JP6779164B2 - Autonomous driving system for work vehicles - Google Patents

Description

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

In recent years, in order to efficiently and easily carry out farm work in a field, an autonomous driving system has been developed in which an unmanned work vehicle in which an operator has not appeared is autonomously driven (see Patent Document 1). The autonomous driving system of Patent Document 1 is remotely controlled by a server device installed in a residence or the like away from the work vehicle, and the working state of the tractor cannot be visually observed, making it difficult to respond in an emergency. .. Therefore, in order to operate the autonomous driving of the work vehicle in a workplace such as a field, an autonomous driving system using an operation terminal by a wireless communication terminal device has been developed (see Patent Documents 2 and 3).

Japanese Unexamined Patent Publication No. 2011-254704 JP-A-2016-093127 Japanese Unexamined Patent Publication No. 2016-168883

By the way, when farming is carried out by a work vehicle controlled by an autonomous driving system, it is necessary to remotely stop the work vehicle when a danger occurs such as when another person invades the field. However, if the communication between the remote control controller and the work vehicle is interrupted, the operation on the controller becomes invalid, and it may not be possible to make an emergency stop of the work vehicle during autonomous driving. ..

The present invention has been made in view of the above situation, and it is a technical subject to provide an autonomous traveling system for a work vehicle that can safely stop the work vehicle even when remote control becomes impossible. ..

The present invention is a first remote control communication device that controls the operation of the work vehicle by communicating with the work vehicle, and a second remote control that sets a traveling route and controls the operation of the work vehicle by communicating with the work vehicle. a autonomous system of the work vehicle and an operation for the communication device, the working vehicle, when the first remote control communication device and communication with each of the second remote control communication device has been established , Autonomous driving is permitted.

In the autonomous traveling system of the work vehicle, the work vehicle may be stopped when the communication with at least one of the first and second remote control communication devices is interrupted while the work vehicle is autonomously traveling. Good.

In the autonomous driving system of the work vehicle, the work vehicle and the first and second remote control communication devices may transmit and receive signals to each other in order to confirm the communication status at regular intervals. Good.

In the autonomous traveling system of the work vehicle, the work vehicle may be capable of communicating with a plurality of the first remote control communication devices.

In the autonomous traveling system of the work vehicle, when the work vehicle receives a notification from the second remote control communication device that invalidates the communication with the first remote control communication device, the work vehicle is invalidated. (1) The remote control of the work vehicle may be possible regardless of the communication state with the remote control communication device.

In the autonomous driving system of the work vehicle, the communication interface for the first remote control communication device communicates with the communication device on the first vehicle side, an emergency stop button for stopping the autonomous driving of the work vehicle, and the communication interface. It may be provided with a control unit that controls the communication operation.

According to the present invention, only when the communication between the first remote control communication device and the work vehicle is established and at the same time the communication between the second remote control communication device and the work vehicle is established, the work vehicle Since autonomous driving is permitted, remote control of the work vehicle is not inadvertently executed, and autonomous driving can be safely performed. Further, since the autonomous traveling of the work vehicle is stopped when the communication with the first remote control communication device or the second remote control communication device is interrupted, the safety during the autonomous travel by the work vehicle can be ensured.

It is an overall side view of the robot tractor in an embodiment. It is a top view of a robot tractor. It is a functional block diagram of a robot tractor. It is a front view, a plan view and a right side view of a remote control device. It is a rear view of the remote control device. It is a front view, a plan view, a bottom view, a left side view, and a right side view of an example of an emergency stop remote controller. It is a front view of one Embodiment of a wireless communication terminal device. It is a front view and the plan view for demonstrating the attachment / detachment state of the emergency stop remote controller. It is a functional block diagram of the remote controller for emergency stop. It is a timing chart which shows the operation based on the operation to the emergency stop button of the emergency stop remote controller. It is a timing chart which shows the operation state in the remote controller for emergency stop after power-on. It is a flowchart which shows the state notification operation of the remote controller for emergency stop. It is a flowchart which shows the detection operation of the remaining battery level of the remote controller for emergency stop. It is a timing chart which shows the example which executed the request of the pairing process by the service tool. It is a timing chart which shows the example which executed the request of the pairing process by a remote control device. It is a flowchart which shows the operation of the pairing setting in a tractor 1. It is a flowchart which shows the operation of the pairing registration in the remote controller for emergency stop. It is a flowchart which shows the autonomous driving determination operation in a tractor. It is a timing chart which shows an example of the communication state of a remote control receiver and a plurality of emergency stop remote controls. It is a timing chart which shows an example which a remote control receiver establishes communication with a plurality of emergency stop remote controls. It is a flowchart which shows the operation of the communication confirmation processing in a remote control receiver. It is a flowchart which shows the operation of the communication confirmation processing in the remote controller for emergency stop. It is a flowchart which shows another example of the autonomous driving determination operation in a tractor.

<Autonomous driving system>
Hereinafter, embodiments embodying the present invention will be described with reference to the drawings. First, a robot tractor 1 (hereinafter, "robot tractor" may be simply referred to as "tractor" or may be referred to as "unmanned tractor"), which is an example of a work vehicle according to the present invention, will be described. The tractor 1 includes an airframe 2 that autonomously travels in the field. As shown in FIGS. 1 and 2, a working machine 3 is detachably provided on the machine body 2. The working machine 3 is used for agricultural work. As the working machine 3, for example, there are various working machines such as a cultivator, a plow, a fertilizer applicator, a mower, and a seeding machine. From these, a desired working machine 3 is selected as necessary and the machine body 2 is used. Can be attached to. The machine body 2 is configured so that the height and posture of the mounted work machine 3 can be changed.

In the present specification, autonomous driving means that, as shown in FIG. 3, an autonomous driving control device 51 or the like included in the tractor 1 controls the configuration of the tractor 1 for traveling, and the tractor follows a predetermined route. 1 means to run. Further, in the present specification, the autonomous work means that the configuration provided by the tractor 1 for the work is controlled by the autonomous traveling control device 51 or the like, and the tractor 1 performs the work along a predetermined route.

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

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

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

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

The monitor device is configured to be able to display various information of the tractor 1. The throttle lever sets the rotation speed of the engine 10. The main shift lever is operated to change the gear ratio of the transmission case 22. The elevating lever is used to elevate and lower the height of the working machine 3 mounted on the machine body 2 within a predetermined range. The PTO switch connects and disconnects power transmission from the rear end side of the mission case 22 to the PTO shaft (power take-off shaft) protruding outward. That is, when the PTO switch is in the ON state, power is transmitted to the PTO shaft to rotate the PTO shaft and drive the work equipment 3, while when the PTO switch is in the OFF state, the power to the PTO shaft is cut off. The PTO shaft does not rotate and the work machine 3 stops. The PTO shift lever performs a change operation of the power input to the work machine 3, specifically, a shift operation of the rotation speed of the PTO shaft. The hydraulic shift lever switches and operates the hydraulic external take-out valve.

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

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

As shown in FIG. 3, the tractor 1 is a vehicle 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.). The engine control device 15, the transmission control device 16, and the work machine control device 17 that can communicate with each other via the 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 device for shifting the power from the engine 10. It is electrically connected to the transmission 42. Further, the work equipment control device 17 is electrically connected to the work equipment elevating 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 the high-pressure fuel pumped from the fuel tank to the common rail device 41 by the fuel supply pump is sent from each injector to the engine 10. The injection pressure, injection timing, and injection period (injection amount) of the fuel injected into each cylinder and supplied from each injector are controlled with high accuracy.

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

The elevating actuator 44 moves the work machine 3 to a retracted position (position where farm work is not performed) or a work position (position where farm work is performed) by operating, for example, a three-point link mechanism that connects the work machine 3 to the machine body 2. It is raised or lowered to either one. By controlling the lifting actuator 44 by the working machine control device 17 and appropriately raising and lowering the working machine 3, for example, the working machine 3 can perform agricultural work at a desired height in the field area.

Further, 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 wheels 8, and a steering angle that detects the rotation angle (steering angle) of the handle 12. The detection value of the sensor such as the sensor 33 is converted into a detection signal and transmitted.

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

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

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

The autonomous driving control device 51 and the steering control device 52 are configured to be able to communicate with each other of the engine control device 15, the transmission control device 16, and the work equipment control device 17 via the vehicle bus line 18. Further, the autonomous driving control device 51 passes through the positioning survey device 53, the wireless communication router 54, and the wireless communication router 54 via the autonomous driving bus line 56 in the autonomous driving communication system which is a system different from the control communication system by the vehicle bus line 18. It is possible to communicate with each of the remote control receivers 55.

The steering actuator 43 is provided, for example, in the middle of the rotation shaft (steering shaft) of the steering handle 12, and adjusts the rotation angle (steering angle) of the steering handle 12. When the tractor 1 travels on a predetermined route (as an unmanned tractor), the steering control device 52 calculates and calculates an appropriate rotation angle of the steering handle 12 so that the tractor 1 travels along the route. The steering actuator 43 is controlled so that the steering handle 12 rotates at the changed rotation angle. Further, the steering control device 52 executes steering according to the vehicle speed of the tractor 1 by communicating with the engine control device 15, the transmission control device 16, and the work equipment control device 17 via the vehicle bus line 18. it can. The steering actuator 43 may not adjust the rotation angle of the steering handle 12, but may adjust the steering angle of the front wheels 7 of the tractor 1. In that case, the steering handle 12 may be turned. Does not rotate.

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

The positioning survey device 53 is electrically connected to the first wireless communication antenna 48a in the wireless communication antenna unit 48, and will be described later through a first wireless communication network (for example, a wireless communication network in the 920 MHz band) by a specific low power radio. Communicates with the reference station (portable reference station) 60. As shown in FIG. 1, the wireless communication antenna unit 48 is arranged on the upper surface of the roof 14 in the cabin 11. The positioning surveying device 53 corrects the satellite positioning information of the tractor 1 (mobile station) by receiving correction information (positioning correction information) from the reference station 60 installed near the field via the first wireless communication antenna 48a. Then, the current position of the tractor 1 is obtained. For example, various positioning methods such as DGPS (Differential GPS Positioning) and RTK Positioning (Real-time Kinematic Positioning) can be applied.

In this embodiment, for example, RTK positioning is applied, and in addition to the tractor 1 on the mobile station side being provided with the positioning antenna 6, the reference station 60 having the reference station positioning antenna 61 is provided. The reference station 60 is arranged at a position (reference point) that does not interfere with the running of the tractor 1, such as around the field. The position information of the reference point, which is the installation position of the reference station 60, is set in advance. The reference station 60 is provided with a reference station communication device 62 capable of communicating via a first wireless communication network constructed between the positioning surveying device 53 of the tractor 1 and the communication device by the first wireless communication antenna 48a.

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

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

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

The wireless communication antenna unit 48 is arranged on the upper surface of the roof 14 of the cabin 11 of the tractor 1, and the first to third wireless communication antennas 48a to 48c are connected to the 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 or the like in order to enable high-speed communication of data having a large data capacity such as image data. Since the third wireless communication network has a smaller amount of data transmission than the second wireless communication network, it is constructed, for example, by a specific low power radio in the 400 MHz band. A part of the antennas 48a to 48c may be arranged in the cabin 11.

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

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

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

The emergency stop remote controller 71 is a remote controller switch for emergency stopping the tractor 1, and is owned by an operator who operates the remote control device 70. When the switch is operated by the operator, an emergency stop control signal is transmitted. 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 detachably attached to the remote control device 70, and a strap (string-shaped member) can be attached so as to hang it on the operator's neck and bring it into close contact with the body.

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

The autonomous travel control device 51 has a communication state with the reference station 60 in the positioning survey device 53 (communication state in the first communication network) and a communication state with the remote control device 70 in the wireless communication router 54 (communication state in the second communication network). , And the communication state (communication state in the third communication network) with the emergency stop remote controller 71 by the remote controller receiver 55 is confirmed via the autonomous traveling bus line 56. When the autonomous driving control device 51 confirms that the communication state in any of the first to third communication networks has been cut off, the autonomous driving control device 51 communicates with the engine control device 15, the transmission control device 16, and the like to obtain the tractor 1. Emergency stop of autonomous driving. In the autonomous driving control device 51, when the positioning surveying device 53, the wireless communication router 54, and the remote control receiver 55 do not receive signals from the communication partner for a predetermined period or longer, communication with the communication partner is cut off. Judged as

Further, the tractor 1 is provided with a pair of left and right braking devices 26, 26 that apply brakes to the left and right rear wheels 8 and 8 by two systems of operation and automatic control of a brake pedal and a parking brake lever. That is, both the left and right braking devices 26 and 26 are configured to apply the brakes to both the left and right rear wheels 8 and 8 by operating the brake pedal (or parking brake lever) in the braking direction. Further, when the rotation angle of the steering wheel 12 becomes equal to or more than a predetermined angle, the braking device 26 for the rear wheel 8 on the inside of the turning is automatically braked by a command of 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 each of the wireless communication antenna 64 and the positioning antenna 61. It includes a communication device 62. The portable reference station 60 is installed at a reference point for specifying the position of the tractor (working vehicle) 1 which is 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 be accommodated in a predetermined case and transported.

The portable reference station 60 installed 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 satellite positioning information measured by the reference station communication device 62. And the correction information including the position information of the reference point is 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 control device and remote controller for emergency stop)>
Next, an embodiment of the wireless communication terminal device 88 will be described with reference to FIGS. 4 to 8. As shown in FIG. 7, as the wireless communication terminal device 88 for operating the unmanned tractor 1 which is an autonomous traveling work vehicle, a remote control device (terminal device main body) 70 for executing wireless communication with the tractor 1 and an emergency stop remote controller 71 are used. I have. Then, the remote control device 70 and the emergency stop remote controller 71 each execute communication with the tractor 1 by wireless communication networks having different communication methods. Further, the remote control device 70 includes a display 74 capable of operating a touch panel, and the emergency stop remote controller 71 is configured to be detachably attached to the outer frame of the remote control device 70. Further, 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 restarting the autonomous traveling of the tractor 1. The emergency stop button 72 and the start button 73 are each composed of a momentary type switch that conducts contacts when pressed, and the emergency stop button 72 also functions as a power-on switch. The phrase "restarting the autonomous driving of the tractor 1" means that the autonomous driving is started by the remote control device 70, the autonomous driving is temporarily stopped, and then the autonomous driving is restarted. The temporary stop of the autonomous driving may be performed by the remote control device 70 or may be performed by the emergency stop remote controller 71. The temporary stop of autonomous driving by the emergency stop remote controller 71 may be executed, for example, by operating the start button 73, or a temporary stop remote controller different from the emergency stop remote controller 71 may be used. May be good.

As shown in FIGS. 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. A terminal cover 77 for an external connection terminal to which a USB or the like can be connected is provided. Further, a remote control mounting portion 79 is detachably attached to the outer peripheral portion of the upper right portion of the remote control device 70 from the front surface 70a to the back surface 70b via the upper surface 70e. The remote control mounting portion 79 has a substantially U-shaped cross section, and has a tapered convex portion 80 having a width narrower 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 composed of LEDs, and notifies the state of the tractor 1 by, for example, turning off, turning on, blinking, or changing the color. Further, the emergency stop remote controller 71 has a built-in buzzer 155 (see FIG. 9) for notifying the state of the tractor 1 by voice. When the operator carries the emergency stop remote controller 71 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, improving safety. it can.

A hanging member attachment portion 83 to which a hanging member 82 such as a strap can be attached is provided on one end surface 71b 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 on one side surface 71c of the emergency stop remote controller 71. The mounting groove 84 is formed from the middle portion of one side surface 71c to one end surface 71b, has a tapered shape narrowing toward one side surface 71c side, and the end portion on one side surface 71c side is open. In the present embodiment, the hanging member mounting portion 83 is provided on one end surface 71b where 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) is provided. It may be provided on the side where the start button 73 is provided).

As shown in FIGS. 7 and 8, in the emergency stop remote controller 71, the remote control device 70 is formed by engaging the mounting groove 84 with the convex portion 80 of the remote control mounting portion 79 attached to the remote control device 70. It can be attached and detached 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.

In addition, an emergency stop button image 86 for stopping the autonomous driving 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 driving of the tractor 1 is displayed. 87 is displayed in the upper left portion of the display 74. In this way, the emergency stop button image 86 is displayed in the vicinity of the mounting position of the emergency stop remote control 71 on the display 74, so that the emergency stop button 72 and the emergency stop button image 86 can be arranged together. When the operator wants to make an emergency stop of the tractor 1, the positions of the emergency stop button 72 and the emergency stop button image 86 can be easily recognized, so that delay in the emergency stop operation and erroneous operation can be suppressed.

Further, since the wireless communication with the tractor 1 is not started urgently, the start button 73 and the start or stop button image 87 are attached to the remote control device 70 with the emergency stop remote controller 71 attached to each other. Even if they are placed at distant positions, there is a low possibility that an erroneous operation will occur, and no particular problem will occur.

Further, since the operation of the emergency stop button image 86 is to press (touch) the touch panel type display 74, the operator does not feel the pressing operation, but the emergency stop button 72 has a structure that can be pressed firmly, so that the operator can press it firmly. You can get the feeling of pushing. The operator may use either the emergency stop button 72 or the emergency stop button image 86 when the tractor 1 is urgently stopped.

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

<Remote control for emergency stop>
Next, the internal configuration and each operation of the emergency stop remote controller 71 will be described below with reference to FIGS. 9 to 13. As shown in FIG. 9, the emergency stop remote controller 71 includes a wireless communication antenna 151 and a communication interface 152 that communicate with the third wireless communication network so as to be able to communicate with the remote controller receiver 55 in the tractor 1. Further, 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 and the like of the remote controller receiver 55 as a communication partner. Further, the emergency stop remote controller 71 includes an emergency stop button 72 and a start button 73 operated by the operator, and a lamp 81 and a buzzer 155 for notifying the operator.

When a switching signal is generated by the contact and disengagement based on the operation of the emergency stop button 72 and input to the control unit 153, the control unit 153 turns on the power or makes an emergency stop based on the state of the switching signal. judge. Further, when a switching signal is generated by the contact and detachment based on the operation of the start button 73 and input to the control unit 153, the control unit 153 performs mutual authentication processing (pairing processing) with the remote controller receiver 55. ) Is executed. 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 controller receiver 55 and the remaining battery level in the emergency stop remote controller 71.

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

When the emergency stop button 72 is operated by the operator after the power is turned on to the control unit 153, the emergency stop remote controller 71 determines that the emergency stop of the tractor 1 has been instructed by the control unit 153. Then, the emergency stop remote controller 71 transmits an emergency stop signal from the communication interface 152 to the remote controller receiver 55 of the tractor 1. That is, when the contacts of the switches constituting the emergency stop button 72 are 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 causes the tractor 1 to It is immediately determined that the emergency stop is instructed, and the emergency stop signal is transmitted from the communication interface 152 to the remote controller receiver 55.

The emergency stop remote controller 71 includes a switch that conducts contacts 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 contacts of the emergency stop button 72 are connected and then separated, and after the power is turned on, the contact of the emergency stop button 72 is connected through the communication interface 152. A stop signal is transmitted to the tractor 1 to stop the autonomous driving of the tractor 1. As a result, the emergency stop button 72 can be provided with two functions, and the number of switches provided on the emergency stop remote controller 71 can be reduced to reduce the size of the emergency stop remote controller 71.

Further, if an oxide film is formed on the contacts of the emergency stop button 72 and the emergency stop button 72 does not conduct even when the emergency stop button 72 is pressed, the power cannot be turned on by operating the emergency stop button 72. Therefore, since the defect of the emergency stop button 72 can be confirmed before the power of the emergency stop remote controller 71 is turned on without operating the emergency stop remote controller 71, the emergency stop remote controller 71 can be confirmed before the autonomous traveling of the tractor 1 is started. It is possible to make the operator recognize that an emergency stop by operating the 71 is impossible.

If the emergency stop button 72 does not return even if it is pressed due to a failure, the contact of the emergency stop button 72 continues to be connected when the emergency stop button 72 is operated to turn on the power. At this time, after confirming the connection of the contacts of the emergency stop button 72 (rising of the switching signal), the control unit 153 releases the contacts of the emergency stop button 72 (falling of the switching signal) even after a predetermined time has elapsed. If it is not confirmed, it may be assumed that the power is not turned on. As a result, it is possible to confirm the malfunction of the emergency stop button 72 before turning on the power of the emergency stop remote controller 71, so that it is impossible to perform an emergency stop by operating the emergency stop remote controller 71 before starting the autonomous driving of the tractor 1. It is possible to make the operator recognize that.

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

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

The control unit 153 determines that the first criterion is satisfied when both the contact and detachment of the contact on the emergency stop button 72 are detected, while the control unit 153 determines that the contact and detachment of the contact on the emergency stop button 72 are satisfied (contact in the present embodiment). When the connection) is detected, it is determined that the second criterion is satisfied. Although it is possible to prevent the emergency stop remote controller 71 from being turned on due to physical sticking of the emergency stop button 72 or careless contact, the tractor 1 can be reliably stopped after the power is turned on. You can give instructions and guarantee safety.

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

Next, the status notification operation of the emergency stop remote controller 71 will be described below according to the flowcharts of FIGS. 12 and 13. The emergency stop remote controller 71 includes a lamp 81 and a buzzer 155 as notification units capable of notifying the operating state of the tractor 1 and the communication state with the remote controller receiver (wireless communication device) 55. By providing the lamp 81 and the buzzer 155 as the notification unit, the communication status 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. Further, by notifying the operating state of the tractor 1, 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 composed of LEDs (light emitting units) that emit light in a plurality of light emitting modes, and the buzzer 155 is configured as an audio output unit that outputs a plurality of sounds. The emergency stop remote controller 71 notifies each of the normal operation of the tractor 1, the stop of the tractor 1, the communication abnormality with the remote controller 55, and the decrease in the remaining battery level by the combination of the light emitting mode by the lamp 81 and the voice of the buzzer 155. To do. By changing the operation of the lamp 81 and the buzzer 155, it is possible to notify each of normal operation, communication abnormality, and stop of the tractor 1, so that the emergency stop remote controller 71 can be compactly configured. , It is possible to make the operator effectively grasp the communication state and the running state while making it portable.

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

When the emergency stop remote controller 71 enters the wake-up state and receives the heartbeat signal transmitted from the remote controller receiver 55 of the tractor 1 by the communication interface 152 by the time when the predetermined time T (for example, 1 second) elapses, the remote controller 71 is a remote controller. Notifies that communication with the receiver 55 has been established (STEP4 to STEP6). That is, the control unit 153 confirms that the communication with the remote controller receiver 55 is normal by receiving the heartbeat signal from the remote controller receiver 55 of the tractor 1, and notifies that the communication has been established. Therefore, the lamp 81 is turned on and the buzzer 155 outputs a sound.

In STEP 6, for example, during the operating time Tx1 in which the emergency stop remote controller 71 is in the wake-up state, the lamp 81 lights up in the first color (green), and the buzzer 155 sets the buzzer 155 for a predetermined time Tz2 (0.1 seconds). ) Is issued intermittently. That is, when the communication with the remote controller receiver 55 is established, the emergency stop remote controller 71 starts blinking in the first color (green) for each time Tx, and the buzzer 155 immediately after the communication is established. It will be issued repeatedly when it is in a wake-up state.

After the communication with the remote controller receiver 55 is established, the emergency stop remote controller 71 confirms the reception of the heartbeat signal from the remote controller receiver 55 every time Tx, and receives the heartbeat signal before the elapse of the predetermined time Tx. If so, check the operating state of the tractor 1 (STEP7 to STEP9). At this time, if the tractor 1 is normally executing the work operation (No in STEP 9), the emergency stop remote controller 71 notifies that the autonomous driving of the tractor 1 is normal (normal operation) (STEP 10). , STEP7. In STEP 10, for example, the lamp 81 lights up in the first color (green) during the operating time Tx1 in which the emergency stop remote controller 71 is in the wake-up state. That is, when the communication with the remote controller receiver 55 is established, the emergency stop remote controller 71 blinks the lamp 81 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 Ty2 for a predetermined time, and the buzzer 155 issues Tz2 (Tz2> Tz1) for a predetermined time. 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 operating time Tx1, and N cycles (for example, 3 cycles) are set. The transition to the sleep state may be prohibited only by), and the notification time Tz2 of the buzzer 155 may be set to time N × Tx + Tx1. As a result, immediately after recognizing the stop of the tractor 1, the lamp 81 blinks in the second color for N cycles, and at the same time, after the buzzer 155 is issued, the wake-up state and the sleep state are repeated and the wake-up state is repeated. By lighting only the lamp 81 in the second color in the state, the stop of the tractor 1 is notified.

When the heartbeat signal from the remote controller 55 cannot be received by the emergency stop remote controller 71 (No in STEP5 or No in STEP7), the communication with the remote controller 55 of the tractor 1 is cut off. (Communication abnormality) is notified (STEP12). In STEP 12, for example, the lamp 81 blinks in the third color (yellow) every Ty3 for a predetermined time, and the buzzer 155 issues Tz3 (Tz3> Tz1) for a predetermined time. At this time, as in the case of notifying the stop of the tractor 1, the blinking cycle Ty3 by the third color of the lamp 81 is set to the same time as the predetermined time Tx, and the lighting time for each blinking cycle is set to the same time as the operating time Tx1. At the same time, the transition to the sleep state may be prohibited for N cycles (for example, 3 cycles), and the notification 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, detects the remaining battery level by the control unit 153, and notifies by the lamp 81 and the buzzer 155 when the remaining battery level becomes low. Notifies the decrease in battery capacity due to the unit. As shown in FIG. 13, the control unit 153 detects the power supply voltage and the power supply current when the power is turned on after the power is turned on, and calculates the remaining battery level from the amount of change in the power supply voltage and the power supply current (STEP 21).

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

When the control unit 153 determines that the calculated remaining battery level is X% (for example, 5%) or less, the emergency stop remote controller 71 notifies the decrease in the remaining battery level (STEP23 to STEP24). .. In STEP 24, for example, during the operating time Tx1 in which the emergency stop remote controller 71 is in the wake-up state, the lamp 81 is lit in the second color (red), and the buzzer 155 is set to Tz4 (0.1 seconds) for a predetermined time. ) Is issued intermittently. That is, when the emergency stop remote controller 71 confirms that the battery level has decreased, the lamp 81 starts blinking in the second color (red) for each time Tx, and the buzzer 155 is in the wake-up state immediately after the communication is established. Is issued 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 falls below a predetermined value, the lamp 81 and the buzzer 155 notify the remaining battery level. A predetermined notification suggesting a decrease is given. Therefore, since the low battery level can be confirmed by the notification unit of the emergency stop remote controller 71, a separate device (remote control device 70) for checking the remaining battery level of the emergency stop remote controller 71 becomes unnecessary, and the tractor 1 is used in the field. It is possible to prevent the battery from running out during operation, such as recognizing the remaining battery level of the emergency stop remote controller 71 and replacing the battery before operating with.

The emergency stop remote controller 71 performs the following control when either a communication abnormality or a stop of the tractor 1 occurs and the remaining battery level becomes a predetermined value or less (low battery level). One of the lamp 81 and the buzzer 155 is made to execute a notification suggesting a communication abnormality and the tractor 1 is stopped, and the other of the lamp 81 and the buzzer 155 is made to give a notification suggesting a decrease in the remaining battery level. By notifying different events (communication abnormality or tractor 1 stop and battery level) between the voice of the buzzer 155 and the light emission of the lamp 81, the operator can recognize that a plurality of problems have occurred.

In the emergency stop remote controller 71 according to the present embodiment, when the control unit 153 simultaneously recognizes the stop of the tractor 1 and the decrease in the remaining battery level, the lamp 81 is first set to the second lamp 81 in order to notify the stop of the tractor 1. At the same time as blinking in color (red) every Ty2 (same time as the operating time Tx1) for a predetermined time, the buzzer 155 issues Tz2 for a predetermined time. After that, during the operation time Tx1 in which the emergency stop remote controller 71 is in the wake-up state, the lamp 81 lights up in the second color (red), and the buzzer 155 emits Tz4 (0.1 seconds) for a predetermined time. The report is repeated intermittently to notify that the battery level is low. As a result, after notifying the stop of the tractor having a high priority, it is possible to continue notifying the decrease in the remaining 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 simultaneously recognizes the communication abnormality with the remote controller receiver 55 and the low battery level, the lamp 81 is first set to 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 Tz3 for a predetermined time. After that, during the operation time Tx1 in which the emergency stop remote controller 71 is in the wake-up state, the lamp 81 lights up in the second color (red), and the buzzer 155 sets the buzzer 155 for a predetermined time Tz4 ( The alarm of 0.1 seconds) is intermittently repeated to notify that the battery level is low. As a result, after notifying the high-priority communication abnormality, it is possible to continue notifying 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 the exchange.

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

At this time, the tractor 1 stops when communication becomes impossible with any one of the remote control device 70 and the three emergency stop remote controllers 71. When one of the three emergency stop remote controllers 71 becomes unable to communicate with the tractor 1 after starting the autonomous traveling of the tractor 1, the emergency stop remote controller 71 that has become unable to communicate sets the lamp 81 to the third lamp 81. The remaining two emergency stop remote controllers 71 notify the stop of the tractor 1 by using the lamp 81 as the second color (red) while notifying the communication abnormality as the color (yellow). In other words, among the plurality of emergency stop remote controllers 71, the emergency stop remote controller 71 that cannot communicate with the tractor 1 has the lamp 81 as the third color, and the emergency stop remote controller 71 for which communication with the tractor 1 is established. Is the lamp as the second color.

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

Further, the tractor 1 transmits the remaining battery level of each of the plurality (three) emergency stop remote controllers 71 to the remote control device 70 together with the remote control number, so that the remote control device 70 has the remaining battery 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 that the battery level is low by recognizing the remaining battery level of each of the plurality of emergency stop remote controllers 71. The emergency stop remote controller 71 can be confirmed, the battery of the emergency stop remote controller 71 can be prevented from running out, and the tractor 1 can be stably continued to travel autonomously.

<Pairing (authentication processing)>
Next, the pairing operation of the remote controller receiver 55 and the emergency stop remote controller 71 in the tractor 1 will be described below with reference to FIGS. 14 to 17. As shown in FIGS. 14 and 15, the remote control receiver (first vehicle side communication device) 55 in the tractor 1 is subjected to an emergency stop remote control (for the first remote control) from an external device such as the service tool 19 or the remote control device 70. When pairing with the communication device) 71 is requested, the remote controller receiver 55 shifts to the pairing mode for authenticating the emergency stop remote controller 71. Then, when the remote controller 55 that has shifted to the pairing mode receives the signal from the emergency stop remote controller 71, it stores the remote controller ID (identification information) of the emergency stop remote controller 71, and then emergency stops the stored remote controller ID. Pairing is established by transmitting to the remote controller 71.

As shown in FIG. 14, a service tool 19 capable of setting various functions in the tractor 1 is wiredly connected to the vehicle bus line 18 of the tractor 1, and the service tool 19 is operated by a serviceman, so that the remote control receiver 55 makes an emergency. The authentication process (pairing) of the stop remote controller 71 is executed. The remote control receiver 55 in the tractor 1 can authenticate a plurality of (three in this embodiment) emergency stop remote controls 71, and makes the remote control IDs of each emergency stop remote control 71 correspond to the corresponding remote control numbers (storage areas). And remember.

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

When the emergency stop remote controller 71 receives an operation on the emergency stop button 72 or the start button 73, the emergency stop remote controller 71 reads out the remote controller ID, which is the identification information assigned to each emergency stop remote controller 71, from the memory 154, and reads out the wireless communication antenna 151 and the communication. It transmits 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 of the start button 73. When the remote controller receiver 55 receives the remote controller ID of the emergency stop remote controller 71, the remote controller receiver 55 stores the received remote controller ID in correspondence with the remote controller number. Further, the remote control receiver 55 stores a receiver ID which is identification information assigned to the remote control receiver 55 for each tractor 1. The remote controller receiver 55 generates a response signal by combining the received remote controller ID with the receiver ID, and transmits the response signal to the emergency stop remote controller 71 via the third wireless communication antenna 48c.

When the emergency stop remote controller 71 receives the response signal from the remote controller receiver 55, it confirms that the remote controller ID confirmed from the response signal matches the remote controller 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 to identify the remote controller receiver 55 and the tractor 1 for which pairing has been established. Further, when the emergency stop remote controller 71 receives an operation on the start button 73, the lamp 81 is turned on in the third color (yellow) to notify that the pairing mode is in effect. After that, when the pairing with the remote controller receiver 55 is established, the emergency stop remote controller 71 issues a warning from the buzzer 155 to notify the establishment of the pairing.

In the present embodiment, the pairing mode is notified based on the operation of the emergency stop remote controller 71, but the response signal from the remote controller 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 the pairing mode is in effect.

As shown in FIG. 15, the remote control device (second remote control communication device) 70 that performs wireless communication by a communication method different from that of the emergency stop remote controller (first remote control communication device) 71 is 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 required to be paired with the emergency stop remote control 71. When the remote control number to be authenticated is selected and the pairing registration is instructed by operating the remote control device 70, the wireless communication router 54 of the tractor 1 receives the instruction signal from the remote control 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. By receiving the instruction signal from the remote control device 70, the wireless communication router 54 confirms the pairing registration instruction and notifies the remote control receiver 55 of the remote control number to be paired registered. When the remote controller receiver 55 receives a pairing registration instruction from the wireless communication router 54, it shifts to the pairing mode, and when it receives the remote controller ID from the emergency stop remote controller 71, it stores the remote controller ID in correspondence with the remote controller number. .. After that, the remote controller receiver 55 transmits a response signal combining the remote controller ID and the receiver ID to the emergency stop remote controller 71, and the remote controller receiver 55 and the tractor for which pairing has been established with respect to the emergency stop remote controller 71. Notify 1

The tractor 1 can set whether or not to accept the pairing request of the emergency stop remote controller 71 by the remote control device 70 through the service tool 19. That is, when a request for invalidating the pairing process by the remote control device 70 is made by the service tool 19, even if the wireless communication router 54 receives a signal prompting the pairing process from the remote control device 70, the remote control is received. The machine 55 does not execute the transition to the pairing mode. Therefore, it is possible to prevent the registration of the remote controller by an operation other than the operator permitted to remotely control the tractor 1, and it is possible to prevent theft due to spoofing. Further, by setting the pairing process to be performed only by the service tool 19 operated by the serviceman, not only the pairing process can be surely performed, but also the relationship between the tractor 1 and the emergency stop remote controller 71 can be established. It is easy for service personnel to understand and provide 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 controller receiver 55 stores the remote controller ID of the emergency stop remote controller 71 registered in the pairing process by associating it with the remote controller number. Then, when the remote control number to be deleted from the remote control ID is selected from the remote control numbers registered in the remote control ID in the service tool 19 or the remote control device 70, the remote control receiver 55 uses the service tool 19 or the remote control device 70. The memory of the remote control ID corresponding to the remote control number notified from the operation device 70 is deleted.

Since the remote control ID of the emergency stop remote controller 71 capable of operating the tractor 1 can be registered and deleted, the operator of the tractor 1 can be assigned by the emergency stop remote controller 71 possessed by the operator. Therefore, it is possible to easily assign an operator who can operate the tractor 1 according to the work schedule and the work process, and it is possible to prevent theft due to spoofing.

Next, the 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, when the remote control receiver 55 detects the reception of the pairing setting request signal in the tractor 1 (Yes in STEP 31), the wireless communication router 54 is the request signal from the remote control device 70. (Yes in STEP 32), and when 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). Further, even when the request signal from the service tool 19 is received via the autonomous driving 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 the registration of the remote control ID for the confirmed remote control number is even requested based on the request signal (“register” in STEP 35), the remote control receiver 55 shifts to the pairing mode and T1 (for example, for example) for a predetermined time. During (1 minute), the system is in a standby state (STEP36 to STEP38) until the remote controller ID from the emergency stop remote controller 71 is received. When the remote controller receiver 55 receives the remote controller ID from the emergency stop remote controller 71 (Yes in STEP37), the remote controller receiver 55 stores the received remote controller ID and then adds the receiver ID of the remote controller receiver 55 itself to the remote controller ID. Is generated and transmitted to the emergency stop remote controller 71 (STEP39 to STEP41). If the remote controller ID is not received during the predetermined time T1 (Yes in STEP38), the pairing mode is terminated (STEP42).

When the wireless communication router 54 receives the 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 Notifies the remote control device 70 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 deletion of the remote control ID is requested from the received pairing request (“delete” in STEP 35), the remote control receiver 55 corresponds to the remote control number confirmed from the pairing request signal in STEP 34. Delete the memory of the remote control ID to be used (STEP44). In the present embodiment, the memory of the remote control ID is deleted based on the pairing request signal, but the deletion of the remote control ID may be performed by the pairing deletion request signal.

Next, the 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 service tool 19 or the remote control device 70 requests the registration of the emergency stop remote controller 71 and the remote controller receiver 55 of the tractor 1 shifts to the pairing mode, the operator or the serviceman 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 the pairing process (authentication process) with the remote controller 55. Is notified (STEP 52). At this time, the control unit 153 notifies that the pairing process is being executed by controlling the lighting / blinking operation of the lamp 81 and the alarming operation of the buzzer 155. For example, the lamp 81 keeps lighting 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 by the wireless communication antenna 151 and the communication interface 152 (STEP 53). Further, the control unit 153 repeats the transmission of the remote control ID for a predetermined time T2 until the 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 STEP 54), the control unit 153 confirms whether or not the remote control ID included in the response signal is the same as the remote control ID of the own device. (STEP56 to STEP57).

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. After that, the lamp 81 and the buzzer 155 notify that the pairing has been established (STEP 58 to STEP 60). Further, when the control unit 153 does not receive the response signal including the remote controller ID of the own device by the lapse of time T2 (No in STEP55), the lamp 81 and the buzzer 155 notify that the pairing has failed. (STEP61). It is not necessary to notify that the pairing has failed.

<Autonomous driving control>
Next, the details of the autonomous driving determination operation in the tractor 1 will be described below with reference to the flowchart of FIG. As shown in FIG. 18, in the tractor 1, the emergency stop remote controller 71 that has received the signal is paired registered (certified registered) in the remote controller receiver 55 (Yes in STEP 72), and the pairing registration is performed. After confirming the establishment of communication with the emergency stop remote controller 71 (Yes in STEP73), the wireless communication router 54 receives a travel request signal requesting autonomous travel from the remote control device (second remote control communication device) 70 (Yes). Yes) in SETP74, the autonomous travel control device 51 determines the presence or absence of an abnormality in the tractor 1 based on the presence or absence of error signals from the engine control device 15, the transmission control device 16, and the work equipment control device 17 (STEP75). .. Then, when the autonomous driving control device 51 determines that the tractor 1 can normally perform work and travel (Yes in STEP75), the autonomous driving control device 51 starts autonomous driving according to the traveling route received from the remote control device 70 (STEP76). ..

As described above, the tractor 1 is permitted to run autonomously when communication with both the remote control device 70 and the emergency stop remote controller 71 is established. That is, only when the communication between the remote control device 70 and the wireless communication router 54 in the tractor 1 is established and at the same time the communication between the emergency stop remote controller 71 and the remote controller receiver 55 in the tractor 1 is established, the work vehicle Since the autonomous traveling of the tractor 1 is permitted, the remote control of the tractor 1 is not inadvertently executed, and the tractor 1 can be safely autonomously traveled. When a plurality of emergency stop remote controllers 71 are registered for pairing and communication with the emergency stop remote controller 71 is enabled, when communication with at least one emergency stop remote controller 71 is confirmed, the tractor 1 Starts autonomous driving.

When the tractor 1 starts autonomous traveling (STEP76), when the wireless communication router 54 confirms that an abnormality has occurred in communication with the remote control device 70 (Yes in STEP77), or when the remote control receiver 55 has a communication abnormality. When the emergency stop remote controller 71 is confirmed (Yes in STEP 79), or when the remote control device 70 or the emergency stop remote controller 71 requests an emergency stop (Yes in STEP 80), or the work of the tractor 1 When is completed (Yes in STEP 81), the autonomous travel control device 51 stops the tractor 1 (STEP 82).

As described above, when the tractor 1 is autonomously traveling and the communication with at least one of the remote control device 70 and the emergency stop remote controller 71 is cut off, the tractor 1 is stopped. That is, after the autonomous traveling of the tractor 1 is started, when the communication with at least one of the remote control device 70 and the emergency stop remote controller 71 is interrupted, the autonomous traveling of the tractor 1 is stopped, so that the autonomous traveling by the tractor 1 is stopped. You can ensure the safety of time.

Further, since the remote controller 55 is configured to be able to communicate with a plurality of emergency stop remote controllers 71, the tractor 1 can be remotely controlled by the emergency stop remote controller 71, and the tractor 1 can be operated from various directions by a plurality of operators. .. Therefore, for example, even if one operator cannot confirm the state of the tractor 1, the remaining operators can confirm the state of the tractor 1 and perform an operation according to an emergency.

<Heartbeat (communication confirmation processing)>
Next, the communication confirmation process (heartbeat) between the remote control receiver 55 of the tractor 1 and the emergency stop remote control 71 will be described below with reference to FIGS. 19 to 22. 19 and 20 show an example in which two emergency stop remote controllers 71 can communicate with the remote controller receiver 55 of the tractor 1.

As shown in FIGS. 19 and 20, when the remote control receiver 55 of the tractor 1 is turned on, the remote control receiver 55 transmits a heartbeat signal every T3 (for example, 0.1 seconds) for a predetermined time to communicate. Confirm the existence of the possible emergency stop remote controller 71. At this time, when the two emergency stop remote controllers 71A and 71B are in a state where they can communicate in order, first, the emergency stop remote controller 71A that can communicate first receives the heartbeat signal from the remote controller receiver 55. After that, the emergency stop remote controller 71A transmits a response signal to the remote controller receiver 55, so that communication with the emergency stop remote controller 71A is established. Then, after the emergency stop remote controller 71B, which has become communicable next, receives the heartbeat signal from the remote controller receiver 55, the remote controller 55 receives the response signal from the emergency stop remote controller 71B, resulting in an emergency. Communication with the stop remote controller 71B is established.

The emergency stop remote controllers 71A and 71B are in the wake-up state during the wake-up time Tx1 (for example, 0.3 seconds), and the heartbeat signal and the response signal are transmitted and received to and from the remote controller receiver 55. As shown in FIG. 20, when the emergency stop remote controller 71B is able to communicate, the heartbeat signal and the response signal are transmitted and received between the emergency stop remote controller 71A and the remote controller receiver 55. , The emergency stop remote controller 71B is in the reception standby state.

Then, when the remote controller 55 transmits the heartbeat signal after receiving the response signal from the emergency stop remote controller 71A, the emergency stop remote controller 71B in the reception standby state receives the heartbeat signal and then sends the response signal. It transmits to the remote control receiver 55. At this time, the emergency stop remote controller 71B is in the wake-up state for a longer time than the wake-up time Tx1. After that, the emergency stop remote controller 71B goes into a sleep state for a sleep time Tx2 (for example, 0.7 seconds) and then goes into a wake-up state. As a result, the emergency stop remote controllers 71A and 71B are in a wake-up state of time Tx1 at different timings at predetermined time Tx (for example, 1 second), respectively, and transmit and receive a heartbeat signal and a response signal with the remote controller 55. I do.

Next, the processing operation during the communication confirmation process (heartbeat) in the remote control receiver 55 of the tractor 1 will be described below with reference to FIG. 21. As shown in FIG. 21, when the remote control receiver 55 confirms the passage of the predetermined time T3, it receives the operating state (running or stopping, etc.) of the tractor 1 from the autonomous traveling control device 51, and the remote control receives information indicating the operating state. A heartbeat signal to which the receiver ID of the receiver 55 is added is generated and transmitted to the emergency stop remote controller 71 (STEP200 to STEP203).

The remote controller 55 receives the response signal from the emergency stop remote controller 71 to the heartbeat signal (Yes in STEP204), and the remote controller ID of the emergency stop remote controller 71 to be confirmed from the response signal has already been paired and registered. When it is confirmed that there is (Yes in STEP205), it is confirmed whether or not the response signal includes information that is a stop request for the tractor 1 (stop request information) (STEP206). When the remote controller 55 receives the stop request from the emergency stop remote controller 71, the autonomous driving control device 51 receives the stop request via the autonomous traveling bus line 56 and causes the tractor 1 to make an emergency stop. On the other hand, even when the wireless communication router 54 receives the stop request from the remote control device 70, the autonomous driving control device 51 receives the stop request via the autonomous traveling bus line 56 and causes the tractor 1 to stop urgently.

If the remote controller 55 has not received the stop request of the tractor 1 from the paired registered emergency stop remote controller 71 (No in STEP206), whether or not the remote controller 55 is an emergency stop remote controller 71 for which communication has already been established. (STEP207). At this time, if the communication with the emergency stop remote controller 71 that transmitted the response signal is not established (No in STEP207), the remote controller receiver 55 specifies the remote controller ID from the response signal and establishes the communication. Register (STEP208). On the other hand, when communication with the emergency stop remote controller 71 that transmitted the response signal is established (Yes in STEP208), the remote controller receiver 55 has normal communication with the emergency stop remote controller 71 that has transmitted the response signal. It is determined that there is (STEP209).

Further, when the remote control receiver 55 does not receive the response signal to the heartbeat signal from the emergency stop remote controller 71, the remote controller receiver 55 confirms the presence or absence of the emergency stop remote controller 71 in which communication abnormality has occurred (STEP210). At this time, the remote controller 55 confirms whether or not a predetermined time T4 (for example, time Tx1) or more has elapsed from the response signal received last time with respect to the emergency stop remote controller 71 for which communication establishment registration has been made. For the emergency stop remote controller 71 that has not received the response signal for T4 or more for a predetermined time, it is determined that a communication abnormality has occurred.

When the remote control receiver 55 confirms that the stop request for the tractor 1 has been received from the remote control device 70 or the emergency stop remote controller 71 (Yes in STEP 204), the response signal to the heartbeat signal includes the stop request information. If (Yes in STEP206), if the existence of the emergency stop remote controller 71 that caused the communication abnormality is confirmed (Yes in STEP210), it is determined that the communication with the emergency stop remote controller 71 and the state of the tractor 1 are abnormal. Then, the autonomous travel control device 51 is requested to stop the tractor 1 (STEP211). As a result, the remote controller 55 and the emergency stop remote controller 71 can mutually execute the transmission / reception of the heartbeat signal and the response signal in order to confirm the communication state at regular intervals. Therefore, the remote controller receiver 55 discovers a communication abnormality with the emergency stop remote controller 71 in real time and makes the tractor 1 emergency stop, so that the safe autonomous traveling system of the tractor 1 can be operated.

Next, the processing operation at the time of communication confirmation processing (heartbeat) in the emergency stop remote controller 71 will be described below with reference to FIG. 22. As shown in FIG. 22, when the emergency stop remote controller 71 receives the heartbeat signal from the remote controller receiver 55 after shifting to the wake-up state (STEP251) (Yes in SETP252), the tractor is based on the information contained in the heartbeat signal. Check the driving state of 1 (STEP253). After that, the emergency stop remote controller 71 generates a response signal including the remote controller ID of the own device, transmits the response signal to the remote controller receiver 55, and then shifts to the sleep state when the wake-up time elapses for time Tx1 or more. (STEP 254 to STEP 257). When the sleep time Tx2 or more elapses (Yes in STEP258), the emergency stop remote controller 71 in the sleep state shifts to the wake-up state (STEP251). The remote control receiver 55 does not have to confirm the driving state of the tractor 1 based on the heartbeat signal, and when the heartbeat signal includes a signal instructing the notification mode by the lamp 81 and the buzzer 155, it is necessary. , The lamp 81 is made to emit light in a predetermined manner based on the signal, and the buzzer 155 is made to emit a warning in a predetermined mode.

When the emergency stop remote controller 71 does not receive the heartbeat signal from the remote controller 55 (Yes in SETP252), the emergency stop remote controller 71 counts the number of times the heartbeat signal is not received (STEP259), and communicates. If the number of times of failure is less than N times (for example, 5 times) (No in STEP260), reception of the heartbeat signal is confirmed (STEP252). On the other hand, when the emergency stop remote controller 71 confirms that the number of times of communication failure has reached N times or more (Yes in STEP 260), the lamp 81 and the buzzer 155 notify that the communication is abnormal (STEP 261) and put the device into the sleep state. Migrate (STEP257).

The present invention is not limited to the above-described embodiment, and can be embodied in various aspects. The configuration of each part is not limited to the illustrated embodiment, and various changes can be made without departing from the spirit of the present invention. For example, in the autonomous driving determination operation of the tractor 1, as shown in FIG. 23, it may be possible to specify that the communication with the emergency stop remote controller 71 is invalidated. In this case, before the start of autonomous driving, if communication with the emergency stop remote controller 71 is enabled (No in STEP 71), it is determined whether or not the emergency stop remote controller 71 registered for pairing is present (STEP 72). On the other hand, after the start of autonomous driving, when communication with the emergency stop remote controller 71 is valid (No in STEP78), the presence or absence of the emergency stop remote controller 71 in which communication abnormality has occurred is confirmed (STEP79).

That is, when the tractor 1 receives a notification from the remote control device 70 that invalidates the communication with the emergency stop remote controller 71, the tractor 1 is remote to the tractor 1 regardless of the communication state with the invalid emergency stop remote controller 71. The operation is performed. When the remote control device 70 requests the invalidation of communication with the emergency stop remote controller 71 to turn off the power of the emergency stop remote controller 71, for example, when the battery of the emergency stop remote controller 71 needs to be replaced. Even so, the unnecessary emergency stop of the tractor 1 can be avoided, and the work by the tractor 1 can be continued.

Further, when the remote control receiver 55 establishes communication with a plurality of emergency stop remote controllers 71 while the tractor 1 is autonomously traveling, the remote control device 70 invalidates the communication with the emergency stop remote controller 71. 71 may be specified. At this time, when the wireless communication router 54 receives a notification from the remote control device 70 that specifies the emergency stop remote controller 71 to be invalidated in the tractor 1 during autonomous traveling, the remote controller receiver 55 receives the invalidation designated emergency. Even if the communication with the stop remote controller 71 is invalidated and the communication with the invalidated emergency stop remote controller 71 is cut off, the tractor 1 continues autonomous traveling.

1 Robot tractor (work vehicle)
48 Wireless communication antenna unit 48a 1st antenna 48b 2nd antenna 48c 3rd antenna 51 Autonomous travel control device 52 Steering control device 53 Positioning side volume device 54 Wireless communication router 55 Remote control receiver 56 Autonomous travel bus line 70 Remote control device (device) Body)
71 Emergency stop remote controller 72 Emergency stop button 73 Start button (start button)
74 Display 81 Lamp (Notification section)
151 Wireless communication antenna 152 Communication interface 153 Control unit 154 Memory 155 Buzzer

Claims (6)

A first remote control communication device that controls the operation of the work vehicle by communicating with the work vehicle, and a second remote control communication device that sets a traveling route and controls the operation of the work vehicle by communicating with the work vehicle. It is a work vehicle autonomous driving system equipped with
The work vehicle autonomous traveling system is characterized in that autonomous traveling is permitted when communication with each of the first remote control communication device and the second remote control communication device is established. The work according to claim 1, wherein the work vehicle is stopped when communication with at least one of the first and second remote control communication devices is interrupted while the work vehicle is autonomously traveling. Vehicle autonomous driving system. The work according to claim 2, wherein the work vehicle and the first and second remote control communication devices each transmit and receive signals to and from each other in order to confirm the communication state at regular intervals. Vehicle autonomous driving system. The autonomous driving system for a work vehicle according to claim 2 or 3, wherein the work vehicle can communicate with a plurality of the first remote control communication devices. When the work vehicle receives a notification from the second remote control communication device that invalidates the communication with the first remote control communication device, the work vehicle communicates with the first remote control communication device that has been invalidated. The autonomous traveling system for a work vehicle according to claim 3, wherein remote control of the work vehicle can be performed regardless of the state. The first remote control communication device has a communication interface that communicates with the first vehicle side communication device, an emergency stop button that stops autonomous driving of the work vehicle, and a control unit that controls communication operation by the communication interface. The autonomous driving system for a work vehicle according to any one of claims 1 to 5, wherein the system is provided.

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