example, when an obstacle such as a person or an animal appears around the work vehicle 100 and an emergency stop is required, the emergency switch 334 is operated to immediately stop all the work vehicles 100 from traveling and working. Is possible. By setting the standby mode by operating the mode selection switch 332 after selecting the work vehicle 100 around which the obstacle appears, it is also possible to stop only the work vehicle 100 where the obstacle appears. However, when a highly urgent situation occurs, the work vehicle 100 can be brought to an emergency stop by operating only one emergency switch 334 .

Here, the vehicle control devices 10 of all the work vehicles 100 are set to the standby mode when the emergency switch 334 is operated, but the present invention is not limited to this. For example, an emergency stop mode that transitions when the emergency switch 334 is operated may be separately provided to stop the engine of the work vehicle 100 and operate the parking brake.

The steering wheel 31 is used by being held by a remote operator. When the remote operator rotates the steering wheel 31 to the left or right while the work vehicle 100 in which the remote-controlled travel mode is set is selected by operating the vehicle selection switch 331, the steering direction and steering amount are changed. The steering information shown is generated by the remote control instruction section 23 . The remote control command unit 23 transmits a remote control command including this steering information to the work vehicle 100 selected by the vehicle selection switch 331 (the work vehicle 100 set to the remote control travel mode).

When work vehicle 100 set to the autonomous travel mode is switched to the remote-controlled travel mode to travel, operation unit 26 determines the actual steering angle of work vehicle 100 immediately before switching from the autonomous travel mode to the remote-controlled travel mode. The steering angle of the steering wheel 31 may be physically and automatically rotated so that the steering angle of the steering wheel 31 is matched with the steering angle of the steering wheel 31, and an operation for remote control may be accepted from the stage when the rotation is completed.

The pedals 32 are used by being stepped on by the remote operator, and include left and right independent brake pedals and accelerator pedals. When the remote operator steps on the pedal 32 while the work vehicle 100 in which the remote-controlled travel mode is set is selected by operating the vehicle selection switch 331, the left wheel is decelerated, the right wheel is decelerated, or the left and right wheels are decelerated. The remote control instruction unit 23 generates pedal operation information indicating which one of the acceleration operations is performed on both wheels. The remote control command unit 23 transmits the remote control command including the pedal operation information to the work vehicle 100 selected by the vehicle selection switch 331 (the work vehicle 100 set to the remote control travel mode).

The shift lever 34 is used by being held by the remote operator's hand. When the remote operator operates the shift lever 34 while the work vehicle 100 in which the remote-controlled travel mode is set is selected by operating the vehicle selection switch 331, shift information indicating the shift stage designated by the operation is generated. is generated by the remote control instruction unit 23 . The remote control command unit 23 transmits the remote control command including this shift information to the work vehicle 100 selected by the vehicle selection switch 331 (the work vehicle 100 set to the remote control travel mode).

It should be noted that even if the steering wheel 31, the pedals 32, the various switches 333, and the shift lever 34 are operated when the work vehicle 100 for which the remote-controlled travel mode is not set is selected by operating the vehicle selection switch 331, the remote-controlled travel mode is not set. Transmission of the remote control instruction by the instruction unit 23 is not performed.

The state information receiving unit 24 sequentially receives the state information (running state information and work state information) transmitted from the state information transmitting units 14 of the plurality of work vehicles 100 respectively. As described above, this state information includes the vehicle surrounding image captured by the camera of work vehicle 100 . Therefore, the status information receiving section 24 corresponds to the "information receiving section" in the scope of claims.

The monitoring screen display control unit 25 displays a plurality of A monitor screen for monitoring the running state and work state of work vehicle 100 is generated and displayed on display 27 . The field data and the route data stored in the route data storage unit 28 are field data of fields traveled by the plurality of work vehicles 100 _-1 to 100 _-4 , and field data of fields traveled by the plurality of work vehicles 100 _-1 to 100 _-4 . This is route data representing a travel route set for each.

FIG. 4 is a diagram showing an example of a monitoring screen displayed on the display 27. As shown in FIG. As shown in FIG. 4, this embodiment has three displays 27 _-1 to 27 _-3 , each of which displays a different monitor screen. These three displays 27 _-1 to 27 _-3 are arranged horizontally in front of the operation unit 26 operated by the remote operator, and the monitor screen displayed on each display 27 _-1 to 27 _-3 can be checked. The operation unit 26 can be operated while

The first display 27 _-1 shown in FIG. 4(a) is for displaying a bird's-eye view image showing the traveling positions of the plurality of work vehicles 100 _-1 to 100 _-4 in the field. A screen 401 on the left half of the first display 27 _-1 displays an image of an overall map including a plurality of farm fields traveled by a plurality of work vehicles 100 _-1 to 100 _-4 . A plurality of farm fields where a plurality of work vehicles 100 _-1 to 100 _-4 travel (in particular, an area within a predetermined range from the work vehicle 100) is displayed on the right half of the first display 27 _-1 . ) are enlarged and displayed individually.

The monitoring screen display control unit 25 displays a field image using the field data stored in the route data storage unit 28, and also displays the vehicle positions of the work vehicles _100-1 to _100-4 acquired by the state information receiving unit 24. - Based on direction information, a vehicle image is superimposed and displayed on an agricultural field image. As the work vehicles 100 _{-1 to} 100 _-4 actually travel, the display position of the vehicle image on the field image is updated one by one. , it is possible to confirm from a bird's-eye view in which position in the field and in which direction each of the work vehicles 100 _-1 to 100 _-4 is traveling.

The second display _27-2 shown in FIG. 4(b) is for collectively displaying vehicle surrounding images, traveling state information, and mode information being set for a plurality of work vehicles _100-1 to _100-4 . It is. As shown in FIG. 4(b), the second display _27-2 is divided into four screens _{411-414 .} Information about ₄ is displayed separately. However, since information about a plurality of work vehicles 100 _-1 to 100 _-4 is displayed on one display 27 _-2 , one of the images received by the state information receiving unit 24 is selected for the vehicle surrounding image and the running state information. Show only part.

For example, regarding the split screen 411 on the upper left, a screen 411 _-1 on the left side of the split screen 411 displays an image of the surroundings of the vehicle in front of the vehicle captured by the front camera, and an upper half screen 411 _-2 on the right side. , an image of the vehicle surroundings behind the vehicle captured by the rear camera is displayed. In addition, part of the running state information and the mode information being set are simply displayed on the lower half screen _411-3 on the right side. The running state information displayed here includes, for example, gear position, engine load factor, remaining amount of fuel, cooling water temperature, battery voltage, and the like.

As described above, the installation position and installation angle of the front camera that captures an image of the front of the work vehicle 100 are adjusted so that a part of the vehicle body is included in the image capture range. Further, as shown in FIG. 4(b), each work vehicle 100 _-1 to 100 _-4 can be identified within the photographing range of the front camera in the housing of the plurality of work vehicles 100 _-1 to 100 _-4 . Identification information (numbers “1” to “4” in the example of FIG. 4(b)) is attached. The monitoring screen display control unit 25 generates a monitoring screen including the image of the identification information, and displays it on the second display _27-2 . As a result, the remote operator can intuitively grasp which of the plurality of work vehicles 100 _-1 to 100 _-4 information is displayed on which of the four split screens 411 to 414. can.

The third display _27-3 shown in FIG. 4(c) displays a vehicle surrounding image and status information of one work vehicle 100 selected by the vehicle selection switch 331 from among the plurality of work vehicles _100-1 to _100-4 . and mode information being set in detail. As shown in FIG. 4(c), the third display _27-3 is divided into seven screens 421 to 427, and six divided screens 421 to 426 on the upper side respectively display images of the surroundings of the vehicle in six directions. be. In addition, various state information and mode information being set are displayed on a horizontally elongated split screen 427 on the lower side. The state information displayed here is part or all of the running state information and work state information received by the state information receiving section 24 . When a part is displayed, it may be designed arbitrarily which driving state information or work state information is displayed.

In order to reduce the amount of communication between the vehicle control device 10 and the remote control device 20, only one work vehicle 100 selected by the vehicle selection switch 331 is sent to the vehicle omnidirectional images of the surroundings of the vehicle and all of the state information. While transmitting from the control device 10 to the remote operation device 20, for the three work vehicles 100 that are not selected, the partial vehicle surroundings to be displayed on the second display _27-2 shown in FIG. 4(b) Only the image and part of the driving state information may be transmitted from the vehicle control device 10 to the remote control device 20 .

Also on the third display _27-3 shown in FIG. 4(c), the monitoring screen display control unit 25 displays the monitoring screen in such a manner that the image of the identification information of one work vehicle 100 selected by the vehicle selection switch 331 is included. is generated and displayed. Thereby, the remote operator can intuitively grasp which of the work vehicles 100 _-1 to 100 _-4 the information displayed on the third display 27 _-3 relates to. .

In addition, a message screen 428 for displaying a predetermined message exists on the horizontally elongated split screen 427 on the lower side. The monitoring screen display control unit 25 selects another work vehicle 100-j by the vehicle selection switch 331 when the vehicle control device 10 _-i of one work vehicle 100 _{- i} is set to the remote control travel mode. When the selection operation is performed, a predetermined warning message is displayed on the message screen 428 . Although an example of displaying a warning message has been described here, a warning sound may be output from a speaker.

This allows the remote operator to understand that the remote control travel mode cannot be set for the work vehicle 100 _-j selected by the vehicle selection switch 331 . In this case, for example, the remote operator sets the selected work vehicle 100 _-i to the autonomous running mode by using the mode selection switch 332, and then selects another work vehicle 100 _-j by using the vehicle selection switch 331. By setting the remote-controlled travel mode with the mode selection switch 332, the remote-controlled travel mode can be set for the other work vehicle 100 _-j while continuing the travel of one work vehicle 100 _-i . Note that one work vehicle 100 _-i may be set to the standby mode once and then changed from the standby mode to the autonomous running mode.

As described above, according to the present embodiment, since the remote-controlled travel mode is not set simultaneously for a plurality of work vehicles 100, a situation occurs in which a remote operator remotely controls a plurality of work vehicles 100 at the same time. While the plurality of work vehicles 100 _-1 to 100 _-4 continue to travel, the desired work vehicle 100 can be set to the remote control travel mode. As a result, when a situation occurs in which the work vehicle 100 _-j that is traveling in the autonomous travel mode is difficult to autonomously travel, the plurality of work vehicles 100 _-1 to 100 _-4 can continue to travel while ensuring safety. It is possible to switch the work vehicle 100 _-j from the autonomous traveling mode to the remotely controlled traveling mode while ensuring the safety.

FIG. 5 is a flowchart showing an operation example of the remote operation device 20 of the remote control system configured as described above, and mainly shows an operation example when setting the mode of the work vehicle 100 . The flowchart shown in FIG. 5 starts when the power of the remote control device 20 is turned on. Immediately after the power of the remote control device 20 is turned on, the monitoring screens shown in FIGS. 4A and 4B are displayed on the first display _27-1 and the second display _27-2 . It is assumed that the monitoring screen of the first work vehicle _100-1 is displayed on the third display _27-3 by default.

First, the monitoring screen display control unit 25 determines whether or not the vehicle selection switch 331 has been operated (step S1). If the vehicle selection switch 331 has not been operated, the process proceeds to step S4. When the vehicle selection switch 331 is operated, the mode control unit 22 determines whether or not the remote-controlled travel mode is being set for work vehicles 100 other than the selected work vehicle 100 (step S2). Here, if it is determined that the remote-controlled travel mode is not being set for another work vehicle 100, the monitoring screen display control unit 25 selects the work vehicle 100 selected by operating the vehicle selection switch 331 in step S1. is displayed on the third display _27-3 (step S3).

Next, the mode control unit 22 determines whether or not the mode selection switch 332 has been operated (step S4). Here, when the mode selection switch 332 is operated, the mode control unit 22 causes the vehicle control device 10 of the work vehicle 100 being selected (including the work vehicle 100 selected in step S1) to operate the mode selection switch 332. A mode setting instruction for setting the mode selected by the operation of 332 is transmitted (step S5).

After executing the process of step S5, the process proceeds to step S9. In step S9, it is determined whether or not the remote controller 20 is powered off. When the power of the remote control device 20 is turned off, the processing of the flowchart shown in FIG. 5 ends. On the other hand, if the power of the remote control device 20 is not turned off, the process returns to step S1.

If the mode control section 22 determines in step S4 that the mode selection switch 332 has not been operated, the remote control instruction section 23 operates the steering wheel 31, the pedals 32, the various switches 333, the emergency switch 334, or the shift lever 34. It is determined whether or not any one has been operated (step S6). If none of these operations have been performed, the process returns to step S1.

On the other hand, when any one of the steering wheel 31, the pedals 32, the various switches 333, the emergency switch 334, or the shift lever 34 is operated, the remote control instruction unit 23 issues a remote control instruction including instruction information of the details of the operation to control the vehicle. It is transmitted to the device 10 (step S7), and the process proceeds to step S9. Then, if the power of the remote control device 20 is not turned off, the process returns to step S1.

By selecting a plurality of work vehicles 100 _-1 to 100 _-4 and executing the processes of steps S1 to S7, the plurality of work vehicles 100 _-1 to 100 _-4 can start traveling. For example, all work vehicles 100 _-1 to 100 _-4 can be driven in the autonomous driving mode. It is also possible to run one work vehicle 100 in the remote-controlled travel mode and the remaining three work vehicles 100 in the autonomous travel mode.

If the mode control unit 22 determines in step S2 that the remote control travel mode is already being set for the work vehicle 100 other than the work vehicle 100 selected in step S1, the mode control unit 22 The operation of the vehicle selection switch 331 performed in step S<b>1 is invalidated, and the mode setting instruction is not transmitted to the vehicle control device 10 . In this case, the monitoring screen display control unit 25 displays a predetermined warning message on the message screen 428 of the third display _27-3 (step S8), and the process proceeds to step S9.

As described in detail above, in this embodiment, the operation of the plurality of work vehicles 100 is controlled by instructions given from the remote operation device 20 of the base station 200 to the vehicle control devices 10 of the work vehicles 100, respectively. In the remote control system, the mode of the work vehicle 100 includes an autonomous traveling mode, a remote-controlled traveling mode, and a standby mode, and the mode control unit 22 of the remote operation device 20 sets the vehicle control device 10 to the remote-controlled traveling mode. The mode setting for a plurality of vehicle control devices 10 is controlled so that two or more are not set at the same time.

According to this embodiment configured as described above, when a plurality of work vehicles 100 are simultaneously traveling in either the autonomous traveling mode or the remote-controlled traveling mode, a mode setting instruction is given according to the operation of the remote operator. Since the number of vehicle control devices 10 to which the remote-controlled travel mode is set is controlled so as not to be two or more at the same time, the remote operator can perform remote control including steering control for a plurality of work vehicles 100 at the same time. You can prevent the situation from occurring. Therefore, when a situation occurs in which it is difficult for one or a plurality of work vehicles 100 out of the plurality of work vehicles 100 that are traveling to continue autonomous travel, two or more work vehicles 100 are placed in the remote control travel mode at the same time. A plurality of work vehicles 100 can be allowed to continue traveling while switching the mode so as not to As a result, the plurality of work vehicles 100 can efficiently travel by appropriately switching between autonomous travel, remote control travel, and standby state while ensuring safety.

In the above embodiment, when the vehicle control device 10 _-i of one work vehicle 100 _-i is set to the remote control traveling mode, the vehicle selection switch 331 selects another work vehicle 100 _-j . or, after selecting another work vehicle 100 _-j with the vehicle selection switch 331, the mode selection switch 332 is used to remotely control the vehicle control device 10 _-j of the other work vehicle 100 _-j . Although an example of invalidating the operation for setting the driving mode has been described, the present invention is not limited to this.

For example, when the vehicle control device 10 _-i of one work vehicle 100-i is set to the remote control travel mode, the mode control unit 22 controls the vehicle control device 10 _{-i of} another _work vehicle 100-j. _j is operated to set the remote-controlled travel mode, an instruction to set the standby mode is transmitted to the vehicle control device 10 _-i of one work vehicle 100 _- i, and the other work vehicle An instruction to set the remote control driving mode may be transmitted to the vehicle control device 10 _-j of 100 _-j . At _this time _{, the} mode control unit ₂₂ applies the do not send mode setting instructions.

In this case, the mode setting units 12 of the vehicle control devices 10 _-i and 10 _-j provided in the one work vehicle 100 _-i and the other work vehicle 100 _-j follow the mode setting instructions sent from the remote control device 20. , respectively to the standby mode and the remotely controlled driving mode. Then, the travel control unit 13 causes the one work vehicle 100 _-i to stand by according to the mode newly set by the mode setting unit 12, and performs travel control including steering of the other work vehicle 100 _-j . Further, the travel control units 13 of the other work vehicles 100 _-k continue travel control including steering of the work vehicles 100 _-k according to the mode already set by the mode setting unit 12 .

In the above-described embodiment, the three driving modes of the work vehicle 100, ie, the autonomous driving mode, the remote control driving mode, and the standby mode, are exemplified, but in addition to these, a manual driving mode may be provided. The manual travel mode is a mode in which a worker actually gets on work vehicle 100 and operates work vehicle 100 using the steering, pedals, shift lever, and other operating elements provided on work vehicle 100 . To prevent arbitrarily switching from another mode to the manual travel mode or from the manual travel mode to another mode when there is no worker in the cockpit of the work vehicle 100 or when the worker is not aware of it. It is preferable that the operation unit 26 of the remote control device 20 is not provided with a selection switch for the manual travel mode, and the vehicle control device 10 is provided with an ON/OFF switch for the manual travel mode. Moreover, it is preferable that the work vehicle 100 in which the manual travel mode is set is not switched to the standby mode or the emergency stop mode even when the emergency switch 334 is operated on the remote control device 20 . This is because it is rather dangerous to suddenly stop the work vehicle 100 regardless of the intention of the operator (manual operator).

In addition, the above-described embodiments are merely examples of specific implementations of the present invention, and the technical scope of the present invention should not be construed in a limited manner. Thus, the invention may be embodied in various forms without departing from its spirit or essential characteristics.

REFERENCE SIGNS LIST 10 vehicle control device 12 mode setting unit 13 travel control unit 14 state information transmission unit 20 remote control unit 22 mode control unit 23 remote operation instruction unit 24 state information reception unit 25 monitoring screen display control unit 26 operation unit 27 display 31 steering wheel 32 pedal 33 switch group 34 shift lever 331 vehicle selection switch 332 mode selection switch 333 various switches 334 emergency switch

Claims (15)

A vehicle control device mounted on each of a plurality of work vehicles and a remote control device present outside the work vehicle, wherein the plurality of work operations are performed according to instructions respectively given from the remote control device to the plurality of vehicle control devices. A remote control system for a work vehicle adapted to control travel of the vehicle, comprising:
The vehicle control device is
At least an autonomous driving mode in which autonomous driving is performed along a set driving route by automatic steering control, and a remote-controlled driving mode in which remote-controlled driving is performed according to instructions including steering control received from the remote control device, and the remote control is performed. a mode setting unit that sets a mode according to instructions received from the device;
a travel control unit that executes travel control including steering of the work vehicle according to the mode set by the mode setting unit;
The above remote control device
The vehicle control device controls mode setting for the plurality of vehicle control devices in accordance with an operation by a remote operator, and sets the remote control traveling mode while the plurality of work vehicles are traveling in any mode. A mode control unit that controls mode settings for the plurality of vehicle control devices so that there are not two or more at the same time,
The mode control unit sets the remote-controlled travel mode to the vehicle control device of another work vehicle when the remote-controlled travel mode is set to the vehicle control device of one work vehicle. A remote control system for a work vehicle, characterized in that, when an operation is performed, the operation is invalidated and an instruction to set the remote control travel mode is not transmitted to the vehicle control device of the other work vehicle. . When the remote-controlled travel mode is set for the vehicle control device of the one work vehicle, an operation to set the remote-controlled travel mode is performed for the vehicle control device of the other work vehicle. In this case, the travel control units of the plurality of work vehicles including the one work vehicle and the other work vehicle continue travel control including steering of the work vehicle according to the mode set by the mode setting unit. The remote control system for a work vehicle according to claim 1 , characterized in that: Each of the plurality of work vehicles further includes a camera that captures the surroundings of the work vehicle,
The vehicle control device further includes an information transmission unit that sequentially transmits an image of the vehicle surroundings captured by the camera to the remote control device,
The above remote control device
an information receiving unit that sequentially receives the vehicle surrounding images transmitted by the information transmitting units of the plurality of work vehicles;
a monitoring screen display control unit that generates a monitoring screen for monitoring the running state of the plurality of work vehicles using the vehicle surrounding image received by the information receiving unit and displays the monitoring screen on a display;
When the vehicle control device of the one work vehicle is set to the remote control travel mode, the monitoring screen display control unit controls the vehicle control device of the other work vehicle. 3. The remote control system for a work vehicle according to claim 1 , wherein a predetermined warning message is displayed on the monitor screen when an operation to set the travel mode is performed. Identification information for identifying each work vehicle is attached to the housings of the plurality of work vehicles within the photographing range of the camera,
4. The remote control system for a work vehicle according to claim 3 , wherein the monitor screen display control section generates the monitor screen in a manner including the image of the identification information and displays it on the display. A vehicle control device mounted on each of a plurality of work vehicles and a remote control device present outside the work vehicle, wherein the plurality of work operations are performed according to instructions respectively given from the remote control device to the plurality of vehicle control devices. A remote control system for a work vehicle adapted to control travel of the vehicle, comprising:
The vehicle control device is
At least an autonomous driving mode in which autonomous driving is performed along a set driving route by automatic steering control, and a remote-controlled driving mode in which remote-controlled driving is performed according to instructions including steering control received from the remote control device, and the remote control is performed. a mode setting unit that sets a mode according to instructions received from the device;
a travel control unit that executes travel control including steering of the work vehicle according to the mode set by the mode setting unit;
The above remote control device
The vehicle control device controls mode setting for the plurality of vehicle control devices in accordance with an operation by a remote operator, and sets the remote control traveling mode while the plurality of work vehicles are traveling in any mode. A mode control unit that controls mode settings for the plurality of vehicle control devices so that there are not two or more at the same time,
The mode setting unit further has a standby mode in which the work vehicle is placed in a standby state without performing any of the autonomous traveling and the remote-controlled traveling. Either the remote control running mode or the standby mode is set,
The mode control unit sets the remote-controlled travel mode to the vehicle control device of another work vehicle when the remote-controlled travel mode is set to the vehicle control device of one work vehicle. is performed, an instruction to set the standby mode is transmitted to the vehicle control device of the one work vehicle, and the remote control traveling is performed to the vehicle control device of the other work vehicle. A remote control system for a work vehicle, characterized by transmitting an instruction for setting a mode. The mode control unit causes the vehicle control device of the other work vehicle to enter the remote control travel mode when the vehicle control device of the one work vehicle is set to the remote control travel mode. is performed, the mode setting instruction is not transmitted to the vehicle control devices of the work vehicles other than both the one work vehicle and the other work vehicle,
6. The remote control of the work vehicle according to claim 5, wherein the travel control units of the work vehicles other than the two continue the travel control including the steering of the work vehicle according to the mode set by the mode setting unit. control system. A vehicle control device mounted on each of a plurality of work vehicles and a remote control device present outside the work vehicle, wherein the plurality of work operations are performed according to instructions respectively given from the remote control device to the plurality of vehicle control devices. A remote control system for a work vehicle adapted to control travel of the vehicle, comprising:
The vehicle control device is
At least an autonomous driving mode in which autonomous driving is performed along a set driving route by automatic steering control, and a remote-controlled driving mode in which remote-controlled driving is performed according to instructions including steering control received from the remote control device, and the remote control is performed. a mode setting unit that sets a mode according to instructions received from the device;
a travel control unit that executes travel control including steering of the work vehicle according to the mode set by the mode setting unit;
The above remote control device
The vehicle control device controls mode setting for the plurality of vehicle control devices in accordance with an operation by a remote operator, and sets the remote control traveling mode while the plurality of work vehicles are traveling in any mode. A mode control unit that controls mode settings for the plurality of vehicle control devices so that there are not two or more at the same time,
The remote control device is configured to transmit an instruction to the selected work vehicle in a state in which one of the plurality of work vehicles is selected,
When an operation to select another work vehicle is performed when the remote control travel mode is set for the vehicle control device of one work vehicle, the mode control unit invalidates the operation. , without transmitting an instruction to set the remote-controlled travel mode to the vehicle control device of the other work vehicle;
Each of the plurality of work vehicles further includes a camera that captures the surroundings of the work vehicle,
The vehicle control device further includes an information transmission unit that sequentially transmits an image of the vehicle surroundings captured by the camera to the remote control device,
The above remote control device
an information receiving unit that sequentially receives the vehicle surrounding images transmitted by the information transmitting units of the plurality of work vehicles;
a monitoring screen display control unit that generates a monitoring screen for monitoring the running state of the plurality of work vehicles using the vehicle surrounding image received by the information receiving unit and displays the monitoring screen on a display;
When an operation to select the other work vehicle is performed when the remote control travel mode is set for the vehicle control device of the one work vehicle, the monitoring screen display control unit performs a predetermined is displayed on the monitoring screen. When an operation to select the other work vehicle is performed while the vehicle control device of the one work vehicle is set to the remote control travel mode, the one work vehicle and the other work vehicle are operated. The work according to claim 7, wherein the travel control units of the plurality of work vehicles including the work vehicle continue travel control including steering of the work vehicle according to the mode set by the mode setting unit. Vehicle remote control system. Identification information for identifying each work vehicle is attached to the housings of the plurality of work vehicles within the photographing range of the camera,
9. The remote control system for a work vehicle according to claim 7, wherein the monitor screen display control unit generates the monitor screen in a manner including the image of the identification information and displays it on the display. A remote control device for controlling travel of a plurality of work vehicles by transmitting instructions from the outside of the work vehicle to a plurality of vehicle control devices mounted on each of the work vehicles,
The plurality of vehicle controls having at least an autonomous travel mode in which the vehicle autonomously travels along a set travel route by automatic steering control, and a remote-controlled travel mode in which the vehicle travels remotely according to instructions including steering control received from the remote control device. The setting of the mode is controlled by transmitting an instruction to the device according to the operation of the remote operator, and the remotely controlled travel mode is set while the plurality of work vehicles are traveling in any mode. A mode control unit that controls mode setting for the plurality of vehicle control devices so that the number of the vehicle control devices is not two or more at the same time,
The mode control unit sets the remote-controlled travel mode to the vehicle control device of another work vehicle when the remote-controlled travel mode is set to the vehicle control device of one work vehicle. a remote control device, wherein when an operation to set the remote control travel mode is performed, the operation is invalidated and an instruction to set the remote control travel mode is not transmitted to the vehicle control device of the other work vehicle. A remote control device for controlling travel of a plurality of work vehicles by transmitting instructions from the outside of the work vehicle to a plurality of vehicle control devices mounted on each of the work vehicles,
An autonomous driving mode in which autonomous driving is performed along a set driving route by automatic steering control, a remote-controlled driving mode in which remote-controlled driving is performed according to instructions including steering control received from the remote control device, and the autonomous driving and the remote control. Mode setting is controlled by transmitting an instruction according to an operation by a remote operator to the plurality of vehicle control devices having at least a standby mode in which the work vehicle is placed in a standby state without performing any traveling. , while the plurality of work vehicles are running in any mode, the mode setting for the plurality of vehicle control devices is performed so that the number of the vehicle control devices to which the remote control travel mode is set does not become two or more at the same time. Equipped with a mode control unit that controls
The mode control unit sets the remote-controlled travel mode to the vehicle control device of another work vehicle when the remote-controlled travel mode is set to the vehicle control device of one work vehicle. is performed, an instruction to set the standby mode is transmitted to the vehicle control device of the one work vehicle, and the remote control traveling is performed to the vehicle control device of the other work vehicle. A remote control device characterized by transmitting an instruction to set a mode. A remote control device for controlling travel of a plurality of work vehicles by transmitting instructions from the outside of the work vehicle to a plurality of vehicle control devices mounted on each of the work vehicles,
The plurality of vehicle controls having at least an autonomous travel mode in which the vehicle autonomously travels along a set travel route by automatic steering control, and a remote-controlled travel mode in which the vehicle travels remotely according to instructions including steering control received from the remote control device. The setting of the mode is controlled by transmitting an instruction to the device according to the operation of the remote operator, and the remotely controlled travel mode is set while the plurality of work vehicles are traveling in any mode. A mode control unit that controls mode setting for the plurality of vehicle control devices so that the number of the vehicle control devices is not two or more at the same time,
In a state in which one of the plurality of work vehicles is selected, an instruction is transmitted to the selected work vehicle,
When an operation to select another work vehicle is performed when the remote control travel mode is set for the vehicle control device of one work vehicle, the mode control unit invalidates the operation. , without transmitting an instruction to set the remote-controlled travel mode to the vehicle control device of the other work vehicle;
Each of the plurality of work vehicles further includes a camera that captures the surroundings of the work vehicle,
The vehicle control device sequentially transmits images of the vehicle surroundings captured by the camera to the remote control device,
an information receiving unit that sequentially receives the vehicle surrounding images transmitted by the vehicle control devices of the plurality of work vehicles;
a monitoring screen display control unit that generates a monitoring screen for monitoring the running state of the plurality of work vehicles using the vehicle surrounding image received by the information receiving unit and displays the monitoring screen on a display;
When an operation to select the other work vehicle is performed when the remote control travel mode is set for the vehicle control device of the one work vehicle, the monitoring screen display control unit performs a predetermined is displayed on the monitoring screen. In a work vehicle remote control system comprising a vehicle control device mounted on each of a plurality of work vehicles and a remote control device present outside the work vehicle, the remote control device is connected to each of the plurality of vehicle control devices. A method for controlling travel of the plurality of work vehicles according to given instructions, comprising:
The vehicle control device has at least an autonomous driving mode in which autonomous driving is performed along a set driving route by automatic steering control, and a remote-controlled driving mode in which remote-controlled driving is performed according to instructions including steering control received from the remote control device. have
a step in which the mode control unit of the remote control device transmits an instruction to the plurality of vehicle control devices to control setting of the mode according to an operation by a remote operator;
a step in which the mode setting unit of the vehicle control device sets a mode according to an instruction received from the remote control device;
a step in which a travel control unit of the vehicle control device executes travel control including steering of the work vehicle according to the mode set by the mode setting unit;
The mode control unit sets the remote-controlled travel mode to the vehicle control device of another work vehicle when the remote-controlled travel mode is set to the vehicle control device of one work vehicle. A remote control method for a work vehicle, characterized in that, when an operation is performed, the operation is invalidated and an instruction to set the remote control travel mode is not transmitted to the vehicle control device of the other work vehicle. . In a work vehicle remote control system comprising a vehicle control device mounted on each of a plurality of work vehicles and a remote control device present outside the work vehicle, the remote control device is connected to each of the plurality of vehicle control devices. A method for controlling travel of the plurality of work vehicles according to given instructions, comprising:
The vehicle control device has an autonomous driving mode in which autonomous driving is performed by automatic steering control along a set driving route, a remote-controlled driving mode in which remote-controlled driving is performed according to instructions including steering control received from the remote control device, and the above. having at least a standby mode in which the work vehicle is placed in a standby state without performing any of the autonomous traveling and the remote controlled traveling;
a step in which the mode control unit of the remote control device transmits an instruction to the plurality of vehicle control devices to control setting of the mode according to an operation by a remote operator;
a step in which the mode setting unit of the vehicle control device sets a mode according to an instruction received from the remote control device;
a step in which a travel control unit of the vehicle control device executes travel control including steering of the work vehicle according to the mode set by the mode setting unit;
The mode control unit sets the remote-controlled travel mode to the vehicle control device of another work vehicle when the remote-controlled travel mode is set to the vehicle control device of one work vehicle. is performed, an instruction to set the standby mode is transmitted to the vehicle control device of the one work vehicle, and the remote control traveling is performed to the vehicle control device of the other work vehicle. A remote control method for a work vehicle, characterized by transmitting an instruction for setting a mode. In a work vehicle remote control system comprising a vehicle control device mounted on each of a plurality of work vehicles and a remote control device present outside the work vehicle, the remote control device is connected to each of the plurality of vehicle control devices. A method for controlling travel of the plurality of work vehicles according to given instructions, comprising:
The vehicle control device has at least an autonomous driving mode in which autonomous driving is performed along a set driving route by automatic steering control, and a remote-controlled driving mode in which remote-controlled driving is performed according to instructions including steering control received from the remote control device. have
The remote control device is configured to transmit an instruction to the selected work vehicle in a state in which one of the plurality of work vehicles is selected,
Each of the plurality of work vehicles is equipped with a camera that captures the surroundings of the work vehicle,
a step in which the mode control unit of the remote control device transmits an instruction to the plurality of vehicle control devices to control setting of the mode according to an operation by a remote operator;
a step in which the mode setting unit of the vehicle control device sets a mode according to an instruction received from the remote control device;
a step in which a travel control unit of the vehicle control device executes travel control including steering of the work vehicle according to the mode set by the mode setting unit;
a step in which the information transmission unit of the vehicle control device sequentially transmits images of the surroundings of the vehicle captured by the camera to the remote control device;
a step in which the information receiving unit of the remote control device sequentially receives the vehicle surrounding images transmitted by the information transmitting units of the plurality of work vehicles;
A step in which the monitoring screen display control unit of the remote control device generates a monitoring screen for monitoring the running state of the plurality of work vehicles using the vehicle surrounding image received by the information receiving unit, and displays the monitoring screen on a display. and
The mode control unit is configured to operate when an operation to select another work vehicle is performed when the remote control travel mode is set for the vehicle control device of one work vehicle. , invalidates the operation and does not transmit an instruction to set the remote-controlled travel mode to the vehicle control device of the other work vehicle;
When an operation to select the other work vehicle is performed when the remote control travel mode is set for the vehicle control device of the one work vehicle, the monitoring screen display control unit performs a predetermined is displayed on the monitoring screen.

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