JP6602808B2 - Autonomous traveling system for work vehicles - Google Patents

Description

  The present invention relates to an autonomous traveling system for a work vehicle that causes the work vehicle to autonomously travel.

  2. Description of the Related Art In recent years, an autonomous traveling system that autonomously travels an unmanned work vehicle on which an operator is not boarding has been developed in order to efficiently and easily perform farm work on a farm field (see Patent Document 1). The autonomous traveling system of Patent Document 1 is remotely operated by a server device installed in a residence or the like distant from the work vehicle, cannot see the working state of the work vehicle, and is difficult to respond in an emergency. is there. Therefore, an autonomous traveling system using an operation terminal by a wireless communication terminal device has been developed in order to operate autonomous traveling of a work vehicle in a workplace such as a farm field (see Patent Documents 2 and 3).

JP 2011-254704 A Japanese Patent Laid-Open No. 2006-093127 Japanese Patent Laying-Open No. 2006-168883

  By the way, a communication device for remote operation (operation terminal) such as a wireless communication terminal device for remotely operating a work vehicle can communicate with a wireless communication device mounted on the work vehicle. Authentication by is required. However, since the authentication of the remote operation communication device in the wireless communication device on the work vehicle side is performed at the time of shipment from the factory, the remote operation communication device cannot be arbitrarily authenticated. Therefore, in the conventional autonomous traveling system, a complicated procedure is required to replace or add a remote operation communication device. On the other hand, when the authentication of the remote operation communication device can be executed without limitation, there is a security problem such that authentication is performed even by impersonation by a third party other than the operator of the work vehicle.

  The present invention has been made in view of the above-described present situation, and an object of the present invention is to provide an autonomous traveling system for a work vehicle that can arbitrarily and easily authenticate a remote control communication device.

  The present invention is an autonomous traveling system for a work vehicle in which the work vehicle is remotely operated by communication between a first vehicle-side communication device provided in the work vehicle and a first remote operation communication device, When pairing with the first remote control communication device is requested from the external device to the first vehicle communication device, the first vehicle communication device authenticates the first remote control communication device. The first vehicle-side communication device that has shifted to the pairing mode and stores the identification information of the first remote-control communication device when receiving a signal from the first remote-control communication device. After that, the stored identification information is transmitted to the first remote control communication device, whereby pairing is established.

  In the autonomous traveling system of the work vehicle, the external device may be a service tool capable of setting various functions in the work vehicle through wired communication with the work vehicle.

  In the autonomous traveling system of the work vehicle, the work vehicle includes a second vehicle-side communication device that communicates with a second remote operation communication device that performs wireless communication with a communication method different from that of the first remote operation communication device. The first vehicle side communication device is required to be paired with the first remote operation communication device from the second remote operation communication device via the second vehicle side communication device. Also good.

  In the autonomous traveling system of the work vehicle, whether or not to accept a pairing request from the second remote operation communication device may be set through the service tool.

  In the autonomous traveling system of the work vehicle, the first vehicle-side communication device may be configured to be capable of storing identification information of a plurality of first remote control communication devices having different identification information.

  In the autonomous traveling system of the work vehicle, the first vehicle side communication device may delete the stored identification information of the first remote operation communication device based on a deletion request from the external device.

  In the work vehicle autonomous traveling system, the first remote operation communication device communicates with the first vehicle side communication device, an emergency stop button for stopping the work vehicle autonomous travel, and the communication interface. It is good also as a thing provided with the control part which controls the communication operation by.

  According to the present invention, the first vehicle-side communication device receives a signal from the first remote-control communication device, and pairing between the first vehicle-side communication device and the first remote-control communication device is established. The first remote operation communication device capable of remotely operating the work vehicle can be arbitrarily authenticated with a simple operation. In addition, since the pairing is requested from the external device to the first vehicle side communication device, it is possible to prevent the authentication of the first remote operation communication device capable of remotely operating the work vehicle from being performed carelessly. Therefore, establishment of pairing with the remote control communication device operated by a third party other than the operator can be prevented beforehand by impersonation.

It is the whole robot tractor side view in an embodiment. It is a top view of a robot tractor. It is a functional block diagram of a robot tractor. It is the front view, top view, and right view of a remote control device. It is a rear view of a remote control device. It is a front view, a top view, a bottom view, a left side view, and a right side view of an example of an emergency stop remote controller. It is a front view of one Embodiment of a radio | wireless communication terminal device. It is the front view and top view for demonstrating the attachment or detachment state of the emergency stop remote control. It is a functional block diagram of a remote control for emergency stop. It is a timing chart which shows the operation | movement based on operation to the emergency stop button of the remote control for emergency stops. It is a timing chart which shows the operation state in the remote controller for emergency stop after power activation. It is a flowchart which shows the state notification operation | movement of the emergency stop remote control. It is a flowchart which shows the detection operation of the battery remaining amount of the remote controller for emergency stop. It is a timing chart which shows the example which performed the request | requirement of the pairing process by a service tool. It is a timing chart which shows the example which performed the request | requirement of the pairing process by a remote control device. It is a flowchart which shows the operation | movement of the pairing setting in the tractor 1. FIG. It is a flowchart which shows the operation | movement of pairing registration in the remote control for emergency stops.

<Autonomous driving system>
DESCRIPTION OF EMBODIMENTS Embodiments embodying the present invention will be described below with reference to the drawings. First, a robot tractor 1 (hereinafter, “robot tractor” may be simply referred to as “tractor” or “unmanned tractor”), which is an example of a work vehicle according to the present invention, will be described. The tractor 1 includes a body 2 that autonomously travels in a farm field. As shown in FIGS. 1 and 2, the work machine 3 is detachably provided in the machine body 2. The work machine 3 is used for farm work. Examples of the work machine 3 include various work machines such as a tillage machine, a plow, a fertilizer machine, a mowing machine, and a seeding machine. A desired work machine 3 is selected from these as required, and the machine body 2 Can be attached to. The machine body 2 is configured to be able to change the height and posture of the mounted work machine 3.

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

<Tractor>
The structure of the tractor 1 is demonstrated with reference to FIG.1 and FIG.2. As shown in FIG. 1, the airframe 2 that is the airframe of the tractor 1 is supported at its front portion by a pair of left and right front wheels 7 and 7 and at its rear portion 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 constitute a traveling part.

  A bonnet 9 is disposed at the front of the machine body 2. The bonnet 9 accommodates an engine 10 that is a drive source of the tractor 1. The engine 10 can be configured by, for example, a diesel engine, but is not limited thereto, 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 is a cabin 11 on which an operator boardes. Inside the cabin 11, there are mainly provided a steering handle 12 for the operator to steer, a seat 13 for the operator to sit on, and various operating devices for performing various operations. Yes. However, the agricultural work vehicle is not limited to the one with the cabin 11 and may be one without the cabin 11.

  Although illustration is omitted, examples of the operation device include a monitor device, a throttle lever, a main transmission lever, a lift lever, a PTO switch, a PTO transmission lever, and a plurality of hydraulic transmission levers. These operating devices are arranged in the vicinity of the seat 13 or in the vicinity of the steering handle 12.

The monitor device is configured to display various information of the tractor 1. The throttle lever is for setting the rotational speed of the engine 10. The main transmission lever is used to change the transmission ratio of the transmission case 22. The raising / lowering lever is for raising / lowering the height of the working machine 3 mounted on the machine body 2 within a predetermined range. The PTO switch is used to intermittently transmit power to a PTO shaft (power extraction shaft) protruding outward from the rear end side of the mission case 22. That is, when the PTO switch is in the ON state, power is transmitted to the PTO shaft and the PTO shaft rotates to drive the work machine 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 is used to change the power input to the work machine 3, and specifically, is used to change the rotation speed of the PTO shaft. The hydraulic shift lever is for switching the hydraulic external take-off valve.

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

  The body frame 21 is a support member at the front portion of the tractor 1 and supports the engine 10 directly or via a vibration isolation member. 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 wheel 8.

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

  The common rail device 41 injects fuel into each cylinder of the engine 10. In this case, the fuel injection 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 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, the injection timing, and the 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 swash plate type hydraulic continuously variable transmission, and is provided in the transmission case 22. By controlling the transmission 42 by the transmission controller 16 and adjusting the angle of the swash plate as appropriate, the transmission ratio of the transmission case 22 can be set to a desired transmission ratio.

  The lift actuator 44 operates, for example, a three-point link mechanism that connects the work machine 3 to the machine body 2 to move the work machine 3 to a retracted position (a position where farm work is not performed) or a work position (a position where farm work is performed). It raises or lowers to either. By controlling the elevating actuator 44 by the work machine control device 17 and appropriately moving the work machine 3 up and down, for example, farm work can be performed by the work machine 3 at a desired height in the field area.

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

The tractor 1 including the control devices 15 to 17 as described above is configured such that the control devices 15 to 17 communicate with each other via the vehicle bus line 18 based on various operations of an operator boarded in the cabin 11. By controlling each part (the machine body 2, the work machine 3, etc.), the farm work can be executed while traveling in the farm field. In addition, the tractor 1 according to the embodiment can autonomously travel based on a predetermined control signal output from the remote operation device 70, for example, without an operator boarding.

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

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

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

  The steering actuator 43 is provided, for example, in the middle of the rotation shaft (steering shaft) of the steering handle 12 and adjusts the turning angle (steering angle) of the steering handle 12. When the tractor 1 travels (as an unmanned tractor) along a predetermined route, the steering control device 52 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 rotation angle. The steering control device 52 communicates with the engine control device 15, the transmission control device 16, and the work implement control device 17 via the vehicle bus line 18, thereby performing steering according to the vehicle speed of the tractor 1. it can. Note that the steering actuator 43 does not adjust the turning angle of the steering handle 12, but may adjust the steering angle of the front wheel 7 of the tractor 1. In this case, the steering handle 12 even if turning is performed. Does not rotate.

  The positioning antenna 6 receives a signal from a positioning satellite constituting a positioning system such as a satellite positioning system (GNSS). As shown in FIG. 1, the positioning antenna 6 is disposed on the upper surface of the roof 14 in the cabin 11. The signal received by the positioning antenna 6 is input to the positioning surveying device 53 shown in FIG. 3, and the position information of the tractor 1 (specifically, the positioning antenna 6) is converted into, for example, latitude / longitude information by the positioning surveying device 53. Calculated. 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 surveying 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) using specific low power wireless. Communicates with a reference station (portable reference station) 60 to be used. As shown in FIG. 1, the wireless communication antenna unit 48 is disposed 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 at the agricultural field proximity position 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 positioning antenna 6 being provided in the tractor 1 on the mobile station side, a reference station 60 having a reference station positioning antenna 61 is provided. The reference station 60 is arranged at a position (reference point) that does not interfere with the traveling of the tractor 1, for example, around the farm field. The position information of the reference point that 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 established between the positioning surveying device 53 of the tractor 1 and a communication device using 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 reference point position information every time the satellite positioning information is measured from the positioning satellite 63 or every time the set period elapses, and the reference station communication device 62 To the first wireless communication antenna 48 a of the tractor 1. The positioning surveying device 53 of the tractor 1 (corresponding to the mobile station) corrects the satellite positioning information measured by the positioning antenna 6 by using the correction information transmitted from the reference station 60, thereby obtaining the current position information ( For example, latitude information / longitude information) is obtained.

  In this embodiment, a high-accuracy satellite positioning system using the GNSS-RTK method is used. However, the present invention is not limited to this, and other positioning systems are used as long as high-accuracy position coordinates are obtained. May be. GNSS-RTK is a positioning method that has been corrected based on the information of a reference station whose position is known and improved in accuracy, and there are a plurality of methods depending on the distribution method of information from the reference station. Since the present invention does not depend on the GNSS-RTK system, details are omitted in this embodiment.

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

  The wireless communication antenna unit 48 is disposed on the top surface of the roof 14 of the cabin 11 of the tractor 1 and first to third wireless communication antennas 48a to 48c that are connected to communicate with first to third 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 in order to allow high-speed data communication such as image data to be performed at high speed. Since the third wireless communication network has a smaller amount of data transmission than the second wireless communication network, the third wireless communication network is constructed by, for example, a specific low power wireless in the 400 MHz band. A part of the antennas 48 a to 48 c may be disposed in the cabin 11.

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

  Specifically, the remote control device 70 is configured as a tablet personal computer including a touch panel. The operator can check the information displayed on the touch panel of the remote operation device 70 (for example, information on a field necessary for autonomous traveling). In addition, the operator operates the remote control device 70 to transmit a control signal for controlling the tractor 1 to the autonomous traveling control device 51 of the tractor 1. Note that the remote operation device 70 of the embodiment is not limited to a tablet personal computer, and may be configured by, for example, a notebook personal computer. Alternatively, a monitor device mounted on another tractor different from the tractor 1 can be a remote control device.

  The autonomous traveling control device 51 compares the traveling route generated by the remote operation device 70 with the position information of the tractor 1 and autonomously operates at a predetermined traveling speed while performing a predetermined operation on the tractor 1 along the traveling route. In order to run, the steering angle of the tractor 1, the target engine speed, the gear ratio, and the like are calculated and communicated with the control devices 15 to 17 and 52 through the vehicle bus line 18. Thereby, the tractor 1 can perform farm work by the work implement 3 while autonomously traveling along the travel route. In this way, the route in the field area (traveling region) where the tractor 1 autonomously travels may be referred to as a “traveling route” in the following description. In the field area (running area), the area (work area) to be farmed by the work machine 3 of the tractor 1 is determined as an area excluding the headland and the margin from the entire field area. Are set based on these registered points and the work width of the tractor 1 when the registration work of the registered points is executed.

  The emergency stop remote controller 71 is a remote control switch for emergency stop of the tractor 1 and is owned by an operator who operates the remote control device 70. When the switch operation is performed by the operator, an emergency stop control signal is sent. Send. The emergency stop remote controller 71 transmits an emergency stop control signal when the operator presses the emergency stop button 72. Further, the emergency stop remote controller 71 is configured to be detachable from the remote control device 70 and is configured to be capable of attaching a strap (string member) so as to be in close contact with the body such as being hung on the operator's neck.

  The autonomous travel control device 51 stops fuel injection in the common rail device 41 and communicates with the engine control device 15 based on the operator's operation on the emergency stop button 72 in the emergency stop remote controller 71 and also transmits the transmission control device. 16, the transmission 42 is set in a neutral state, and a braking operation by a brake device 26 described later is applied. At this time, the autonomous traveling control device 51 controls the steering actuator 43 so that the handle 12 is in the neutral position by communication with the steering control device 52, and directs the left and right front wheels 7, 7 in the straight traveling direction. It is good.

The autonomous traveling control device 51 is in a communication state with the reference station 60 in the positioning surveying device 53 (communication state in the first communication network), and in a communication state with the remote control device 70 in the wireless communication router 54 (communication state in the second communication network). And each of the communication states (communication states in the third communication network) with the remote controller 71 for emergency stop by the remote control receiver 55 is confirmed via the autonomous traveling bus line 56. When the autonomous traveling control device 51 confirms that the communication state in any of the first to third communication networks is interrupted, the autonomous traveling control device 51 communicates with the engine control device 15 and the transmission control device 16, so that the tractor 1 Stop autonomous driving in an emergency. Note that the autonomous traveling control device 51 is disconnected from the communication partner when the positioning surveying device 53, the wireless communication router 54, and the remote control receiver 55 do not receive a signal from the communication partner for a predetermined period or longer. It is determined that

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

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

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

<Wireless communication terminal device (remote operation device and emergency stop remote control)>
Next, an embodiment of the wireless communication terminal device 88 will be described with reference to FIGS. As shown in FIG. 7, as a wireless communication terminal device 88 for operating the unmanned tractor 1 that is an autonomous traveling work vehicle, a remote operation device (terminal device body) 70 that performs wireless communication with the tractor 1 and an emergency stop remote controller 71 are provided. I have. The remote control device 70 and the emergency stop remote controller 71 each communicate with the tractor 1 through wireless communication networks having different communication methods. The remote operation device 70 includes a display 74 that can be operated with a touch panel, and the emergency stop remote controller 71 is configured to be detachable from the outer frame of the remote operation device 70. The emergency stop remote controller 71 includes an emergency stop button 72 for stopping the autonomous traveling of the tractor 1 and a start button (start button) 73 for resuming the autonomous traveling of the tractor 1. Each of the emergency stop button 72 and the start button 73 is composed of a momentary switch that conducts a contact when pressed, and the emergency stop button 72 also functions as a power-on switch. Note that “resuming autonomous traveling of the tractor 1” refers to starting autonomous traveling again after autonomous traveling is temporarily stopped after the autonomous operation is started by the remote operation device 70. The temporary stop of the autonomous traveling may be performed by the remote operation device 70 or may be performed by the emergency stop remote controller 71. The suspension of autonomous traveling by the emergency stop remote controller 71 may be executed by, for example, an operation on the start button 73, or a temporary stop remote controller different from the emergency stop remote controller 71 is used. Also good.

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

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

  A suspension member attachment portion 83 to which a suspension member 82 such as a strap can be attached is provided on one end surface 71 b of the emergency stop remote controller 71. On one side 71c of the emergency stop remote controller 71, a mounting groove 84 that engages with the convex portion 80 of the remote controller mounting portion 79 is provided. The attachment groove 84 is formed from the middle portion of the one side surface 71c to the one end surface 71b, has a tapered shape that becomes narrower toward the one side surface 71c, and the end portion on the one side surface 71c side is released. In the present embodiment, the suspension member attaching portion 83 is provided on the one end surface 71b on which the emergency stop button 72 is arranged in the emergency stop remote controller 71, but the other end surface (that is, the emergency stop remote controller 71). It is good also as being provided in the side in which the start button 73 is provided.

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

  Further, an emergency stop button image 86 for stopping the autonomous traveling of the tractor 1 is displayed on the upper right portion of the display 74 of the remote control device 70, and a start or stop button image for starting or stopping the autonomous traveling of the tractor 1 is displayed. 87 is displayed in the upper left part of the display 74. Thus, the emergency stop button image 86 is displayed in the vicinity of the mounting position of the emergency stop remote controller 71 on the display 74, so that the emergency stop button 72 and the emergency stop button image 86 can be arranged together, Since the operator can easily recognize the positions of the emergency stop button 72 and the emergency stop button image 86 when he / she wants to stop the tractor 1 urgently, the delay of the emergency stop operation and the erroneous operation can be suppressed.

  In addition, since the wireless communication with the tractor 1 is not urgently started, the start button 73 and the start or stop button image 87 are mutually connected with the emergency stop remote controller 71 attached to the remote operation device 70. Even if it is arranged at a distant position, there is little risk of erroneous operation, and no particular problem will occur.

  Further, the operation of the emergency stop button image 86 presses (touches) the touch panel type display 74, so there is no feeling that the operator has pressed, but the emergency stop button 72 can be pressed firmly, so the operator A feeling of pushing operation is obtained. Note that the operator may use either the emergency stop button 72 or the emergency stop button image 86 when the tractor 1 is stopped in an emergency.

  By the way, the emergency stop remote controller 71 with which the tractor 1 can communicate is not limited to one, and can communicate with a plurality of emergency stop remote controllers 71. Then, other operators (including workers working in the same field) other than the operator who operates the remote control device 70 carry the emergency stop remote controller 71, so that the tractor is notified by the lamp 81 or the buzzer 155. 1 can be recognized, and the emergency stop button 72 of the emergency stop remote controller 71 can be operated in an emergency, so that the monitoring system of the autonomously traveling tractor 1 can be improved and the safety of workers on the field can be improved.

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

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

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

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

The emergency stop remote controller 71 is composed of a switch that causes the contact point to conduct when the emergency stop button 72 is pressed, and also functions as a power-on switch. Then, the control unit 153 executes power-on when the contact of the emergency stop button 72 is separated after being connected, and after power-on, when the contact of the emergency stop button 72 is connected through the communication interface 152. A stop signal is transmitted to the tractor 1 and the autonomous traveling of the tractor 1 is stopped. Thereby, the emergency stop button 72 can be provided with two functions, and the number of switches provided in the emergency stop remote controller 71 can be reduced, and the emergency stop remote controller 71 can be downsized.

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

  When the emergency stop button 72 is not restored even when pressed down due to a failure of the emergency stop button 72, when the emergency stop button 72 is operated to turn on the power, the state where the contact of the emergency stop button 72 is connected continues. At this time, after confirming the connection of the contact point of the emergency stop button 72 (rising edge of the switching signal), the control unit 153 separates the contact point of the emergency stop button 72 (falling edge of the switching signal) even after a predetermined time has elapsed. If it is not confirmed, the power may not be turned on. Thus, since the failure of the emergency stop button 72 can be confirmed before the emergency stop remote controller 71 is turned on, it is impossible to perform an emergency stop by operating the emergency stop remote controller 71 before the tractor 1 starts autonomous traveling. It can be made to recognize that it is.

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

  When the operation to the emergency stop button 72 satisfies the first standard before turning on the power, the control unit 153 turns on the power, while the operation to the emergency stop button 72 after turning on the power satisfies the second standard. In addition, a stop signal for stopping the autonomous traveling of the tractor 1 is transmitted from the communication interface 152. The time until the operation of the emergency stop button 72 satisfies the first criterion is longer than the time until the operation of the emergency stop button 72 satisfies the second criterion. Compared to the operation time to the emergency stop button 72 for power-on, the operation time to the emergency stop button 72 for transmitting the stop signal is shortened, so that the emergency stop signal transmission operation is emergency stop. It is possible to respond immediately to an operation on the button 72. Accordingly, when the emergency stop button 72 is operated during the autonomous traveling of the tractor 1, the time for stopping the tractor 1 can be shortened, so that the safety of the tractor 1 during the autonomous traveling can be ensured. On the other hand, it is possible to make the operator recognize the state of the emergency stop remote controller 71 by lengthening the operation time for the emergency stop button 72 for turning on the power.

When the controller 153 detects both contact and separation of the emergency stop button 72, the first control is performed.
While it is determined that the criterion is satisfied, it is determined that the second criterion is satisfied when one of the contact points of the emergency stop button 72 (contact connection in this embodiment) is detected. The emergency stop button 72 can be prevented from being turned on due to physical sticking or inadvertent contact, but the emergency stop of the tractor 1 can be surely stopped after the power is turned on. Can direct and ensure safety.

  As shown in FIG. 11, when the power to the controller 153 is turned on, the emergency stop remote controller 71 notifies the power on and then operates every predetermined time Tx (for example, 1 second) (wake-up time). ) Power is supplied to the control unit 153 only for Tx1 (Tx1 <Tx, for example, 0.3 seconds), so that the communication interface 152 can perform a reception operation (wake-up state). Then, during the sleep time Tx2 (= Tx−Tx1) other than the operation time Tx1 at the predetermined time Tx, the emergency stop remote controller 71 sets the control unit 153 to the state where the communication interface 152 does not perform the reception operation (sleep state), Reduces power consumption after input. At this time, by setting the operation time Tx1 to be shorter than the sleep time Tx2, the power consumption of the emergency stop remote controller 71 after the power is turned on can be greatly reduced, and at the same time transmitted from the remote control receiver 55 every predetermined time Tx. The communication establishment confirmation signal (heartbeat signal) can be reliably received.

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

  The lamp 81 is configured by LEDs (light emitting units) that emit light in a plurality of light emission modes, and the buzzer 155 is configured as an audio output unit that outputs a plurality of sounds. The emergency stop remote controller 71 reports the normal operation of the tractor 1, the stop of the tractor 1, the communication abnormality with the remote control receiver 55, and the decrease in the remaining battery level by combining the light emission mode by the lamp 81 and the sound of the buzzer 155. To do. By changing the operation of the lamp 81 and the buzzer 155, it is configured to be able to notify each of the normal operation, the communication abnormality, and the tractor 1 stop. The operator can effectively grasp the communication state and the traveling state while being portable.

  As shown in FIG. 12, the emergency stop remote controller 71 controls the control unit 153 when the operation to the emergency stop button 72 satisfies the first standard in the power-off state (that is, when a power-on operation is performed) (Yes in STEP 1). As a result, the power is turned on, and communication with the wireless communication antenna 151 and the communication interface 152 becomes possible (STEP 2). The control unit 153 turns on the lamp 81 and outputs a sound from the buzzer 155 to notify that the power is turned on (STEP 3). At this time, for example, the lamp 81 is turned on for the predetermined time Ty1 (2 seconds) in the first color (green) and then turned off for the predetermined time Ty2 (1 second), and the buzzer 155 is set for the predetermined time Tz1 (0.1 second). Alert. When executing the power-on notification operation, the control unit 153 keeps the wake-up state and prohibits the transition to the sleep state.

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

  In STEP 6, for example, during the operation time Tx1 when the emergency stop remote controller 71 is in the wake-up state, the lamp 81 is lit in the first color (green), and the buzzer 155 is operated for a predetermined time Tz2 (0.1 second). ) Is repeated intermittently. That is, when communication with the remote control receiver 55 is established, the emergency stop remote controller 71 starts blinking the lamp 81 in the first color (green) every time Tx, and the buzzer 155 immediately after the communication is established. Repeatedly alerts when in wake-up state.

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

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

  If the emergency stop remote controller 71 cannot receive the heartbeat signal from the remote control receiver 55 (No in STEP 5 or No in STEP 7), the communication with the remote control receiver 55 of the tractor 1 is interrupted. (Communication abnormality) is notified (STEP 12). In STEP 12, for example, the lamp 81 blinks in the third color (yellow) every predetermined time Ty3, and the buzzer 155 issues a predetermined time Tz3 (Tz3> Tz1). At this time, as in the case of notifying the stop of the tractor 1, the blinking cycle Ty3 of the third color of the lamp 81 is set to the same time as the predetermined time Tx, and the lighting time for each flashing cycle is set to the same time as the operation time Tx1. At the same time, the transition to the sleep state may be prohibited for N cycles (for example, 3 cycles), and the alarm time Tz3 of the buzzer 155 may be set to time N × Tx + Tx1.

  The emergency stop remote controller 71 is equipped with a battery (not shown) as a power source. When the remaining battery level is detected by the control unit 153 and the remaining battery level is low, a notification is given by the lamp 81 and the buzzer 155. The battery capacity is reduced by the unit. As shown in FIG. 13, the control unit 153 detects the power supply voltage and the power supply current during energization after power-on, and calculates the remaining battery level from the amount of change in the power supply voltage and power supply current (STEP 21).

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

  When the controller 153 determines that the calculated remaining battery level is equal to or less than a predetermined amount X% (for example, 5%), the emergency stop remote controller 71 notifies a decrease in the remaining battery level (STEP23 to STEP24). . In STEP 24, for example, during the operation time Tx1 when the emergency stop remote controller 71 is in the wake-up state, the lamp 81 is lit in the second color (red), and the buzzer 155 is operated for a predetermined time Tz4 (0.1 second). ) Is repeated intermittently. That is, when the emergency stop remote controller 71 confirms that the remaining battery level is low, the lamp 81 starts blinking in the second color (red) every time Tx and the buzzer 155 is in the wake-up state immediately after the communication is established. To multiple times (for example, twice).

  As described above, the emergency stop remote controller 71 is powered by a battery, and when the remaining battery level becomes equal to or less than a predetermined value, the notification unit by the lamp 81 and the buzzer 155 A predetermined notification that suggests a decrease is performed. Therefore, since the notification unit of the emergency stop remote controller 71 can check the remaining battery level, a separate device (remote operation device 70) for checking the remaining battery level of the emergency stop remote controller 71 becomes unnecessary, and the tractor 1 is attached to the field. It is possible to prevent the battery from being exhausted during the operation, for example, by recognizing the remaining battery level of the emergency stop remote controller 71 before the operation at, and replacing the battery.

  The emergency stop remote controller 71 performs the following control when any one of communication abnormality and tractor 1 stop occurs and the remaining battery level is equal to or lower than a predetermined value (reduced battery level). One of the lamp 81 and the buzzer 155 is notified to indicate a communication abnormality and the tractor 1 is stopped, and the other of the lamp 81 and the buzzer 155 is notified to indicate a decrease in the remaining battery level. By notifying different events (communication abnormality or tractor 1 stop and remaining battery level) between the sound from the buzzer 155 and the light emitted from the lamp 81, the operator can recognize that a plurality of problems have occurred.

  When the control unit 153 recognizes the stop of the tractor 1 and the decrease in the remaining battery level at the same time, the emergency stop remote controller 71 in the present embodiment first sets the lamp 81 to the second to notify the stop of the tractor 1. At the same time as blinking in color (red) every predetermined time Ty2 (the same time as the operation time Tx1), the buzzer 155 issues a predetermined time Tz2. Thereafter, during the operation time Tx1 when the emergency stop remote controller 71 is in the wake-up state, the lamp 81 is lit in the second color (red) and the buzzer 155 is activated for a predetermined time Tz4 (0.1 second). The information is intermittently repeated to inform the low battery level. Thereby, after notifying the stop of the high priority tractor, it is possible to continue to notify the low battery level, and the operator can immediately respond to the stop of the tractor 1 and the emergency stop remote controller 71 Can recognize battery replacement.

Further, when the control unit 153 recognizes the communication abnormality with the remote control receiver 55 and the low battery level at the same time, the lamp 81 is first displayed in the second color (red) for a predetermined time in order to notify the communication abnormality. At the same time as blinking every Ty3 (the same time as the operation time Tx1), the buzzer 155 issues a predetermined time Tz3. Thereafter, during the operation time Tx1 when the emergency stop remote controller 71 is in the wake-up state, the lamp 81 is lit in the second color (red), and the buzzer 155 notifies the communication more than the predetermined time Tz4 ( 0.1 seconds) is intermittently repeated to notify the battery remaining low. Thereby, after notifying the high-priority communication abnormality, it is possible to continue to notify the low battery level, the operator can immediately respond to the stop of the tractor 1, and the battery of the emergency stop remote controller 71 Can recognize exchanges.

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

  At this time, the tractor 1 stops when communication with any one of the one remote control device 70 and the three emergency stop remote controllers 71 becomes impossible. When one of the three emergency stop remote controllers 71 becomes unable to communicate with the tractor 1 after the tractor 1 starts autonomous travel, the emergency stop remote controller 71 that has become unable to communicate turns the lamp 81 to the third position. While the communication abnormality is notified as the color (yellow), the remaining two emergency stop remote controllers 71 notify the stop of the tractor 1 with the lamp 81 as the second color (red). In other words, among the plurality of emergency stop remote controllers 71, the emergency stop remote controller 71 that has become unable to communicate with the tractor 1 has the lamp 81 as the third color, and the emergency stop remote controller 71 with which communication with the tractor 1 has been established. Is the second color of the lamp.

  Further, by transmitting the remote control number of the emergency stop remote controller 71 that has become unable to communicate from the tractor 1 to the remote operation device 70, the emergency stop remote controller 71 that has become unable to communicate is displayed on the display of the remote operation device 70. Can be displayed. As a result, not only the operator who operates the emergency stop remote controller 71 in which communication has become abnormal, but also the operator who operates the remote control device 70 can recognize which emergency stop remote controller 71 has become unable to communicate, and the tractor 1 Can safely handle outages.

  Further, by transmitting the battery remaining amount of each of a plurality (three) of emergency stop remote controllers 71 together with the remote control number from the tractor 1 to the remote operation device 70, the remote operation device 70 can keep the battery remaining for each remote control number. By recognizing the amount, the remaining battery level of each of the plurality of emergency stop remote controllers 71 can be displayed on the display 74. Therefore, the operator who operates the remote control device 70 needs to replace the battery before the emergency stop remote controller 71 notifies the low battery level by recognizing the remaining battery level of each of the emergency stop remote controllers 71. By confirming the emergency stop remote controller 71, it is possible to prevent the emergency stop remote controller 71 from running out of battery and to continue the autonomous traveling of the tractor 1 stably.

<Pairing (authentication process)>
Next, the pairing operation between the remote control receiver 55 and the emergency stop remote controller 71 in the tractor 1 will be described below with reference to FIGS. As shown in FIGS. 14 and 15, an emergency stop remote control (first remote operation remote controller) is provided from an external device such as the service tool 19 or the remote control device 70 to the remote control receiver (first vehicle side communication device) 55 in the tractor 1. When pairing with the communication device 71 is requested, the remote control receiver 55 shifts to a pairing mode in which the emergency stop remote control 71 is authenticated. When receiving the signal from the emergency stop remote controller 71, the remote control receiver 55 that has shifted to the pairing mode stores the remote control ID (identification information) of the emergency stop remote controller 71, and then emergency stops the stored remote control ID. By transmitting to the remote controller 71, pairing is established.

As shown in FIG. 14, a service tool 19 capable of setting various functions in the tractor 1 is wired to the vehicle bus line 18 of the tractor 1, and the service tool 19 is operated by a serviceman, whereby an emergency by the remote control receiver 55 is performed. Authentication processing (pairing) of the stop remote controller 71 is executed. The remote control receiver 55 in the tractor 1 can authenticate a plurality (three in this embodiment) of emergency stop remote controllers 71, and associate the remote control ID of each emergency stop remote controller 71 with the corresponding remote control number (storage area). Remember.

  When the remote control number to be authenticated is selected and the pairing registration is instructed by the operation on the service tool 19, the remote control number to be paired and registered is transmitted to the remote control receiver via the autonomous traveling control device 51. 55 is notified. When receiving a pairing registration instruction, the remote control receiver 55 recognizes a remote control number to be paired and registered, and shifts to a pairing mode in which a signal from the emergency stop remote controller 71 can be received.

  When the emergency stop remote controller 71 accepts an operation to the emergency stop button 72 or the start button 73, the remote control ID, which is identification information assigned to each emergency stop remote controller 71, is read from the memory 154, and the wireless communication antenna 151 and the communication are communicated. The data is transmitted to the remote control receiver 55 via the interface 152. In the following description, it is assumed that the remote control ID is transmitted to the remote control receiver 55 based on the operation on the start button 73. When receiving the remote control ID of the emergency stop remote control 71, the remote control receiver 55 stores the received remote control ID in correspondence with the remote control number. The remote control receiver 55 stores a receiver ID that is identification information assigned to the remote control receiver 55 for each tractor 1. The remote control receiver 55 generates a response signal in which the received remote control ID is combined with the receiver ID, and transmits the response signal to the emergency stop remote control 71 via the third wireless communication antenna 48c.

  Upon receiving the response signal from the remote control receiver 55, the emergency stop remote controller 71 confirms that the remote control ID confirmed from the response signal matches the remote control ID of the own device, thereby confirming that the pairing has been established. recognize. Then, the emergency stop remote controller 71 extracts the receiver ID from the response signal and stores the receiver ID in the memory 154, thereby identifying the remote control receiver 55 and the tractor 1 with which pairing has been established. When the emergency stop remote controller 71 accepts an operation on the start button 73, the lamp 81 is lit in the third color (yellow) to notify that the pairing mode is set. Thereafter, when the pairing with the remote control receiver 55 is established, the emergency stop remote controller 71 issues a notification from the buzzer 155 to notify the establishment of the pairing.

  In this embodiment, the pairing mode is notified based on the operation on the emergency stop remote controller 71. However, the response signal from the remote control receiver 55 indicates that the pairing mode is set. Information (pairing mode flag) may be included. At this time, the emergency stop remote controller 71 lights the lamp 81 in the third color (yellow) based on the information (pairing mode flag) to notify that it is in the pairing mode.

  As shown in FIG. 15, a remote operation device (second remote operation communication device) 70 that performs wireless communication using a communication method different from that of the emergency stop remote control (first remote operation communication device) 71 is a wireless communication in the tractor 1. By communicating with the router (second vehicle side communication device) 54, the remote control receiver (first vehicle side communication device) 55 is requested to pair with the remote controller 71 for emergency stop. When a remote control number to be authenticated is selected and pairing registration is instructed by an operation on the remote operation device 70, the wireless communication router 54 of the tractor 1 receives an instruction signal from the remote operation device 70.

In the remote control device 70, the remote control number to be paired and registered is selected, and the remote control number is attached to the instruction signal to the wireless communication router 54 and transmitted. The wireless communication router 54 receives the instruction signal from the remote control device 70 to confirm the pairing registration instruction, and notifies the remote control receiver 55 of the remote control number to be paired registration target. When receiving a pairing registration instruction from the wireless communication router 54, the remote control receiver 55 shifts to the pairing mode, and when receiving the remote control ID from the emergency stop remote controller 71, stores the remote control ID in correspondence with the remote control number. . Thereafter, the remote control receiver 55 transmits a response signal combining the remote control ID and the receiver ID to the emergency stop remote control 71, and the remote control receiver 55 and the tractor that have been paired with the emergency stop remote control 71. 1 is notified.

  The tractor 1 can set whether or not to accept the pairing request of the emergency stop remote controller 71 by the remote operation device 70 through the service tool 19. In other words, when the service tool 19 makes a request to invalidate the pairing processing by the remote operation device 70, the wireless communication router 54 receives the remote control reception even if it receives a signal prompting the pairing processing from the remote operation device 70. The machine 55 does not execute the transition to the pairing mode. Therefore, it is possible to prevent the remote controller from being registered by an operation other than the operator who is permitted to remotely operate the tractor 1, and to prevent theft by impersonation. In addition, by setting the pairing process to be performed only with the service tool 19 operated by the service person, not only can the pairing process be performed reliably, but also the relationship between the tractor 1 and the emergency stop remote controller 71 can be established. Service personnel can grasp and it is easy to perform after-sales service.

  The remote control receiver 55 of the tractor 1 deletes the stored remote control ID of the emergency stop remote control 71 based on the deletion request from the service tool 19 or the remote control device 70. The remote control receiver 55 stores the remote control ID of the emergency stop remote control 71 registered in the pairing process in association with the remote control number. When the remote control number for which the remote control ID is to be deleted is selected from the remote control numbers for which the remote control ID has been registered in the service tool 19 or the remote operation device 70, the remote control receiver 55 is connected to the service tool 19 or the remote operation device 70. The storage of the remote control ID corresponding to the remote control number notified from the operation device 70 is deleted.

  Since registration and deletion of the remote control ID of the emergency stop remote controller 71 that can operate the tractor 1 can be executed, the operator assignment of the tractor 1 can be executed by the emergency stop remote controller 71 possessed by the operator. Therefore, according to the work schedule and work process, the operator who can operate the tractor 1 can be easily assigned and theft by impersonation can be prevented.

  Next, details of the pairing setting operation in the tractor 1 will be described below with reference to the flowchart of FIG. As shown in FIG. 16, in the tractor 1, when the remote control receiver 55 detects reception of a pairing setting request signal (Yes in STEP 31), the wireless communication router 54 is a request signal from the remote control device 70. If the request from the remote control device 70 is not restricted (No in STEP 33), the remote control receiver 55 confirms the remote control number included in the request signal (STEP 34). Even when the request signal from the service tool 19 is received via the autonomous traveling control device 51 (No in STEP 32), the remote control receiver 55 confirms the remote control number included in the request signal (STEP 34).

When the remote control receiver 55 recognizes that there is even a request for registration of the remote control ID for the confirmed remote control number based on the request signal (“Register” in STEP 35), the remote control receiver 55 shifts to the pairing mode and performs a predetermined time T1 (for example, 1 minute), until a remote control ID is received from the emergency stop remote controller 71 (STEP 36 to STEP 38). When the remote control receiver 55 receives the remote control ID from the emergency stop remote control 71 (YES in STEP 37), the remote control receiver 55 stores the received remote control ID and then adds the receiver ID of the remote control receiver 55 itself to the remote control ID. Is generated and transmitted to the emergency stop remote controller 71 (STEP 39 to STEP 41). If no remote control ID is received for a predetermined time T1 (YES in STEP 38), the pairing mode is terminated (STEP 42).

  When the wireless communication router 54 receives a pairing request signal from the remote control device 70, if the pairing request from the remote control device 70 is prohibited (restricted) (Yes in SETP33), the wireless communication router 54 However, the remote control device 70 is notified that the pairing request is restricted (STEP 43). At this time, the remote control receiver 55 does not execute the transition to the pairing mode. Further, when the remote control receiver 55 confirms that the remote control ID is requested to be deleted from the received pairing request (“deletion” in STEP 35), it corresponds to the remote control number confirmed from the pairing request signal in STEP 34. The stored remote controller ID is deleted (STEP 44). In the present embodiment, the storage of the remote controller ID is deleted based on the pairing request signal. However, the remote controller ID may be deleted by a pairing deletion request signal.

  Next, details of the pairing registration operation by the emergency stop remote controller 71 will be described below with reference to the flowchart of FIG. As described above, when the registration of the emergency stop remote controller 71 is requested from the service tool 19 or the remote operation device 70 and the remote control receiver 55 of the tractor 1 shifts to the pairing mode, the operator or the service person makes an emergency. The stop remote controller 71 is operated, and the remote controller ID is registered in the remote controller receiver 55.

  As shown in FIG. 17, when the start button 73 of the emergency stop remote controller 71 is operated (Yes in STEP 51), the emergency stop remote controller 71 has started pairing processing (authentication processing) with the remote control receiver 55. (STEP 52). At this time, the control unit 153 notifies that the pairing process is being performed by controlling the lighting / flashing operation of the lamp 81 and the alarming operation of the buzzer 155. For example, the lamp 81 continues to be lit in the third color to notify that the pairing process is being executed.

  The control unit 153 reads the remote control ID stored in the memory 154, and transmits the read remote control ID to the remote control receiver 55 through the wireless communication antenna 151 and the communication interface 152 (STEP 53). Further, the control unit 153 repeats transmission of the remote control ID for a predetermined time T2 until a response signal is received from the remote control receiver 55 (STEP 53 to STEP 55). When the response signal from the remote control receiver 55 is received by the communication interface 152 (Yes in STEP54), the control unit 153 checks whether the remote control ID included in the response signal is the same as the remote control ID of the own device. (STEP 56 to STEP 57).

  When the remote control ID included in the response signal matches the remote control ID of the own device (YES in STEP 57), the control unit 153 acquires the receiver ID of the remote control receiver 55 included in the response signal and stores it in the memory 154b. Thereafter, the lamp 81 and the buzzer 155 notify that the pairing has been established (STEP 58 to STEP 60). In addition, when the control unit 153 does not receive a response signal including the remote controller ID of its own device by the elapse of time T2 (No in STEP55), the lamp 81 and the buzzer 155 notify that pairing has failed. (STEP 61). Note that it is not necessary to notify that pairing has failed.

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

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

Claims (7)

An autonomous traveling system for a work vehicle in which the work vehicle is remotely operated by wireless communication between a first vehicle side communication device and a first remote control communication device provided in the work vehicle,
When the first vehicle side communication device is requested to pair with the first remote operation communication device by an external device, the first vehicle side communication device authenticates the first remote operation communication device. Switch to pairing mode
When the first vehicle-side communication device that has shifted to the pairing mode receives a signal from the first remote operation communication device, the first vehicle communication device stores the identification information of the first remote operation communication device, and then stores the stored identification information. Is transmitted to the first remote control communication device, and pairing is established.   The autonomous traveling system for a work vehicle according to claim 1, wherein the external device is a service tool capable of setting various functions in the work vehicle through wired communication with the work vehicle. The work vehicle includes a second vehicle side communication device that communicates with a second remote operation communication device that performs wireless communication with a communication method different from the first remote operation communication device;
The first vehicle side communication device is required to be paired with the first remote operation communication device by the second remote operation communication device via the second vehicle side communication device. An autonomous traveling system for a work vehicle according to claim 2.   4. The autonomous traveling system for work vehicles according to claim 3, wherein whether or not to accept a pairing request from the second remote control communication device is set through the service tool.   The first vehicle-side communication device is configured to be capable of storing identification information of a plurality of first remote control communication devices having different identification information. The autonomous traveling system of the described working vehicle.   The said 1st vehicle side communication apparatus deletes the memorize | stored identification information of the said communication apparatus for 1st remote control based on the deletion request | requirement from the said external apparatus. The autonomous traveling system of the work vehicle as described in the item.   The first remote operation communication device communicates with the first vehicle side communication device, an emergency stop button for stopping the autonomous traveling of the work vehicle, and a control unit for controlling communication operation by the communication interface; An autonomous traveling system for a work vehicle according to any one of claims 1 to 6, further comprising:

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