JP2022151102A - Remote control system for work vehicle, remote operation device and remote control method - Google Patents

Abstract

To provide a remote control system and method for a work vehicle for performing correct steering control as intended by a remote operator after switching from another mode to a remote operation mode.SOLUTION: A remote control system for a work vehicle comprises: a turning curvature difference detection unit 26 for detecting a difference between an actual turning curvature of the work vehicle and a turning curvature corresponding to a steering angle of simulation steering that a remote operation device 20 comprises when another travel mode is switched to a remote driving travel mode; and a difference control unit 27 that, upon detection of the difference between the turning curvatures exceeding a predetermined value, performs control to transmit an instruction of steering control from the remote operation device to a vehicle control device 10 in a state where the difference is eliminated. Even if the actual turning curvature of the work vehicle is not matched with the turning curvature corresponding to the steering angle of the simulation steering of the remote operation device in timing of the mode switching, the instruction of the steering control is transmitted from the remote operation device to the vehicle control device in a state where the mismatching is eliminated.SELECTED DRAWING: Figure 2

Description

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

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 an autonomous travel work vehicle is known (see, for example, Patent Document 1). The work vehicle operation system described in Patent Document 1 has a remote operation mode in which the work vehicle is controlled based on a signal received from a tablet terminal, and a manual operation mode in which even if a signal is received from the tablet terminal, it is not reflected in the control of the work vehicle. A changeover switch is installed in the cabin of the work vehicle to switch between the remote operator and the remote operator by reflecting the operation of the remote operator or the passenger in the operation of the work vehicle according to the set mode. It is possible to prevent the work vehicle from behaving unexpectedly when it is done.

In this patent document 1, after avoiding an emergency situation, a changeover switch is operated to return from the manual operation mode to the remote operation mode, or the operation of the operation member is detected for a certain period after operating the operation member in the manual operation mode. It is disclosed to automatically return to the remote control mode when the tablet terminal is not activated, or to return to the remote control mode when a signal to return to the remote control mode is received from the tablet terminal.

JP 2018-108764 A

In the work vehicle operating system described in Patent Document 1, remote control of the work vehicle is performed by operating a tablet terminal. On the other hand, in order for the remote operator to be able to remotely operate the actual work vehicle with a feeling close to that of actually operating the work vehicle, the steering wheel is modeled after the actual work vehicle. may be configured as

In this case, when switching from the manual operation mode to the remote operation mode as in Patent Document 1, the steering angle of the steering wheel of the manually operated work vehicle (actual steering angle at the time of switching from the manual operation mode to the remote operation mode) steering angle) does not match the turning curvature corresponding to the steering angle of the simulated steering wheel for remote control. When the steering of the work vehicle is remotely controlled by manipulating the simulated steering in such a state, the turning curvature of the work vehicle that the remote operator is conscious of while manipulating the simulated steering and the actual turning curvature of the work vehicle are different. Because of the discrepancy, there arises a problem that intended correct steering control cannot be performed.

SUMMARY OF THE INVENTION The present invention has been made to solve such problems. To enable correct steering control as intended by a remote operator after switching from a vehicle to a remote-controlled travel mode.

In order to solve the above-described problems, the present invention provides a remote controller that controls the travel of a work vehicle according to instructions given to a vehicle control device of the work vehicle from a remote operation device including simulated steering for remote steering control. The control system detects the difference between the actual turning curvature of the work vehicle and the turning curvature corresponding to the steering angle of the simulated steering wheel when the other driving mode is switched to the remote control driving mode, and detects the turning curvature exceeding a predetermined value. is detected, the steering control instruction is transmitted from the remote control device to the vehicle control device in a state in which the difference in turning curvature exceeding the predetermined value is eliminated.

According to the present invention configured as described above, when the other travel mode is switched to the remote-controlled travel mode, the actual turning curvature of the work vehicle at the time of switching and the turning curvature corresponding to the steering angle of the simulated steering wheel. , the steering control instruction is transmitted from the remote control device to the vehicle control device in a state in which the mismatch is resolved. As a result, the turning curvature that the remote operator is conscious of while operating the simulated steering matches the actual turning curvature of the work vehicle, so that the correct steering control is performed as intended by the remote operator. It can be performed.

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. It is a figure which shows typically the operation example of the difference control part by 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 they can communicate with each other. 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. At the same time, it controls the motion of the steering wheel 31 provided in the remote control device 20 (the details of these motions will also be described later).

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 Further, the remote control system of the present embodiment may be a system that allows only one work vehicle 100 to travel by remote control. Alternatively, a configuration in which a plurality of remote control devices 20 are present may be used.

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 111 as a storage medium. Various sensors 112 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

Further, the remote control device 20 includes, as a functional configuration, a wireless communication unit 21, a mode control unit 22, a remote control instruction unit 23, a status information reception unit 24, a monitoring screen display control unit 25, a turning curvature difference detection unit 26, and a difference control unit. A portion 27 is provided. The remote control device 20 also includes an operation unit 211 and a display 212 as hardware configurations. The remote control device 20 also includes a route data storage unit 213 as a storage medium.

Each functional block 21 to 27 can be configured by hardware, DSP, or software. For example, when configured by software, each of the functional blocks 21 to 27 is actually configured with a CPU, RAM, ROM, etc. of a computer, 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 . Further, the wireless communication units 11 and 21 transmit various state information detected by various sensors 112 of the vehicle control device 10 to the remote control device 20 from the vehicle control device 10 .

A mode setting unit 12 of the vehicle control device 10 sets a mode related to traveling of the work vehicle 100 . 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). A remote-controlled travel mode in which remote-controlled travel is performed according to a manual travel mode in which a worker actually rides on the work vehicle 100 and operates the work vehicle 100 using various operators provided on the work vehicle 100 Autonomous travel Remote control There are four standby modes in which the work vehicle 100 is placed in a standby state without performing any of the controlled travel and the manual travel. The autonomous driving mode, the manual driving mode, and the standby mode correspond to "another driving mode" in claims.

The mode setting unit 12 sets and cancels the manual driving mode based on a manual driving mode setting switch provided in the vehicle control device 10 . When the mode setting unit 12 sets or cancels the manual driving mode, the mode setting unit 12 notifies the remote operation device 20 of that fact. This notification is hereinafter referred to as manual driving mode switching notification.

For example, the mode setting unit 12 sets the manual driving mode when the setting switch is turned on. Further, the mode setting unit 12 cancels the manual running mode and sets, for example, the standby mode when the setting switch is turned off. On/off control of the manual travel mode by the setting switch of work vehicle 100 is performed by remote control device 20 when there is no operator in the cockpit of work vehicle 100 or when the operator is unaware of it. This is to prevent arbitrarily switching from another mode to the manual running mode or from the manual running mode to another mode by operation.

In addition, the mode setting unit 12 sets any one of the autonomous traveling mode, remote controlled traveling mode, and standby mode according to instructions received from the remote controller 20 (hereinafter referred to as mode setting instructions). In the initial state immediately after the power of the vehicle control device 10 is turned on, the mode setting unit 12 sets the manual driving mode. The mode setting unit 12 then 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 controller 20 . Here, the mode setting unit 12 enters a state in which the standby mode, the remote control driving mode, and the autonomous driving mode can be selected only after the manual driving mode is canceled by the setting switch provided in the vehicle control device 10 . This is in consideration of safety immediately after the power is turned on.

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 111 and the work detected by the position/direction sensors included in the various sensors 112 . 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 111 stores route data representing a travel route set in advance in a 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 111, for example, before the work vehicle 100 starts traveling. Note that the method of storing route data in the route data storage unit 111 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 111 . Note that the route data storage unit 111 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 111 may further store map data of farm 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 111 . 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 manual travel mode is set by the mode setting unit 12, the travel control unit 13 controls the operation of the work vehicle 100 according to the operation of the steering, pedals, shift lever, and other operation members of the work vehicle 100 by the worker on the work vehicle 100. , and controls the lifting and driving of the work implement 101 provided in the work vehicle 100 .

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 112 and working state information indicating the working state of the work machine 101 detected by the various sensors 112 to the remote control device. 20 sequentially. The traveling state information includes, for example, the vehicle position/azimuth of the work vehicle 100, steering angle (corresponding to steering-related values in claims), traveling speed, gear stage, engine speed, engine load factor, vehicle body tilt angle ( roll angle and pitch angle), fuel level, coolant temperature, battery voltage, vehicle surroundings image, etc. Further, the work state information includes, for example, information such as the height of work implement 101 and PTO rotation speed.

Various sensors 112 include a plurality of sensors required to acquire the above-described running state information and work state information. Here, each of the plurality of work vehicles 100 includes a camera that captures the surroundings of the work vehicle 100 as one of the various sensors 112 . 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 .

The mode control unit 22 of the remote control device 20 selects a mode (autonomous travel mode, remote control travel mode, standby mode) for the plurality of vehicle control devices 10 in accordance with an operation on the operation unit 211 by an operator (remote operator) of the remote control device 20 . mode) settings. In this embodiment, the mode control unit 22 stores information about which mode is set for which work vehicle 100 . Further, when the wireless communication unit 21 receives a manual driving mode switching notification from the vehicle control device 10, the mode control unit 22 stores information on either the manual driving mode or the standby mode according to the content of the notification. Then, when the stored mode information is switched from the other travel mode to the remote control travel mode, the mode control unit 22 notifies the turning curvature difference detection unit 26 of that fact.

The mode control unit 22 controls the plurality of vehicle control devices 10 so that two or more vehicle control devices 10 to which the remote control traveling mode is set are not set at the same time while the plurality of work vehicles 100 are traveling in any mode. Control mode settings. 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 211 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 211. As shown in FIG. As shown in FIG. 3, the operation unit 211 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 211 with a feeling close to that of actually operating the actual work vehicle 100 . The steering wheel 31 corresponds to a "simulated steering wheel" in claims.

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 . This mode selection switch 332 does not include a switch for selecting the manual running mode. When setting the work vehicle 100 to any mode other than the manual travel mode, first, the vehicle selection switch 331 is operated to select one of the work vehicles 100 _-1 to 100 _-4 , and then mode selection. A desired mode is selected by operating the switch 332 . 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} according to the autonomous travel mode, the manual travel mode, or the standby mode already set by the mode setting unit 12 to control the operation of each work vehicle 100 _-2 . Continue running control at ₂ to 100 _-4 .

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. It 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.

For work vehicle 100 set to the manual travel mode, it is preferable not to switch to standby mode or emergency stop mode even when emergency switch 334 is operated on 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).

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).

It should be noted that the rotation angle (hereinafter referred to as the left-right rotation angle) from the left lock (left rotation state to the limit) to the right lock (right rotation state to the limit) of the steering wheel 31 and the actual steering provided in the work vehicle 100 may not necessarily coincide with the left-right rotation angle of .

When the lateral rotation angle of the steering wheel 31 and the actual lateral rotation angle of the steering provided by the work vehicle 100 do not match, the steering amount of the steering wheel 31 is converted into the actual steering amount of the steering wheel of the work vehicle 100, and then converted. Steering information indicating a subsequent steering amount may be transmitted. Alternatively, the steering amount of the steering wheel 31 may be transmitted as steering information, and the work vehicle 100 that receives the information may convert it into an actual steering amount of the steering wheel. This conversion is, for example, a relationship in which the turning curvature of the work vehicle 100 corresponding to the left-right rotation angle of the steering wheel 31 and the turning curvature of the work vehicle 100 corresponding to the actual left-right rotation angle of the steering wheel of the work vehicle 100 match. It is done according to the function or table information that becomes

As shown in FIG. 3, the steering wheel 31 has a structure that makes it easy for the remote operator to visually understand how much the remote operator is turning leftward or rightward. That is, the steering wheel 31 has two spokes 31b extending in the left-right direction from a central horn pad 31a. When the spokes 31b are in a horizontal state as shown in FIG. One thing becomes intuitive.

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. The status information receiving section 24 supplies the received status information to the monitoring screen display control section 25 . The state information receiving unit 24 also supplies the turning curvature difference detecting unit 26 with information indicating the actual steering angle of the work vehicle 100 (hereinafter referred to as actual steering angle information) among the received state information.

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 212 . The field data and route data stored in the route data storage unit 213 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 212. As shown in FIG. As shown in FIG. 4, this embodiment has three displays 212 _-1 to 27 _-3 , each of which displays a different monitor screen. These three displays 212 _-1 to 27 _-3 are arranged horizontally in front of the operation unit 211 operated by the remote operator, and the monitor screen displayed on each display 212 _-1 to 27 _-3 can be checked. The operation unit 211 can be operated while pressing the button.

The first display 212 _-1 shown in FIG. 4(a) is for displaying a bird's-eye view image showing the running 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 212 _-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 212 _-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 213, and 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 _212-2 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 a thing. As shown in FIG. 4(b) _, the second display _212-2 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 212 _-2 , one of the images received by the state information receiving unit 24 is used 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 _212-2 . 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.

A third display _212-3 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 a 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 _212-3 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 _212-2 shown in FIG. 4(b) Only the image and part of the driving state information (including the actual steering angle information) may be transmitted from the vehicle control device 10 to the remote control device 20 .

In the third display _212-3 shown in FIG. 4(c) as well, the monitoring screen display control unit 25 displays the monitoring screen in such a manner that an image of the identification information of one work vehicle 100 selected by the vehicle selection switch 331 is included. is generated and displayed. This allows the remote operator to intuitively grasp which of the work vehicles 100 _-1 to 100 _-4 the information displayed on the third display 212 _-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.

When the mode control unit 22 notifies that the other travel mode has been switched to the remote-controlled travel mode, the turning curvature difference detection unit 26 detects the status information of the work vehicle 100 that has been switched to the remote-controlled travel mode. The difference between the actual turning curvature of the work vehicle 100 specified from the actual steering angle information included in the running state information received by 24 and the turning curvature corresponding to the steering angle of the steering wheel 31 of the operation unit 211 at that time is calculated. To detect.

That is, the turning curvature difference detection unit 26 has information (table information or function information) indicating the correspondence relationship between the actual steering angle of the steering wheel of the work vehicle 100 and the turning curvature of the work vehicle 100 with respect to the steering angle. This information is used to specify the actual turning curvature of the work vehicle 100 from the actual steering angle indicated by the actual steering angle information. The turning curvature difference detection unit 26 also has information (table information or function information) indicating the correspondence relationship between the steering angle of the steering wheel 31 and the turning curvature with respect to the steering angle. The turning curvature corresponding to the steering angle of the steering wheel 31 when switched to the steering travel mode is specified. Then, the difference between the actual turning curvature of the work vehicle 100 specified in this way and the turning curvature corresponding to the steering angle of the steering wheel 31 is detected.

For example, when the traveling mode of the work vehicle 100 _-j traveling in the autonomous traveling mode is switched to the remote control traveling mode, or when the traveling mode of the work vehicle 100 _-j traveling in the manual traveling mode is switched to the standby mode When switching to the remote-controlled traveling mode, the turning curvature corresponding to the steering angle of the work vehicle 100- _j (actual steering angle at the time of switching from the autonomous traveling mode or the manual operation mode to the remote-controlled traveling mode); The turning curvature corresponding to the steering angle of the steering wheel 31 provided in the operation unit 211 may not match. The turning curvature difference detection unit 26 detects the turning curvature difference (the magnitude of the curvature difference in which direction, left or right) related to such a mismatch.

When the turning curvature difference detection unit 26 detects a turning curvature difference exceeding a predetermined value, the difference control unit 27 causes the remote control instruction unit 23 to perform steering control in a state in which the turning curvature difference exceeding the predetermined value is eliminated. control so as to transmit instructions for Specifically, the difference control unit 27 causes the turning curvature corresponding to the steering angle of the steering wheel 31 to approach the actual turning curvature of the work vehicle 100 so that the turning curvature difference exceeding a predetermined value is eliminated. automatically rotate physically. At this time, the difference control section 27 controls the remote control instruction section 23 so as not to transmit a steering control instruction until the rotation of the steering wheel 31 is completed. Here, the predetermined value is a value at which it can be said that there is almost no difference in turning curvature, such as zero or a small value close to it.

FIG. 5 is a diagram schematically showing an operation example of the difference control unit 27. As shown in FIG. FIG. 5(a1) shows the state of the steering wheel 31 when the traveling mode of one work vehicle 100- _i is switched from the other traveling mode to the remote control traveling mode. At this time, the steering angle of the steering wheel 31 is changed, for example, by switching the traveling mode of the one work vehicle 100- _i from the remote-controlled traveling mode to the autonomous traveling mode or the manual traveling mode, and then returning to the remote-controlled traveling mode again to perform the work. When the vehicle 100- _i operates, the steering angle is maintained as it is when switching from the remote-controlled travel mode to the autonomous travel mode or the manual travel mode (the one work vehicle 100- _i is in an autonomous mode). The remote operator does not operate the steering wheel 31 in the driving mode or the manual driving mode). Alternatively, the _{steering angle} of the steering 31 shown in FIG. When the other traveling mode is switched to the remote-controlled traveling mode, the steering angle may be the same as when the other work vehicle 100- _j was remotely controlled.

FIG. 5(b) shows the actual steering state of the one work vehicle 100- _i when the travel mode of the one work vehicle 100- _i is switched from the other travel mode to the remote control travel mode. As shown in FIG. 5(a1), the steering wheel 31 of the operation unit 211 is rotated leftward. On the other hand, as shown in FIG. 5(b), the actual steering of the one work vehicle 100- _i is turned rightward. Therefore, the turning curvature difference detection unit 26 detects a turning curvature difference that exceeds a predetermined value.

In this case, the difference control unit 27 automatically _rotates the steering wheel 31 to the right as shown in FIG. To eliminate the difference in turning curvature exceeding a predetermined value by approximating the actual turning curvature. A state in which the difference in turning curvature exceeding a predetermined value is eliminated is, for example, a state in which the difference is equal to or less than a predetermined value. Alternatively, the difference may be set to zero.

5(a2) and 5(b) illustrate a state in which the steering angle of the steering wheel 31 of the remote control device 20 substantially matches the actual steering angle of the work vehicle 100- _i . there is However, if the left-right rotation angle of the steering wheel 31 and the actual left-right rotation angle of the steering wheel do not match, the steering angle of the steering wheel 31 and the actual steering angle will be adjusted when the difference in turning curvature exceeding the predetermined value is eliminated. does not necessarily match the steering angle of

In this manner, the difference control unit 27 causes the remote operation instruction unit 23 to issue a remote operation instruction for steering control while automatically rotating the steering wheel 31 from the state shown in FIG. 5(a1) to the state shown in FIG. 5(a2). Control not to transmit to the device 10 . That is, the difference control unit 27 controls the remote operation instruction unit 23 so as to transmit a remote operation instruction for steering control to the vehicle control device 10 when the rotation of the steering wheel 31 is completed in the state shown in FIG. 5(a2). do.

FIG. 6 is a flowchart showing an operation example of the remote control device 20 of the remote control system configured as described above, and mainly shows an operation example when the mode of the work vehicle 100 is switched from the other traveling mode to the remote control traveling mode. showing.

The turning curvature difference detection unit 26 determines whether or not the mode control unit 22 has notified that any work vehicle 100 has been switched from the other travel mode to the remote control travel mode (step S1). If the turning curvature difference detection unit 26 has not received this notification from the mode control unit 22, the remote control device 20 performs processing other than the processing related to this mode switching (step S2). Then, the process returns to step S1.

On the other hand, when the mode control unit 22 notifies that any of the work vehicles 100 has been switched from the other travel mode to the remote control travel mode, the turning curvature difference detection unit 26 receives state information regarding the work vehicle 100. The actual turning curvature of the work vehicle 100 is specified based on the actual steering angle information included in the latest running state information received by the unit 24, and the steering angle of the steering wheel 31 of the operation unit 211 at that time is determined. The corresponding turning curvature is specified and the difference between the two is detected (step S3).

Then, the difference control unit 27 determines whether or not the turning curvature difference detected by the turning curvature difference detection unit 26 exceeds a predetermined value (step S4). When the difference in turning curvature exceeds the predetermined value, the difference control unit 27 automatically rotates the steering wheel 31 to bring the turning curvature corresponding to the steering angle of the steering wheel 31 closer to the actual turning curvature of the work vehicle 100. , the difference in turning curvature exceeding a predetermined value is eliminated (step S5).

After executing the process of step S5, the process proceeds to step S6. Further, when it is determined in step S4 that the difference in turning curvature does not exceed the predetermined value, the process proceeds to step S6 without executing the process of step S5. In step S6, 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. 6 ends. On the other hand, if the power of the remote control device 20 is not turned off, the process returns to step S1.

While the difference control unit 27 is performing the processing in step S<b>5 , the remote control command unit 23 does not transmit a remote control command for steering control to the vehicle control device 10 . After the processing of the difference control section 27 in step S5 is completed, the process proceeds from step S1 to step S2 according to the operation of the operation section 211, and the remote control instruction section 23 performs various remote control operations including instructions for steering control. An instruction is sent to the vehicle control device 10 .

As described in detail above, in the present embodiment, when the travel mode of a certain work vehicle 100 is switched from another travel mode to the remote control travel mode, the actual turning curvature of the work vehicle 100 and the degree of the remote control device 20 are calculated. A difference between the turning curvature corresponding to the steering angle of the steering wheel 31 is detected, and when a turning curvature difference exceeding a predetermined value is detected, the steering 31 is automatically adjusted so as to eliminate the turning curvature difference exceeding the predetermined value. I am trying to rotate it.

According to this embodiment configured as described above, when the other travel mode is switched to the remote-controlled travel mode, the actual turning curvature of the work vehicle 100 at the time of switching and the turning corresponding to the steering angle of the steering wheel 31 are obtained. Even if the curvature does not match, the steering control instruction is transmitted from the remote control instruction unit 23 to the vehicle control device 10 after the mismatch is resolved. Therefore, the turning curvature that the remote operator is conscious of while operating the steering wheel 31 and the actual turning curvature of the work vehicle 100 match, so that correct steering as intended by the remote operator is achieved. can be controlled.

In the above-described embodiment, as an example of processing of the difference control unit 27 that controls so that the remote control instruction unit 23 transmits a steering control instruction in a state in which the difference in turning curvature exceeding a predetermined value is eliminated, Although the processing of automatically rotating the steering wheel 31 so as to eliminate the difference in turning curvature exceeding the predetermined value has been described, the present invention is not limited to this.

For example, after the turning curvature difference detection unit 26 detects a turning curvature difference exceeding a predetermined value, the difference control unit 27 determines the turning curvature corresponding to the steering angle of the steering wheel 31 that varies according to the operation of the remote operator and the work vehicle. The remote control instruction section 23 may not transmit the steering control instruction until the difference from the actual turning curvature of 100 does not exceed a predetermined value.

For example, when the turning curvature difference detection unit 26 detects a turning curvature difference exceeding a predetermined value, the monitoring screen display control unit 25 displays the split screen 427 of the third display _212-3 as the work vehicle 100. A steering image is displayed in such a manner that the steering angle corresponding to the actual turning curvature of the steering wheel can be understood. Alternatively, an image may be displayed in which the actual turning curvature of the work vehicle 100 and the turning curvature corresponding to the steering angle of the steering wheel 31 can be compared and visually recognized. The remote operator manually rotates the steering wheel 31 while referring to this image. At this time, the remote control instruction unit 23 follows the control of the difference control unit 27, and the difference between the turning curvature corresponding to the steering angle of the manually operated steering wheel 31 and the actual turning curvature of the work vehicle 100 exceeds a predetermined value. The instruction of the steering control is not transmitted to the vehicle control device 10 until it is no longer.

Here, the remote operator may be notified that the difference between the turning curvature corresponding to the steering angle of the steering wheel 31 and the actual turning curvature of the work vehicle 100 no longer exceeds a predetermined value. Any notification method may be used. For example, it is possible to erase the steering image displayed on the split screen 427 when the difference is equal to or less than a predetermined value or becomes zero. At this time, a predetermined notification sound may be output at the same time.

In the above embodiment, the steering angle of the work vehicle 100 is used as the steering-related value transmitted by the state information transmission unit 14 of the vehicle control device 10 to the remote control device 20. However, the present invention is limited to this. not. For example, the turning curvature corresponding to the steering angle of the work vehicle 100 may be transmitted to the remote control device 20 as the steering-related value. In this case, the turning curvature difference detection unit 26 detects the difference between the actual turning curvature of the work vehicle 100 included in the state information received by the state information receiving unit 24 and the turning curvature corresponding to the steering angle of the steering wheel 31. .

Further, in the above embodiment, an example has been described in which the remote control device 20 transmits the steering amount of the steering wheel 31 or the actual steering amount of the work vehicle 100 converted from this to the vehicle control device 10 as the steering information. The invention is not limited to this. For example, the steering amount of the steering wheel 31 may be converted into the turning curvature of the work vehicle 100, and the turning curvature may be transmitted as the steering information. In this case, the vehicle control device 10 converts the turning curvature received from the remote control device 20 into the actual steering angle of the steering wheel. There is no need to convert it into an actual steering amount.

Further, in the above-described embodiment, by having information indicating the correspondence relationship between the steering angle and the turning curvature for each type of work vehicle 100 or each type of steering mechanism, one remote control device 20 can be used to control different types of work vehicles 100 . or the operation of the steering mechanism. Examples of the types of the work vehicle 100 include a front-wheel steering vehicle such as a tractor, a four-wheel steering vehicle such as some riding maintenance machines and speed sprayers, and an articulated vehicle such as a wheel loader (tire excavator). Examples include a center-folding type vehicle and a type of vehicle that turns by crawler differentials like a combine. The remote control device 20 establishes a correspondence relationship between the turning curvature specified from the steering angle of the front wheels, the steering angle of all the wheels, the bending angle of the crawler, and the differential of the crawler, and the steering angle of the steering provided for each type of work vehicle. By storing information indicating and selecting and using any of the information, it is possible to control different types of work vehicles 100 with one remote control device 20 .

Moreover, in the above-described embodiment, the steering 31 may be configured in accordance with a specific type of work vehicle 100 . That is, the remote control device 20 including the steering wheel 31 is configured so as to match the relationship between the left-right rotation angle of the steering wheel provided in the specific type of work vehicle 100 and the steering angle of the steering wheel and the turning curvature of the work vehicle 100 . You may do so. In this way, controlling to eliminate the difference in turning curvature exceeding the predetermined value is equivalent to controlling to eliminate the difference in steering angle exceeding the predetermined value, and the difference is eliminated. At this time, the actual steering angle of the steering wheel and the steering angle of the steering wheel 31 of the remote control device 20 match, so that the operational feeling can be improved.

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 Driving control unit 14 State information transmission unit 20 Remote control device 22 Mode control unit 23 Remote operation instruction unit 24 State information reception unit 25 Monitoring screen display control unit 26 Turning curvature difference detection unit 27 Difference control Part 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 (5)

A vehicle control device mounted on a work vehicle and a remote control device existing outside the work vehicle, wherein the remote control device includes a simulated steering for remote steering control, and the vehicle control is performed from the remote control device. A remote control system for a work vehicle adapted to control travel of the work vehicle according to instructions given to a device, comprising:
The vehicle control device is
a mode setting unit for setting either a remote-controlled travel mode in which remote-controlled travel is performed according to a remote-controlled instruction including a steering control instruction received from the remote control device, or another travel mode;
a travel control unit that executes travel control including steering of the work vehicle according to the mode set by the mode setting unit;
a state information transmitting unit configured to sequentially transmit running state information indicating a running state including steering-related values of the work vehicle to the remote control device;
The above remote control device
a remote operation instruction unit that transmits the remote operation instruction to the vehicle control device of the work vehicle according to an operation by a remote operator on the operation unit including the simulated steering;
a state information receiving unit that sequentially receives the running state information transmitted from the state information transmitting unit of the work vehicle;
an actual turning curvature of the work vehicle specified from the steering-related value included in the running state information received by the state information receiving unit when the other running mode is switched to the remote-controlled running mode; a turning curvature difference detection unit for detecting a difference between the turning curvature corresponding to the steering angle of the simulated steering wheel;
When the turning curvature difference detection unit detects a turning curvature difference exceeding a predetermined value, the remote control instruction unit transmits the steering control instruction in a state in which the turning curvature difference exceeding the predetermined value is eliminated. A remote control system for a work vehicle, comprising: a differential control unit for performing control so as to be different. When the turning curvature difference detection unit detects a turning curvature difference exceeding the predetermined value, the difference control unit converts the turning curvature corresponding to the steering angle of the simulated steering to the actual turning curvature of the work vehicle. The simulated steering wheel is automatically rotated so that the difference in turning curvature exceeding the predetermined value is eliminated, and the remote control is performed so as not to transmit the steering control instruction while the simulated steering wheel is automatically rotating. 2. The remote control system according to claim 1, which controls an indicator. After the turning curvature difference detection unit detects a difference in turning curvature exceeding the predetermined value, the difference control unit controls the turning curvature corresponding to the steering angle of the simulated steering wheel, which varies according to the operation by the remote operator, and the 2. The remote control instruction unit is controlled so as not to transmit the steering control instruction until a difference from the actual turning curvature of the work vehicle ceases to exceed the predetermined value. remote control system. A remote control device for controlling travel of the work vehicle by transmitting an instruction from outside the work vehicle to a vehicle control device mounted on the work vehicle,
a remote control instruction unit that transmits a remote control instruction including a steering control instruction to the vehicle control device of the work vehicle in accordance with an operation by a remote operator on an operation unit including a simulated steering for remote steering control;
a state information receiving unit that sequentially receives, from the work vehicle, running state information indicating a running state including steering-related values of the work vehicle;
a mode control unit for controlling setting of a mode by transmitting an instruction in accordance with an operation by a remote operator to the vehicle control device having a remote-controlled travel mode for remote-controlled traveling according to the remote-control instruction and another travel mode; ,
an actual turning curvature of the work vehicle specified from the steering-related value included in the running state information received by the state information receiving unit when the other running mode is switched to the remote-controlled running mode; a turning curvature difference detection unit for detecting a difference between the turning curvature corresponding to the steering angle of the simulated steering wheel;
When the turning curvature difference detection unit detects a turning curvature difference exceeding a predetermined value, the remote control instruction unit transmits the steering control instruction in a state in which the turning curvature difference exceeding the predetermined value is eliminated. A remote control device comprising: a differential control unit for controlling to be different. A remote control system for a work vehicle comprising a vehicle control device mounted on a work vehicle and a remote control device existing outside the work vehicle, wherein the remote control device includes simulated steering for remote steering control , a method for controlling travel of the work vehicle according to instructions given from the remote control device to the vehicle control device,
The vehicle control device has one of a remote-controlled travel mode and another travel mode in which remote-controlled travel is performed in accordance with a remote-controlled command including a steering control command received from the remote control device,
The turning curvature difference detection unit of the remote control device is included in the traveling state information sequentially received from the vehicle control device when the traveling mode of the work vehicle is switched from the other traveling mode to the remote controlled traveling mode. a step of detecting a difference between the actual turning curvature of the work vehicle specified from the steering-related value and the turning curvature corresponding to the steering angle of the simulated steering;
When the turning curvature difference detection unit detects a turning curvature difference exceeding a predetermined value, the difference control unit of the remote control device controls the remote control device in a state in which the turning curvature difference exceeding the predetermined value is eliminated. a remote control method for a work vehicle, characterized by comprising a step of controlling so as to transmit the steering control instruction.

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