JP2020185002A - Autonomous traveling system, work vehicle, remote operation device, display method - Google Patents

Abstract

To provide an autonomous traveling system of a farm work vehicle, in which a farm work vehicle during autonomous travel can be safely operated.SOLUTION: The autonomous traveling system of a farm work vehicle 1 is provided in which autonomous travel of the farm work vehicle 1 is controlled by a remote operation device 70 which can communicate with the farm work vehicle 1. Autonomous travel of the farm work vehicle 1 is prohibited when a version of the device side software of the remote operation device 70 does not match with a version of the vehicle side software of the farm work vehicle 1.SELECTED DRAWING: Figure 1

Description

The present invention relates to an autonomous traveling system of an agricultural work vehicle that executes autonomous traveling of the agricultural work vehicle by communication between an operating device and the agricultural work vehicle.

In recent years, in order to efficiently and easily carry out farm work in a field, an autonomous traveling system has been developed in which an unmanned work vehicle on which an operator is not on board is autonomously driven (see Patent Documents 1 to 3). In the autonomous traveling system of Patent Documents 1 to 3, the operator can remotely control the autonomous traveling of the work vehicle in a workplace such as a field by using an operating device such as a tablet-type personal computer.

International Publication No. 2015/119263 Japanese Unexamined Patent Publication No. 2016-093125 Japanese Unexamined Patent Publication No. 2016-095658

By the way, the software (application) for the autonomous traveling system stored in the operating device and the software (firmware) mounted on the control device of the work vehicle are each updated to correct the defective part. Then, since the software is updated (version upgraded) in each of the operating device and the work vehicle, the software may be updated in only one of the operating device and the work vehicle. In this case, the software of the operating device and the software of the work vehicle may lose their affinity, and the working vehicle that has started autonomous traveling may become uncontrollable by the operating device.

The present invention has been made in view of the above-mentioned current situation, and it is a technical subject to provide an autonomous traveling system for agricultural work vehicles capable of safely operating an agricultural work vehicle during autonomous traveling.

The present invention provides version information of a work vehicle capable of autonomous traveling, a remote control device capable of communicating with the work vehicle, a version of the vehicle-side software of the work vehicle, and a version of the device-side software of the remote control device. If the server that determines whether or not they match, and the server determines that the version information of the vehicle-side software version and the device-side software version do not match, autonomous traveling of the work vehicle is prohibited. Then, the server confirms the version information of the vehicle-side software version and the device-side software version, and at least one of the vehicle-side software and the device-side software is not the latest version but the other. When the software version information is included, the autonomous traveling of the work vehicle is permitted, and the autonomous traveling information necessary for the autonomous traveling of the work vehicle and the version information of the vehicle side software and the device side software are promoted to be updated. The remote control device receives the autonomous traveling information and the notification information, and prompts the update of the vehicle side software and the device side software after the predetermined operation of the work vehicle is completed. It is to notify you.

In the autonomous traveling system, the server may store the update history of the device-side software and the vehicle-side software, respectively.

In the autonomous traveling system, when the server determines that the version information of the vehicle-side software and the version of the device-side software do not match, the server notifies the work vehicle or the remote control device of the mismatch. May be.

Further, the present invention is a work vehicle that performs autonomous travel capable of communicating with a remote control device, and is a control unit that performs autonomous travel control based on an operation signal from the remote control device, and a device side of the remote control device. When the version information of the software version and the vehicle side software version of the work vehicle match, or at least one software of the device side software version and the vehicle side software version is the version information of the other software. When the software includes, the work vehicle includes a receiving unit for receiving an autonomous travel permission signal, and the work vehicle autonomously travels when the version information of the device-side software version and the vehicle-side software version do not match. However, autonomous driving is performed when at least one of the software version of the device side software and the vehicle side software version includes the version information of the other software.

Further, the present invention is a remote control device capable of communicating with a work vehicle that performs autonomous traveling, and provides version information of the vehicle-side software version of the work vehicle and the device-side software version of the remote control device. A display unit that confirms and displays that version information needs to be updated for the version of the vehicle-side software and the version of the device-side software, autonomous driving information necessary for autonomous driving of the work vehicle, and the vehicle-side software. And a receiver that receives notification information for prompting the update of the version information of each of the device-side software, and at least one of the vehicle-side software version and the device-side software version is not the latest version. The display unit receives the autonomous traveling information and the notification information, and displays that the update of the vehicle-side software and the device-side software is urged after the predetermined operation of the work vehicle is completed.

Further, the present invention includes a step of confirming version information of each version of the software on the vehicle side of the work vehicle capable of autonomous traveling and the version of the software on the remote control device side capable of communicating with the work vehicle, and the software on the vehicle side. When it is confirmed that at least one of the version and the version of the front-end software is not the latest version, the autonomous traveling information and the notification information are received, and after the predetermined operation of the work vehicle is completed, the vehicle-side software and the said It includes a step of displaying a prompt to update the software on the device side.

According to the present invention, when the version of the software on the device side of the remote control device matches the version of the software on the vehicle side of the farm work vehicle, the farm work vehicle is allowed to run autonomously. It is possible to avoid becoming uncontrollable and to respond to emergencies. In addition, when the device side software and the vehicle side software are old, the operator is notified to update to the latest one, so that the highly safe software that eliminates the problems can execute autonomous driving of the agricultural work machine, which is safer. You can improve your sex.

It is an overall view which shows the structure of the autonomous driving system in embodiment. It is a side view of the tractor which is an agricultural work vehicle in the autonomous traveling system of FIG. It is a top view of the tractor. It is a functional block diagram of the tractor. It is a timing chart which shows the communication operation in the autonomous driving system when the software of each of a remote control device and a tractor is not updated. It is a timing chart which shows the communication operation in an autonomous driving system when the software of each of a remote control device and a tractor is updated. It is explanatory drawing which shows the communication state at the time of autonomous traveling of a tractor. It is a timing chart which shows the communication operation in an autonomous driving system when only the software of a tractor is updated. It is explanatory drawing which shows the communication state at the time of software update of a remote control device. It is a timing chart which shows the communication operation in an autonomous driving system when only the software of a remote control device is updated. It is explanatory drawing which shows the communication state at the time of software update of a tractor. It is a timing chart which shows another example of the communication operation in the autonomous driving system when the software of each of a remote control device and a tractor is not updated. It is an overall view which shows the structure of the autonomous traveling system in another embodiment. It is a timing chart which shows the communication operation in an autonomous driving system when only the software of a tractor is updated. It is a timing chart which shows the communication operation in an autonomous driving system when only the software of a remote control device is updated. It is an overall side view of an unmanned tractor and a manned tractor.

<Autonomous driving system>
Hereinafter, embodiments embodying the present invention will be described with reference to the drawings. First, an autonomous traveling system for autonomously traveling a tractor, which is an example of an agricultural work vehicle according to the present invention, will be described below with reference to FIGS. 1 to 4. In the following description, a tractor that performs autonomous traveling and autonomous work may be referred to as an "unmanned tractor" or a "robot tractor", and a tractor that travels and performs work by being directly operated by an operator may be referred to as a "manned tractor". ..

In the present embodiment, the difference between the unmanned tractor and the manned tractor is the presence or absence of direct operation by the operator, and the configuration as the tractor is common between the unmanned tractor and the manned tractor. That is, even an unmanned tractor can be directly operated by an operator by boarding (boarding) (in other words, it can be used as a manned tractor). Further, even if it is a manned tractor, the operator can get off and perform autonomous traveling and autonomous work (in other words, it can be used as an unmanned tractor).

Further, in autonomous traveling, the configuration of the tractor 1 for traveling is controlled by the autonomous traveling control device 51 or the like included in the tractor 1 shown in FIG. 4, and the tractor 1 travels along a predetermined route. Means that. Further, in the present specification, the autonomous work means that the configuration provided by the tractor 1 for the work is controlled by the autonomous travel control device 51 or the like, and the tractor 1 performs the work along a predetermined route.

As shown in FIG. 1, in the autonomous traveling system of the present embodiment, the remote control device 70 operated by the operator executes wireless communication with the tractor 1 in the field (work area) H1 to communicate with the positioning satellite 63. The autonomous travel of the tractor 1 that acquires position information (positioning information) by communication is controlled. The unmanned tractor 1 communicates with the server 100 installed in the management center C1 through a communication network N1 such as a telephone line network, and transmits the drive information of the tractor 1 together with the position information (positioning information) and the time information of the server 100. Will be sent to. The server 100 stores the drive information of the unmanned tractor 1 together with the position information and the time information, and stores it as work history information.

A reference station (portable reference station) 60 is installed in the vicinity of the field H1, and the reference station 60 has position information that serves as a reference point for the installation position, and is a signal from the positioning satellite 63 (hereinafter, “satellite signal”). Is directly received by the positioning antenna 61), and the signal from the positioning satellite 63 (hereinafter, referred to as “vehicle signal”) received by the unmanned tractor 1 is indirectly received by the wireless communication antenna 64.

The reference station 60 uses the reference station communication device 62 to calculate position correction information from satellite signals and vehicle signals by the RTK positioning method or the like, and transmits the position correction information to the tractor 1 through the wireless communication antenna 64. The tractor 1 corrects the satellite positioning information measured by the positioning antenna 6 (see FIG. 2) using the correction information transmitted from the reference station 60, and corrects the current position information of the tractor 1 (for example, latitude information / longitude information). ) Is required.

In the field H1, the remote control device 70 wirelessly communicates with the tractor 1 without connecting to the communication network N1, receives the drive information of the tractor 1 together with the position information and the time information, and uses it as work history information. Remember. By operating the remote control device 70 while visually checking the situation in the field H1 and the state of the tractor 1, the operator starts autonomous traveling with respect to the tractor 1 communicated with the remote control device 70. You can instruct to stop.

In the operator's office O1, the remote control device 70 communicates with an access point 90 such as a router that is communicated with the communication network N1 via an ONU (Optical Network Unit) or a modem. The remote control device 70 can communicate with the server 100 via the communication network N1 by communicating with the access point 90 in the office O1. Then, the remote control device 70 is in a state of being able to communicate with the server 100. The work history information of the tractor 1 already stored is transmitted to the server 100.

When the server 100 receives the work history information (hereinafter referred to as "additional work history information") from the remote control device 70, the server 100 has already received and stored the work history information (hereinafter, "basic work history") from the tractor 1. "Information") is read. Then, the server 100 collates the basic work history information with the additional work history information to generate update work history information in which the additional work history information is added to the basic work history information, and the name of the operator who operated the tractor 1 and the tractor 1 Memorize with the model of.

The external terminal device (service tool) 80 is a terminal device owned by a serviceman of a sales company or a manufacturing company of the tractor 1, and can communicate with the tractor 1 by connecting to the tractor 1 by wire. When the tractor 1 connected to the external terminal device 80 communicates with the server 100 via the communication network N1, for example, software (firmware) update in the control device in the tractor 1 and failure diagnosis of the tractor 1 can be performed. Will be executed.

<Tractor>
Next, the tractor 1 will be described below with reference to FIGS. 2 to 4. As shown in FIGS. 2 and 3, the tractor 1 includes an aircraft 2 that autonomously travels in the field H1. A working machine 3 is detachably provided on the machine body 2. The working machine 3 is used for agricultural work. As the working machine 3, for example, there are various working machines such as a cultivator, a plow, a fertilizer applicator, a mower, and a seeder, and a desired working machine 3 is selected from these as necessary and the machine body 2 is used. Can be attached to. The machine body 2 is configured so that the height and posture of the mounted work machine 3 can be changed. The body 2 of the tractor 1 has its front portion supported by a pair of left and right front wheels 7 and 7, and its rear portion supported by a pair of left and right rear wheels 8 and 8. The front wheels 7 and 7 and the rear wheels 8 and 8 form a traveling portion.

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

Behind the bonnet 9, a cabin 11 on which the operator is boarding is arranged. Inside the cabin 11, a steering handle 12 for the operator to steer, a seat 13 on which the operator can sit, and various operating devices for performing various operations are mainly provided. There is. However, the agricultural work vehicle is not limited to the one with the cabin 11, and may not be equipped with the cabin 11.

Although not shown, examples of the above-mentioned operating device include a monitor device, a throttle lever, a main shift lever, an elevating 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 wheel 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 shift lever is operated to change the gear ratio of the transmission case 22. The elevating lever is used to elevate and lower the height of the working machine 3 mounted on the machine body 2 within a predetermined range. The PTO switch connects and disconnects power transmission from the rear end side of the mission case 22 to the PTO shaft (power take-off shaft) protruding outward. That is, when the PTO switch is in the ON state, power is transmitted to the PTO shaft to rotate the PTO shaft and drive the work equipment 3, while when the PTO switch is in the OFF state, the power to the PTO shaft is cut off. The PTO shaft does not rotate and the work machine 3 stops. The PTO shift lever performs a change operation of the power input to the work machine 3, specifically, a shift operation of the rotation speed of the PTO shaft. The hydraulic speed change lever switches and operates the flood control external take-out valve.

As shown in FIG. 1, a chassis 20 constituting the frame is provided at the lower part of the airframe 2. The chassis 20 is composed of an airframe frame 21, a mission case 22, a front axle 23, a rear axle 24, and the like.

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

As shown in FIG. 4, the tractor 1 is an engine control device capable of communicating with each other via a vehicle bus line 18 as a control unit for controlling the operation (forward, reverse, stop, turn, etc.) of the airframe 2. 15. The machine control device 16 and the work machine control device 17 are provided. The output side of the engine control device 15 is electrically connected to the common rail device 41 as a fuel injection device provided in the engine 5. On the other hand, the input side of the engine control device 15 is electrically connected to a rotation speed sensor 31 or the like that detects the rotation speed of the engine 5.

The output side of the control device 16 of this machine is a transmission 42 including a hydraulic transmission that shifts the power from the engine 5, and left and right braking devices that brake the power transmission to the left and right rear wheels 8 on the rear axle 24. It is electrically connected to 26 and the like. On the other hand, the input side of the machine control device 16 is electrically connected to the vehicle speed sensor 32 that detects the rotation speed of the rear wheels 8, the tilt angle sensor 33 that detects the tilt angle and the tilt angular velocity of the machine body 2, and the like. Further, the output side of the work machine control device 17 is electrically connected to the work machine elevating actuator 44, and the input side of the work machine control device 17 detects the posture and operating state of the work machine 3 and the work machine sensor 34. Is electrically connected to.

Further, the tractor 1 includes a vehicle-mounted terminal device 19 connected to the vehicle bus line 18, and the vehicle-mounted terminal device 19 can be connected to the communication network network N1 via a wireless telephone line or the like. That is, the tractor 1 can communicate with the server 100 of the management center C1 by communicating with the communication network N1 by the vehicle-mounted terminal device 19. Further, the tractor 1 is provided with a vehicle bus line 18 and a possible external terminal (not shown), and supplies electricity to an external terminal device (service tool) 80 such as a computer operated by a serviceman to the vehicle bus line 18. It is configured to be connectable.

The common rail device 41 injects fuel into each cylinder of the engine 10. In this case, the fuel injection valve of the injector for each cylinder of the engine 10 is 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 sent from each injector to the engine 10. The injection pressure, injection timing, and injection period (injection amount) of the fuel injected into each cylinder and supplied from each injector are controlled with high accuracy.

Specifically, the transmission 42 is, for example, a movable slanted plate type hydraulic continuously variable transmission, which is provided in the transmission case 22. By controlling the transmission 42 by the control device 16 of this machine 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 elevating actuator 44 moves the work machine 3 to a retracted position (position where farm work is not performed) or a work position (position where farm work is performed) by operating, for example, a three-point link mechanism that connects the work machine 3 to the machine body 2. It is raised or lowered to either one. By controlling the lifting actuator 44 by the working machine control device 17 and appropriately raising and lowering the working machine 3, for example, the working machine 3 can perform agricultural work at a desired height in the field area.

In the tractor 1 provided with the control devices 15 to 17 as described above, the control devices 15 to 17 communicate with each other via the vehicle bus line 18 based on various operations of the operator boarded in the cabin 11, and the tractor 1 By controlling each part (machine 2, work machine 3, etc.), it is possible to carry out farm work while traveling in the field. In addition, the tractor 1 of the embodiment can be autonomously driven based on a predetermined control signal output by the remote control device 70, for example, even if the operator is not on board.

Specifically, as shown in FIG. 4, the tractor 1 has various configurations such as an autonomous travel control device 51 for enabling autonomous travel. Further, the tractor 1 is provided with various configurations such as a positioning antenna 6 necessary for acquiring the position information of itself (airframe) based on the positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and autonomously travel on the field.

Next, the configuration included in the tractor 1 for autonomous traveling will be described in detail. Specifically, as shown in FIGS. 2 to 4, the tractor 1 includes an autonomous travel control device 51, a steering control device 52, a positioning survey device 53, a wireless communication router (low power data communication device) 54, and a steering actuator 43. , Positioning antenna 6, wireless communication antenna unit 48, and the like.

The autonomous travel control device 51 and the steering control device 52 are configured to be able to communicate with each other of the engine control device 15, the machine control device 16, and the work machine control device 17 via the vehicle bus line 18. Further, the autonomous travel control device 51 is connected to the positioning surveying device 53 and the wireless communication router 54 via the autonomous travel bus line 56 in the autonomous travel communication system which is a system different from the control communication system by the vehicle bus line 18. Mutual communication is possible.

The steering actuator 43 is provided, for example, in the middle of the rotation shaft (steering shaft) of the steering handle 12, and adjusts the rotation 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 and calculates an appropriate rotation angle of the steering handle 12 so that the tractor 1 travels along the route. The steering actuator 43 is controlled so that the steering handle 12 rotates at the changed rotation angle.

Further, the steering control device 52 receives a detection signal of the rotation angle of the steering handle 12 from the steering angle sensor 35, and also via the vehicle bus line 18, the engine control device 15, the machine control device 16, and the work machine control device 17 By communicating with each of them, it is possible to perform steering according to the vehicle speed of the tractor 1. The steering actuator 43 may not adjust the rotation angle of the steering handle 12, but may adjust the steering angle of the front wheels 7 of the tractor 1. In that case, the steering handle 12 may be turned. Does not rotate.

The positioning antenna 6 receives a signal from a positioning satellite that constitutes a positioning system such as a satellite positioning system (GNSS). 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, and the positioning information of the tractor 1 (strictly speaking, the positioning antenna 6) is calculated by the positioning surveying device 53 as latitude / longitude information, for example. The position information calculated by the positioning surveying device 53 is acquired by the autonomous traveling control device 51 and used for controlling the tractor 1.

The positioning survey device 53 is electrically connected to the first wireless communication antenna 48a in the wireless communication antenna unit 48, and will be described later through a first wireless communication network (for example, a wireless communication network in the 920 MHz band) by a specific low power radio. Communicates with the reference station (portable reference station) 60. The wireless communication antenna unit 48 is arranged on the upper 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 this embodiment, for example, RTK positioning is applied, and in addition to the tractor 1 on the mobile station side being provided with the positioning antenna 6, the reference station 60 having the reference station positioning antenna 61 is provided. The reference station 60 is arranged at a position (reference point) that does not interfere with the running of the tractor 1, such as around the field. The position information of the reference point, which is the 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 the communication device by the first wireless communication antenna 48a.

In 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 mobile station side for which 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 every time the satellite positioning information is measured from the positioning satellite 63 or every time the setting cycle elapses, and the reference station communication device 62 Is transmitting 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 by using the correction information transmitted from the reference station 60, and corrects the current position information of the tractor 1 (corresponding to the mobile station). For example, latitude information / longitude information) is required.

In this embodiment, a high-precision satellite positioning system using the GNSS-RTK method is used, but the present invention is not limited to this, and other positioning systems are used as long as high-precision position coordinates can be obtained. You may. GNSS-RTK is a positioning method that is corrected and improved in accuracy based on the 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 are omitted in this embodiment.

Further, the positioning surveying device 53 can measure not only the position information of the tractor 1 (aircraft 2) by satellite positioning but also the tilt angle information of front, back, left and right by inertial surveying. The tilt angle information measured by the positioning surveying device 53 is acquired by the autonomous traveling control device 51 in a state of being associated with position information (latitude / longitude information), and is used for controlling the tractor 1. 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 (airframe 2).

The wireless communication antenna unit 48 is arranged on the upper surface of the roof 14 of the cabin 11 of the tractor 1, and the first and second wireless communication antennas 48a and 48b are connected to the first and second wireless communication networks having different frequency bands. It has. The first wireless communication network is constructed by, for example, a specific low power radio in the 920 MHz band having a high data transmission speed in order to communicate the positioning correction information by the reference station 60. The second wireless communication network is constructed by, for example, a 2.4 GHz band low power data communication system or the like so that data having a large data capacity such as image data can be communicated at high speed. A part of the antennas 48a and 48b may be arranged in the cabin 11.

The first wireless communication antenna 48a is electrically connected to the positioning surveying device 53, and the second wireless communication antenna 48b is electrically connected to the wireless communication router 54. The wireless communication router 54 connected to the second wireless communication antenna 48b communicates with the image displayable remote control device 70 operated by an operator outside the tractor 1 through the second wireless communication network. The wireless communication router 54 receives the control signal from the remote control device 70 and transmits it to the autonomous travel control device 51 via the autonomous travel bus line 56.

Further, the wireless communication router 54 receives the captured image of the camera 36 by performing wireless communication with the camera 36 that captures the front of the tractor 1 via the second wireless communication network. The camera 36 is attached to the upper position of the cabin 11 and photographs the state of the field such as around the bonnet 6 in front of the cabin 11. In the present embodiment, the camera 36 is integrally attached to the wireless communication antenna unit 48, but it may be attached to a plurality of locations such as a lateral position and a rear position of the roof 14 of the cabin 11.

Specifically, the remote control device 70 is configured as a tablet-type personal computer provided with a touch panel. The operator can confirm by referring to the information displayed on the touch panel of the remote control device 70 (for example, the field information required for autonomous driving). Further, the operator operates the remote control device 70 to transmit a control signal for controlling the tractor 1 to the autonomous travel control device 51 of the tractor 1. The remote control device 70 of the embodiment is not limited to the tablet-type personal computer, and instead, for example, a notebook-type personal computer can be configured. Alternatively, a monitor device mounted on another tractor different from the tractor 1 can be used as a remote control device.

The autonomous travel control device 51 compares the travel route generated by the remote control device 70 with the position information of the tractor 1, and autonomously performs the tractor 1 along the travel route at a predetermined travel speed. In order to drive the tractor 1, the steering angle of the tractor 1, the target engine speed, the gear ratio, and the like are calculated and communicated with the respective control devices 15 to 17, 52 through the vehicle bus line 18. As a result, the tractor 1 can perform farm work by the work machine 3 while autonomously traveling along the traveling route. As described above, the route in the field area (traveling area) in which the tractor 1 autonomously travels may be referred to as a "traveling route" in the following description. Further, in the field area (traveling area), the area (working area) subject to agricultural work by the work machine 3 of the tractor 1 is defined as an area excluding the headland and the margin from the entire field area, and the operator and the like will be described later. It is set based on these registration points and the work width of the tractor 1 when the registration work of the registration points of is executed.

When the operator executes a stop operation on the remote control device 70, the autonomous travel control device 51 stops the fuel injection in the common rail device 41 by communicating with the engine control device 15, and also with the machine control device 16. After the transmission 42 is set to the neutral state by communication, the braking operation by the braking device 26 described later is applied. At this time, the autonomous travel control device 52 controls the steering actuator 43 so that the steering wheel 12 is in the neutral position by communicating with the steering control device 51, and directs the left and right front wheels 7 and 7 in the straight-ahead direction. May be.

The autonomous travel control device 51 has a communication state with the reference station 60 in the positioning survey device 53 (communication state in the first communication network) and a communication state with the remote control device 70 in the wireless communication router 54 (communication state in the second communication network). ) Each is confirmed via the autonomous traveling bus line 56. When the autonomous travel control device 51 confirms that the communication state in either the first or second communication network is cut off, the autonomous travel control device 51 communicates with the engine control device 15, the shift control device 16, and the like to autonomously control the tractor 1. Stop running. When the positioning surveying device 53 and the wireless communication router 54 do not receive the signal from the communication partner for a predetermined period or longer, the autonomous travel control device 51 determines that the communication with the communication partner is interrupted. ..

Further, the tractor 1 is provided with a pair of left and right braking devices 26, 26 that apply brakes to the left and right rear wheels 8 and 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 braking devices 26 and 26 are configured to apply the brakes to both the left and right rear wheels 8 and 8 by operating the brake pedal (or parking brake lever) in the braking direction. Further, when the rotation angle of the handle 12 becomes equal to or more than a predetermined angle, the braking device 26 for the rear wheel 8 on the inside of the turning is automatically braked by the command of the control device 16 of the machine ( So-called auto brake).

The reference station 60 is a reference station communication device electrically connected to the reference station wireless communication antenna 64 that distributes correction information, the reference station positioning antenna 61 that receives a signal from the positioning satellite 63, and the wireless communication antenna 64 and the positioning antenna 61, respectively. 62 and. The reference station 60 is installed at a reference point in specifying the position of the tractor (working vehicle) 1 which is a mobile station. 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 the position information of the reference point. And so on to generate correction information. Then, the reference station 60 distributes the correction information generated by the reference station communication device 62 via the first wireless communication network. The reference station 60 is configured to be disassembled into a plurality of members, and each disassembled member may be configured to have a size that can be accommodated in a predetermined case and transported.

<Basic processing operation in autonomous driving system>
Next, with reference to FIGS. 5 to 11, the basic processing operation in the autonomous traveling of the unmanned tractor 1 in the field H1 will be described below. As shown in FIGS. 5 to 7, when the key switch is turned on for the unmanned tractor 1 in the field H1, the control devices 15 to 17, 51, 52, the positioning surveying device 53, and the wireless communication router 54 are powered. As soon as it is turned on, the engine 10 is driven to enter an idling state. At this time, the unmanned tractor 1 is in a stopped state due to the braking action of the left and right braking devices 26. On the other hand, when the power of the remote control device 70 is turned on, a display composed of a touch panel is displayed and software on the device side is started.

The unmanned tractor 1 controls the communication operation of the wireless communication router 54 by the autonomous travel control device 51, so that the wireless communication router 54 starts searching for a remote control device 70 capable of communicating through the second wireless communication network. That is, the wireless communication router 54 generates a communication confirmation signal including the tractor ID unique to the unmanned tractor 1 and transmits it from the second wireless communication antenna 48b. The remote control device 70 stores in advance the tractor ID of the unmanned tractor 1 capable of communicating with the autonomous traveling system. Then, when the remote control device 70 receives the communication confirmation signal including the tractor ID, if the received tractor ID matches the tractor ID stored in advance, the remote control device 70 authenticates the communication with the wireless communication router 54 of the unmanned tractor 1. ..

After authenticating the communication with the unmanned tractor 1, the remote control device 70 generates a response signal to the communication confirmation signal and transmits the response signal to the wireless communication router 54 of the unmanned tractor 1. The remote control device 70 generates a response signal including a device ID unique to its own device and transmits it to the wireless communication router 54 through the second wireless communication network. The unmanned tractor 1 stores in advance the device ID of the remote control device 70 capable of communicating with the autonomous travel system in the autonomous travel control device 51 or the wireless communication router 54. Therefore, when the unmanned tractor 1 receives the response signal at the wireless communication router 54 via the second wireless communication antenna 48b, the unmanned tractor 1 is remotely operated when the device ID in the received response signal and the device ID stored in advance match. Authenticate communication with device 70.

As described above, when communication is established between the unmanned tractor 1 (wireless communication router 54) and the remote control device 70, the unmanned tractor 1 notifies the server 100 that the communication has been established. At this time, the unmanned tractor 1 transmits the tractor ID of the unmanned tractor 1 and the device ID of the remote control device 70 from the vehicle-mounted terminal device 19 to the server 100 via the communication network N1.

Further, when the key switch of the unmanned tractor 1 is turned on and the positioning surveying device 53 is turned on, the position information of the unmanned tractor 1 is obtained by communicating with the positioning satellite 63 and the reference station 60 through the antennas 6 and 48a. Latitude / longitude information) is calculated. Then, after the authentication process between the unmanned tractor 1 (wireless communication router 54) and the remote control device 70 described above, the position information of the unmanned tractor 1 is transmitted to the server 100 together with the tractor ID and the device ID.

When the server 100 confirms that the tractor 1 and the remote control device can use the autonomous traveling system from the tractor ID and the device ID, the server 100 authenticates the unmanned tractor 1 so as to enable communication between the unmanned tractor 1 and the server 100. .. When the server 100 authenticates the unmanned tractor 1, it reads out the map information centered on the position information received from the unmanned tractor 1 and transmits the read map information to the unmanned tractor 1. At this time, the server 100 confirms the field (work area) assigned to the operator who operates the unmanned tractor 1 from the tractor ID and the device ID, and maps the information of the field (work area) to be worked. Is added to and transmitted to the unmanned tractor 1.

When the unmanned tractor 1 receives the map information from the server 100 on the vehicle-mounted terminal device 19, the unmanned tractor 1 gives the received map information to the wireless communication router 54 via the autonomous travel control device 51, and transfers the map information from the wireless communication router 54. It transmits to the remote control device 70. The remote control device 70 that has received the map information displays a map including the field (work area) assigned to the operator on the display based on the received map information.

The operator designates a field (work area) to be worked by the unmanned tractor 1 from the map displayed on the display by operating the touch panel constituting the display of the remote control device 70. In addition, the operator determines the size of the work machine and the work machine for performing the work (plowing work, sowing work, fertilization work, puddling work, ridge-raising work, etc.) on the remote control device 70 by the unmanned tractor 1. specify.

When the remote control device 70 generates a response signal including the field (work area) and the work machine designated by the operator and transmits the response signal to the unmanned tractor 1, the unmanned tractor 1 moves to the work by the designated field and the work machine. Based on this, a work route (work route) to which the unmanned tractor 1 moves is generated by calculation. That is, when the content of the field and the work machine included in the response signal received by the wireless communication router 54 is notified to the autonomous travel control device 51, the autonomous travel control device 51 receives the work route from the designated field and the work machine. To set. Then, the wireless communication router 54 transmits a communication confirmation signal including the set work route to the remote control device 70.

When the remote control device 70 receives an operation for starting autonomous travel by the operator, the remote control device 70 generates a response signal that permits autonomous travel and transmits it to the unmanned tractor 1 (wireless communication router 54). When the unmanned tractor 1 receives the response signal that becomes the autonomous travel permission signal by the wireless communication router 54, the unmanned tractor 1 passes through the engine control device 15, the machine control device 16, the work equipment control device 17, and the steering control device 52, and the autonomous travel control device 51. The control operation of each part is executed, and the autonomous traveling of the unmanned tractor 1 is started.

When the unmanned tractor 1 starts autonomous traveling, the driving states of the machine body 2 and the work machine 3 (engine speed, vehicle speed of the machine body 2, engine load, tilt posture of the machine body 2, tilt posture of the work machine 3, and the work machine 3). The elevating position, braking operation of the left and right brake devices 26, steering angle of the handle 10, switching of the PTO switch, etc.) are transmitted to the server 100 and the remote control device 70 together with the position information and the time information. The position information is latitude / longitude information calculated by the positioning surveying device 53 based on the information received from each of the positioning satellite 63 and the reference station 60, and the time information is the control devices 15 to 17, 52 of the unmanned tractor 1. This is information indicating the time measured by any of 53.

<Software version confirmation process>
As shown in FIGS. 5 to 11, the autonomous traveling system in the present embodiment is a vehicle-side software (firmware) version (revised version) of the control devices 15 to 17, 51, 52 in the unmanned tractor 1 to be autonomously driven. The number) and the version of the device-side software (application) for the autonomous traveling system in the remote control device 70 are mutually confirmed. Then, when the vehicle-side software of the unmanned tractor 1 and the device-side software of the remote control device 70 match, the autonomous traveling of the unmanned tractor 1 by the autonomous traveling system is permitted. That is, when the vehicle-side software of the unmanned tractor 1 and the device-side software of the remote control device 70 do not match, the autonomous traveling of the unmanned tractor 1 by the autonomous traveling system is prohibited. Further, the server 100 stores each version of the vehicle-side software and the device-side software together with the update history of the vehicle-side software of the unmanned tractor 1 and the device-side software of the remote control device 70.

Note that "version matching" is not only when the other software is revised according to the revision of one of the software on the tractor 1 side and the remote control device 70 side, but also when only one software is revised. However, it also includes cases where it can be operated by using the other software that is the latest version. In the following, for the sake of simplicity, the software on the tractor 1 side and the software on the remote control device 70 side each have two versions, old and new, and both software are new versions, or both software are both. If it is an older version, the versions shall match.

As shown in FIG. 5, when the vehicle side software of the tractor 1 and the device side software of the remote control device 70 are both older versions (when the vehicle side software and the device side software versions are older), the unmanned tractor When executing the authentication operation for establishing communication between 1 and the remote control device 70, the communication confirmation signal and the response signal each do not include version information indicating the version of each software. Therefore, since both the unmanned tractor 1 and the remote control device 70 receive a signal without version information, it is determined that the software of each other matches in the old version and mutually authenticates, and the unmanned tractor 1 and the remote control device 70 are operated remotely. Establish communication between devices 70.

When the unmanned tractor 1 and the remote control device 70 having the old version of the software allow communication with each of them, the unmanned tractor 1 sends the tractor ID, the device ID, and the location information in order to make an authentication request to the server 100. Send. Since the server 100 does not receive the version information of the software of the unmanned tractor 1 and the remote control device 70, it is determined from the stored version update history that the software of the unmanned tractor 1 and the remote control device 70 is the old version of the software. Confirm.

The server 100 recognizes that the unmanned tractor 1 and the remote control device 70 are each operating with the old version of the software, and thereby prompts the unmanned tractor 1 and the remote control device 70 to update the software. Is notified together with the transmission of map information. When the unmanned tractor 1 receives the update notification from the server 100 together with the map information, the unmanned tractor 1 transmits the map information and the update notification to the remote control device 70.

As a result, since the remote control device 70 receives the update notification from the server 100 together with the map information, the software of the unmanned tractor 1 and the remote control device 70 is updated after the designated operation of the field (work area) and the work machine is completed. Notification screen (for example, "The tractor can be operated. Both the tractor software and the autonomous driving application have been updated. Please update the software after the work is completed.") Show on the display. As a result, the operator can confirm that the unmanned tractor 1 can be operated for autonomous traveling by checking the notification screen of the remote control device 70, and the software of the unmanned tractor 1 and the remote control device can be operated. You can recognize that the version has been updated.

As shown in FIG. 6, when the vehicle side software of the tractor 1 and the device side software of the remote control device 70 are both new versions (when the vehicle side software and the device side software versions are new), the unmanned tractor When executing the authentication operation for establishing communication between 1 and the remote control device 70, the communication confirmation signal and the response signal each include version information indicating the version of each software. Therefore, each of the unmanned tractor 1 and the remote control device 70 confirms the version information included in the received signal, determines that the respective software matches in the new version, and mutually authenticates the unmanned tractor 1 and the remote control device 70. Establish communication between the remote control devices 70.

Further, the unmanned tractor 1 transmits the version information of each software together with the tractor ID, the device ID, and the location information in order to make an authentication request to the server 100. By receiving the version information of the software of the unmanned tractor 1 and the remote control device 70, the server 100 confirms that the software of the unmanned tractor 1 and the remote control device 70 is a new version of the software.

As shown in FIG. 8, when the vehicle side software of the unmanned tractor 1 is a new version while the device side software of the remote control device 70 is an old version (the device side software version is older than the vehicle side software version). In the case), when executing the authentication operation for establishing communication between the unmanned tractor 1 and the remote control device 70, the communication confirmation signal includes the version information, but the response signal does not include the version information. At this time, the communication confirmation signal generated based on the new version of the vehicle-side software shall be configured to be processable by the old version of the device-side software. Therefore, the remote control device 70 authenticates the unmanned tractor 1 by receiving the communication confirmation signal.

On the other hand, since the unmanned tractor 1 receives the response signal without the version information, it determines that the software does not match each other, stops the transmission operation of the communication confirmation signal by the wireless communication router 54, and causes the remote control device 70 and the remote control device 70. Block communication. Further, the unmanned tractor 1 transmits the version information of the vehicle side software to the server 100 together with the tractor ID, the device ID, and the position information.

By receiving only the version information of the vehicle-side software, the server 100 recognizes that the versions of the vehicle-side software of the tractor 1 and the device-side software of the remote control device 70 do not match. Further, the server 100 confirms the update history of the remote control device 70 for the device side software, reads the version of the device side software of the remote control device 70, and notifies the unmanned tractor 1. The unmanned tractor 1 stops the engine 10 after giving a notification prompting the update of the device-side software of the remote control device 70.

On the other hand, since the remote control device 70 does not receive the communication confirmation signal from the unmanned tractor 1 (wireless communication router 54) even after a predetermined time has elapsed, it is determined that the communication with the unmanned tractor 1 has been cut off. To do. Therefore, the remote control device 70 notifies that the communication with the unmanned tractor 1 has been cut off and notifies the confirmation of the status of the unmanned tractor 1 (for example, "Communication with the tractor cannot be performed. The engine of the tractor is stopped." "Please check the tractor after the tractor engine is stopped.") Is displayed on the display.

Therefore, the operator gets on the unmanned tractor 1 by checking the screen display of the remote control device 70. At this time, in the unmanned tractor 1, for example, an update of software on the device side is notified by a display on a monitor device (not shown) in the cabin 11. As a result, the operator boarding the unmanned tractor 1 can recognize that the device-side software of the remote control device 70 is required to be updated.

As shown in FIGS. 8 and 9, when the operator confirms the update request for the device-side software of the remote control device 70, he / she returns to the office O1 and connects the remote control device 70 to the access point 90 by communication. As a result, the remote control device 70 communicates with the communication network N1 via the access point 90, so that it can communicate with the server 100 and requests the server 100 to update the software on the device side. At this time, the remote control device 70 transmits the device ID of its own device to the server 100, so that the server 100 confirms the update request from the remote control device 70 and authenticates the communication with the remote control device 70. ..

When communication between the server 100 and the remote control device 70 is established, the new version of the device side software (optimal version application) is read out and the remote control device is used in order to correspond to the new version of the vehicle side software of the unmanned tractor 1. Send to 70. When the remote control device 70 receives the new version of the device side software, it executes the update from the old version of the device side software, and when the software update is completed, it notifies the server 100 of the completion, and the server 100 and the remote control device 70. Communication with 70 is cut off.

As shown in FIG. 10, when the vehicle side software of the tractor 1 is an old version while the device side software of the remote control device 70 is a new version (when the vehicle side software version is older than the device side software version). ), When executing the authentication operation for establishing communication between the unmanned tractor 1 and the remote control device 70, the version information is not included in the communication confirmation signal. Since the remote control device 70 receives the communication confirmation signal without the version information, it determines that the software does not match each other and cuts off the communication with the unmanned tractor 1 (wireless communication router 54).

Since the unmanned tractor 1 (wireless communication router 54) does not receive the response signal from the remote control device 70 even after a predetermined time has elapsed, it is determined that the communication with the remote control device 70 has been cut off. Therefore, the remote control device 70 notifies that the communication with the unmanned tractor 1 has been cut off by, for example, a monitor device (not shown) in the cabin 11.

On the other hand, the remote control device 70 recognizes that the vehicle-side software of the unmanned tractor 1 is old, and confirms a mismatch with the version of the device-side software to notify the update of the vehicle-side software of the unmanned tractor 1. (For example, "The tractor software has not been updated. Please contact the service shop and update the tractor software.") Is displayed on the display. As a result, the operator can recognize by checking the notification screen of the remote control device 70 that the operation for autonomous driving is impossible because the vehicle side software in the unmanned tractor 1 is still the old version. ..

As shown in FIGS. 10 and 11, when the operator confirms the update request for the vehicle-side software of the unmanned tractor 1, the operator contacts a service shop such as a dealer and requests the update of the vehicle-side software. Then, the external terminal device (service tool) 80 is wiredly connected to the unmanned tractor 1 by the serviceman, and the unmanned tractor 1 is notified of the update of the vehicle-side software of the unmanned tractor 1. At this time, the external terminal device 80 transmits the device ID unique to its own device to the unmanned tractor 1.

As a result, the unmanned tractor 1 is connected to the communication network N1 by the vehicle-mounted terminal device 19 and can communicate with the server 100, and requests the server 100 to update the software on the vehicle side. At this time, the unmanned tractor 1 transmits the device ID of the external terminal device 80 together with the tractor ID of its own device to the server 100, so that the server 100 confirms the update request through the external terminal device 80 and the unmanned tractor 1 Authenticate communication with.

When communication between the server 100 and the unmanned tractor 1 is established, the new version of the vehicle side software (optimal version firmware) is read out to correspond to the new version of the device side software of the remote control device 70, and the unmanned tractor 1 Send to. When the unmanned tractor 1 receives the new version of the vehicle-side software, it executes the update from the old version of the vehicle-side software, and when the software update is completed, notifies the server 100 of the completion, and the server 100 and the remote control device 70. Communication with is cut off.

If the software of the unmanned tractor 1 and the remote control device 70 is an old version, the update history of the software of the unmanned tractor 1 and the remote control device 70 can be confirmed on the server device 100 as shown in FIG. , The software version may be determined to match. In this case, after the server 100 confirms that the software versions of the unmanned tractor 1 and the remote control device 70 match, communication between the unmanned tractor 1 and the remote control device 70 is established. Further, as in the case of FIGS. 6, 8 and 10 described above, even when the server 100 receives the software version information of the unmanned tractor 1 and the remote control device 70 for which communication has been established, the latest stored software is also received. It may be used to confirm the necessity of updating by comparing with the software version information of.

<Another Embodiment>
Another embodiment of the autonomous traveling system of the present invention will be described below with reference to FIGS. 13 to 15. As shown in FIG. 13, in the autonomous traveling system of the present embodiment, the remote control device 70 used in the field H1 communicates with the communication network N1 via, for example, a wireless telephone line, and the server 100. Can communicate with. Therefore, even if the versions of the vehicle-side software of the unmanned tractor 1 and the device-side software of the remote control device 70 do not match, the old version of the software can be updated based on the communication between the remote control device 70 and the server 100.

As shown in FIG. 14, when the vehicle side software of the unmanned tractor 1 is a new version while the device side software of the remote control device 70 is an old version (the device side software version is older than the vehicle side software version). In the case), the remote control device 70 is notified of the communication error, and the unmanned tractor 1 is notified of the update of the software on the device side. As a result, the operator recognizes that the device-side software of the remote control device 70 needs to be updated. Therefore, by operating the remote control device 70, the device-side software is updated (updated) for the server 100. To request.

The software update request notification from the remote control device 70 includes the device ID of the remote control device 70, and the server 100 authenticates the remote control device 70 based on the device ID to and the remote control device 70. Establish communication. The server 100 reads out the new version of the device-side software (optimal version of the application) and transmits it to the remote control device 70 in order to correspond to the new version of the vehicle-side software of the unmanned tractor 1.

In this way, when the device-side software of the remote control device 70 is updated, the operator turns on the key switch for the unmanned tractor 1. As a result, the software versions of the unmanned tractor 1 and the remote control device 70 are updated, and as shown in FIG. 6, communication between the unmanned tractor 1 and the remote control device 70 is established, and the unmanned tractor 1 You can start autonomous driving.

On the other hand, as shown in FIG. 15, when the vehicle side software of the tractor 1 is an old version and the device side software of the remote control device 70 is a new version (the vehicle side software version is higher than the device side software version). (If it is old), the remote control device 70 notifies the update of the software on the vehicle side. As a result, the operator recognizes that the vehicle-side software of the unmanned tractor 1 needs to be updated. Therefore, by operating the remote control device 70, the vehicle-side software is updated (updated) for the server 100. Request.

The software update request notification from the remote control device 70 includes the device ID of the remote control device 70 and the tractor ID of the unmanned tractor 1, and the server 100 uses the device ID and the tractor ID as the basis for the remote control device. The unmanned tractor ID is authenticated together with the 70, and communication with the remote control device 70 and the plain tractor 1 is established. The server 100 reads out the new version of the vehicle-side software (optimal version of the application) and transmits it to the unmanned tractor 1 in order to correspond to the new version of the device-side software of the remote control device 70.

In this way, when the vehicle-side software of the unmanned tractor 1 is updated, the unmanned tractor 1 notifies the remote control device 70 that the software update in the unmanned tractor 1 is completed. Further, when the remote control device 70 recognizes the completion of the software update in the unmanned tractor 1, it notifies the operator of the completion of the software update by displaying the completion of the software update on the display, and also notifies the server 100 of the completion of the software. Notice.

After that, the communication between the remote control device 70 and the unmanned tractor 1 is cut off, and the remote control device 70 receives the communication confirmation signal from the unmanned tractor 1. At this time, since the software versions of the unmanned tractor 1 and the remote control device 70 are new, as shown in FIG. 6, communication between the unmanned tractor 1 and the remote control device 70 is established, and the unmanned tractor 1 Can start autonomous driving.

The present invention is not limited to the above-described embodiment, and can be embodied in various aspects. The configuration of each part is not limited to the illustrated embodiment, and various changes can be made without departing from the spirit of the present invention. That is, in the above-described embodiment, the work is performed by a single tractor 1 in the field, but the work may be performed by a plurality of tractors 1. At this time, for example, as shown in FIG. 16, a part of the agricultural work is performed by the unmanned tractor 1 in the field, and the remaining agricultural work is performed by the manned tractor 1A. By executing the cooperative work, the follow-up work, the accompanying work, and the like of the agricultural work by the unmanned tractor 1 and the manned tractor 1A, the agricultural work can be shared in a single field. Further, in the above-mentioned cooperative work, the unmanned tractor 1 may perform the farm work in one field, and at the same time, the manned tractor 1A may perform the farm work in another field. Further, a plurality of unmanned tractors 1 may execute any of the above-mentioned cooperative work, follow-up work, and accompanying work.

1 Tractor (working vehicle)
15 Engine control device 16 This machine control device 17 Work machine control device 18 Vehicle bus line 19 Vehicle-mounted terminal device 48 Wireless communication antenna unit 48a 1st wireless communication antenna 48b 2nd wireless communication antenna 51 Autonomous driving control device 52 Steering control device 53 Positioning side volume device 54 Wireless communication router 56 Autonomous traveling bus line 60 Reference station 63 Positioning satellite 70 Remote control device 80 External terminal device 90 Access point 100 Server C1 Management center H1 Field (work area)
N1 communication network O1 office

Claims (6)

Work vehicles capable of autonomous driving and
A remote control device capable of communicating with the work vehicle,
A server for determining whether the version information of the vehicle-side software version of the work vehicle and the device-side software version of the remote control device match is provided.
When the server determines that the version information of the vehicle-side software and the version of the device-side software do not match, autonomous traveling of the work vehicle is prohibited.
The server confirms the version information of the vehicle-side software version and the device-side software version, and at least one of the vehicle-side software and the device-side software is not the latest version but the other software. When the version information is included, the autonomous traveling of the work vehicle is permitted, and a notification for prompting the update of the autonomous traveling information necessary for the autonomous traveling of the work vehicle and the version information of the vehicle side software and the device side software. Send information,
The remote control device is characterized in that it receives the autonomous traveling information and the notification information, and notifies that the update of the vehicle side software and the device side software is urged after the predetermined operation of the work vehicle is completed. Autonomous driving system. The autonomous traveling system according to claim 1, wherein the server stores update histories of the device-side software and the vehicle-side software, respectively. When the server determines that the version information of the vehicle-side software and the version of the device-side software do not match, the server notifies the work vehicle or the remote control device of the mismatch. The autonomous traveling system according to any one of 1 and 2. A work vehicle that runs autonomously and can communicate with a remote control device.
A control unit that performs autonomous driving control based on an operation signal from the remote control device,
When the version information of the device-side software of the remote control device and the vehicle-side software version of the work vehicle match, or at least one of the device-side software version and the vehicle-side software version is software. If it contains version information of the other software, it comprises a receiver that receives an autonomous travel permission signal.
The work vehicle prohibits autonomous traveling when the version information of the device-side software and the version of the vehicle-side software do not match, but the version of the device-side software and the version of the vehicle-side software A work vehicle characterized in that it performs autonomous travel when at least one piece of software contains version information of the other piece of software. It is a remote control device that can communicate with a work vehicle that runs autonomously.
The version information of the vehicle side software version of the work vehicle and the device side software version of the remote control device is confirmed, and the version information is updated for the vehicle side software version and the device side software version. A display unit that displays the necessary information and
It is provided with a receiving unit that receives autonomous traveling information necessary for autonomous traveling of the work vehicle and notification information for prompting update of version information of the vehicle side software and the device side software.
When at least one of the version of the vehicle-side software and the version of the device-side software is not the latest version, the display unit receives the autonomous traveling information and the notification information, and ends the predetermined operation of the work vehicle. After that, the remote control device is characterized by displaying a message to prompt the update of the vehicle side software and the device side software. The process of confirming the version information of the vehicle-side software version of the work vehicle capable of autonomous driving and the version of the remote control device-side software capable of communicating with the work vehicle, and
When it is confirmed that at least one of the version of the vehicle-side software and the version of the front-end software is not the latest version, the autonomous traveling information and the notification information are received, and after the predetermined operation of the work vehicle is completed, the said A display method comprising a step of displaying the vehicle-side software and the step of prompting the update of the device-side software.

Images