JP7174561B2 - control terminal - Google Patents

Description

The present invention relates to a control terminal for remotely controlling a plurality of work vehicles.

Patent Literature 1 discloses a wireless communication terminal that selects a wireless access scheme to be used for communication. The wireless communication terminal of Patent Document 1 displays information representing a plurality of wireless access methods in a list according to priority, and communicates using a communication interface corresponding to the wireless access method selected from the displayed list. .

Japanese Patent No. 6274211

Some work vehicles, such as tractors and rice transplanters, are equipped with an automatic traveling function. In such a work vehicle, applications used for automatically running the work vehicle are generally stored in a storage unit of a control terminal that can be wirelessly connected to the work vehicle. When the work vehicle automatically travels, the work vehicle automatically travels while the control terminal and the work vehicle perform wireless communication.

2. Description of the Related Art In a work vehicle control system in which control such as automatic travel is performed using a control terminal, one control terminal may be provided with a function of controlling a plurality of work vehicles. In this case, the user needs to wirelessly connect the control terminal to the work vehicle to be controlled. However, when attempting to establish a wireless communication connection by automatic connection, if a plurality of work vehicles that can be controlled by the control terminal exist relatively close to each other, the work vehicle that the user is trying to control may not be available. There is a risk that the control terminal will be wirelessly connected to a different work vehicle.

In this specification, manual connection means that access point identification information such as SSID (Service Set Identifier) received is displayed in a list on the control terminal side in the wireless communication connection process between the control terminal and the work vehicle, and the user A connection method in which a wireless communication connection is established between access points by selecting access point identification information to be connected and inputting an encryption key (password) by the user.

On the other hand, automatic connection means that at least the encryption key (password) selection operation and encryption key (password) input operation on the control terminal side in the wireless communication connection process between the control terminal and the work vehicle. A connection method in which a wireless communication connection is established between them without performing an input operation of the change key.
SUMMARY OF THE INVENTION It is an object of the present invention to provide a control terminal capable of remotely controlling a plurality of work vehicles and facilitating wireless communication connection to a work vehicle to be controlled.

A first control terminal according to the present invention is a control terminal in which automatic connection information for automatically connecting to an access point mounted on each of a plurality of work vehicles is registered and capable of remotely controlling the plurality of work vehicles. automatic connection for receiving identification information of the access points wirelessly transmitted from the plurality of access points and selecting one access point from among the access points corresponding to the received identification information as an automatic connection target A connection target selection unit is included, and the automatic connection target selection unit is configured to select one access point to be automatically connected based on the radio wave intensity of each piece of identification information received.

This configuration facilitates wireless communication connection of the control terminal to the work vehicle to be controlled.
In one embodiment of the present invention, the automatic connection target selection unit is configured to select, as an automatic connection target, an access point corresponding to identification information having the highest reception strength among received identification information.

In one embodiment of the present invention, the control terminal includes a wireless connection control section including the automatic connection target selection section, and the wireless connection control section selects one automatic connection target by the automatic connection target selection section. When one access point is selected, a confirmation screen is displayed for the user to confirm whether or not wireless communication connection to the access point is permitted, and based on the confirmation screen, a request to the access point is made. It is configured to perform automatic connection processing to the access point only when a wireless communication connection instruction is input.

A second control terminal according to the present invention registers automatic connection information for automatically connecting to an access point mounted on each of a plurality of work vehicles including a plurality of models, and remotely controls the work vehicles. receiving identification information of the access points wirelessly transmitted from the plurality of access points, and selecting one access point from among the access points corresponding to the received identification information as an automatic connection target. and the automatic connection target selection unit determines whether or not the received identification information includes identification information of access points of multiple models of work vehicles; selection screen display means for displaying a model selection screen for allowing a user to select a model to be wirelessly connected from among the plurality of models when it is determined that the access point identification information of the work vehicle of a plurality of models is included; and, when a model to be wirelessly connected is selected based on the model selection screen, among the access points corresponding to the received identification information, among the access points corresponding to the work vehicle of the selected model, access point selection means for selecting one access point as an automatic connection target.

This configuration facilitates wireless communication connection of the control terminal to the work vehicle to be controlled.
In one embodiment of the present invention, the access point selection means selects a plurality of access points corresponding to the selected model of work vehicle among the access points corresponding to the received identification information. It is configured to select one access point to be automatically connected from among a plurality of access points based on the radio wave intensity of the corresponding identification information.

In one embodiment of the present invention, the access point selection means selects a plurality of access points corresponding to the selected model of work vehicle among the access points corresponding to the received identification information. displaying an access point selection screen for allowing a user to select one access point from among a plurality of access points; is configured to select the access point that has been selected as an automatic connection target.

A third control terminal according to the present invention registers automatic connection information for automatically connecting to an access point mounted on each of a plurality of work vehicles including a plurality of models, and remotely controls the work vehicles. receiving identification information of the access points wirelessly transmitted from the plurality of access points, and selecting one access point from among the access points corresponding to the received identification information as an automatic connection target. and the automatic connection target selection unit displays a model selection screen for allowing the user to select one model to be wirelessly connected from the plurality of models. means, when one model to be wirelessly connected is selected based on the model selection screen, among the access points corresponding to the received identification information, the access point corresponding to the work vehicle of the selected model. access point selection means for selecting one access point from among them as an automatic connection target.

This configuration facilitates wireless communication connection of the control terminal to the work vehicle to be controlled.
In one embodiment of the present invention, the access point selection means selects a plurality of access points corresponding to the selected model of work vehicle among the access points corresponding to the received identification information. It is configured to select one access point to be automatically connected from among a plurality of access points based on the radio wave intensity of the corresponding identification information.

In one embodiment of the present invention, the access point selection means selects a plurality of access points corresponding to the selected model of work vehicle among the access points corresponding to the received identification information. displaying an access point selection screen for allowing a user to select one access point from among a plurality of access points; is configured to select the access point that has been selected as an automatic connection target.

FIG. 1 is a schematic diagram showing a work vehicle control system to which a control terminal according to one embodiment of the invention is applied. FIG. 2 is a block diagram showing the electrical configuration of the work vehicle. FIG. 3 is a block diagram showing the electrical configuration of the control terminal. FIG. 4 is a flowchart illustrating an example of a procedure of wireless communication connection processing executed by a wireless connection control unit. FIG. 5 is a flow chart showing part of the procedure of the first modification and the second modification of the wireless communication connection process executed by the wireless connection control unit. FIG. 6 is a flowchart showing part of the procedure of the first modification of the wireless communication connection process executed by the wireless connection control unit. FIG. 7 is a flowchart showing part of the procedure of the second modification of the wireless communication connection process executed by the wireless connection control unit. FIG. 8A is a schematic diagram showing an example of the SSID selection screen displayed in step S33 of FIG. FIG. 8B is a schematic diagram showing another example of the SSID selection screen displayed in step S33 of FIG. FIG. 8C is a schematic diagram showing still another example of the SSID selection screen displayed in step S33 of FIG. FIG. 9 is a flow chart showing part of the procedure of the third and fourth modifications of the wireless communication connection process executed by the wireless connection control unit. FIG. 10 is a flowchart showing part of the procedure of the third modification of the wireless communication connection process executed by the wireless connection control unit. FIG. 11 is a flowchart showing part of the procedure of the fourth modification of the wireless communication connection process executed by the wireless connection control unit.

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
FIG. 1 is a schematic diagram showing a work vehicle control system to which a control terminal according to one embodiment of the invention is applied.
The work vehicle control system 1 includes a plurality of work vehicles 2A, 2B, 2C, and 2D and one control terminal 3 capable of controlling these work vehicles 2. FIG.

In this embodiment, work vehicles that can be controlled by the control terminal 3 include a first tractor 2A, a second tractor 2B, a first rice planter 2C, and a second rice planter 2D. When collectively referring to these work vehicles, they will be referred to as "work vehicle 2". Each work vehicle 2 has a function of positioning its own work vehicle 2 using a positioning satellite and a reference station (not shown).

Each work vehicle 2 is capable of automatic travel and manual travel. Automatic travel means that the steering mechanism of the work vehicle 2 is controlled by the control unit 10 (see FIG. 2) provided in the work vehicle 2, and the work vehicle 2 travels along a preset automatic travel route. Say. On the other hand, manual travel means that the work vehicle 2 travels by operating each mechanism provided in the work vehicle 2 by the user.

The control terminal 3 is a portable terminal such as a smart phone or a tablet personal computer (tablet PC). The control terminal 3 remotely controls the work vehicle 2 and is capable of wireless communication connection with the work vehicle 2 .
The control terminal 3 is loaded with a plurality of applications (hereinafter referred to as “vehicle control applications”) for controlling the work vehicle 2 . The vehicle control application includes an application (automatic travel application) used to automatically travel the work vehicle 2 . Since the application for automatic driving is well known, the explanation thereof is omitted.

FIG. 2 is a block diagram showing the electrical configuration of the work vehicle 2. As shown in FIG.
The work vehicle 2 includes a control section 10 . The control unit 10 controls the movement of the traveling machine body of the work vehicle 2 (movements such as forward movement, backward movement, stop, turning) and the movement of the work machine mounted on the work vehicle 2 . Various controllers 20 for controlling each part of the work vehicle 2 are electrically connected to the control part 10 . Various controllers 20 include an engine controller that controls the number of rotations of an engine (not shown), a vehicle speed controller that controls the vehicle speed of the work vehicle 2, a steering controller that controls the steering angle of the front wheels of the work vehicle 2, and a work machine. It includes a PTO controller or the like that controls the rotation of the PTO shaft for driving.

The control unit 10 is further connected with a position information calculation unit 21, an inertial measurement device 22, a communication interface (communication I/F) 23, an operation display unit 24, an operation unit 25, a storage unit 26, and the like.
The position information calculator 21 calculates position information of the work vehicle 2 based on a satellite positioning system. The satellite positioning system is, for example, RTK (Real Time Kinematic)-GNSS (Global Navigation Satellite System). RTK-GNSS (real-time kinematic GNSS) uses a reference station (not shown) installed at a predetermined position. At predetermined time intervals, the reference station acquires positioning information of the reference station calculated based on GNSS satellite signals received from a plurality of positioning satellites (not shown), and its pre-recognized position (recognized self-position). , and transmits the difference information as a positioning correction signal.

The position information calculator 21 acquires satellite signals from a plurality of GNSS satellites via a satellite signal reception antenna 27 . The position information calculator 21 also acquires positioning correction information from a predetermined reference station via the reference station signal reception antenna 28 . The position information calculation unit 21 calculates the positioning information of the work vehicle 2 based on satellite signals obtained from a plurality of positioning satellites, and combines the obtained positioning information of the work vehicle 2 with the positioning correction information obtained from the reference station. Position information representing the position of the work vehicle 2 is calculated by correcting using the position information. Position information consists of latitude, longitude and altitude information, for example.

The inertial measurement device 22 is a measurement unit capable of measuring the posture (orientation), acceleration, and the like of the work vehicle 2 .
The communication interface 23 is a communication interface for the control unit 10 to wirelessly communicate with the control terminal 3 and includes a wireless access point (hereinafter referred to as “access point”) 30 . The communication interface 23 is composed of, for example, a wireless LAN router (Wi-Fi (registered trademark) router). A wireless communication antenna 29 is connected to the communication interface 23 .

The operation display unit 24 is composed of, for example, a touch panel display. Operation unit 25 includes one or more operation buttons.
The storage unit 26 is composed of a storage device such as a hard disk or nonvolatile memory. The storage unit 26 is provided with a basic information storage unit 31, a connection information storage unit 32, an automatic driving route storage unit 33, and the like.

The basic information storage unit 31 stores the model name, model number, machine number (machine number), and the like. The model name is the name of a work vehicle such as a tractor or a rice planter. A model number is a symbol for distinguishing products within the same model. The machine number is an identification number unique to the work vehicle.
Referring to FIG. 1, in this embodiment, the model number of the first tractor 2A is "YTaaa", the model number of the second tractor 2B is "YTbbbb", and the model number of the first rice planter 2C is "RGcccc". and the model number of the second rice transplanter 2D is "RGdddd". In this embodiment, the first two characters of the model number represent the model. Therefore, it is possible to distinguish the model from the model number.

The connection information storage unit 32 stores identification information of the access point 30 (hereinafter sometimes referred to as “access point identification information”), an encryption key (password), and the like. The access point identification information includes SSID (Service Set Identifier) and ESSID (Extended Service Set Identifier). In this embodiment, a character string including the model number of the work vehicle is set as the SSID of the access point mounted on each work vehicle. More specifically, a character string representing the model number of the work vehicle is set as the SSID of the access point mounted on each work vehicle.

The automatic driving route storage unit 33 stores the automatic driving route generated by the control terminal 3 .
The control unit 10 includes a microcomputer having a CPU and memory (ROM, RAM, nonvolatile memory, etc.). The control unit 10 includes an automatic travel control unit 11 and the like.
The automatic travel control unit 11 controls various controllers 20 to automatically travel the work vehicle 2 along a pre-generated automatic travel route or stop the automatic travel. Also, the automatic driving control unit 11 performs wireless communication with the control terminal 3 via the communication interface 23 .

FIG. 3 is a block diagram showing the electrical configuration of the control terminal 3. As shown in FIG.
The control terminal 3 has a control section 40 . A communication interface (communication I/F) 51 , an operation display section 52 , an operation section 53 , a storage section 54 and the like are connected to the control section 40 .
The communication interface 51 is a communication interface for the control terminal 3 to wirelessly communicate with the control unit 10 of the work vehicle 2 .

The operation display unit 52 displays various data and accepts user's operations. The operation display unit 52 is composed of, for example, a touch panel display. The operation unit 953 includes, for example, one or more operation buttons.
The storage unit 54 is composed of a storage device such as a nonvolatile memory. The storage unit 54 is provided with an application storage unit 61, an automatic connection information storage unit 62, a vehicle information storage unit 63, an automatic driving route storage unit 64, and the like.

Various applications are stored in the application storage unit 61 . Various applications include an automatic driving application for automatically driving the work vehicle.
Automatic connection information storage unit 62 stores automatic connection information necessary for automatic connection to access points 30 capable of automatic connection. The automatic connection information is information including access point identification information and an encryption key (password) corresponding to the access point 30 capable of automatic connection. The automatic connection information is registered in the automatic connection information storage unit 62, for example, when the control terminal 3 is wirelessly connected to the work vehicle 2 by manual connection for the first time.

The vehicle information storage unit 63 stores information (vehicle information) of work vehicles that can be controlled by the control terminal. The vehicle information includes model name and model number. The vehicle information may include the model name, model number and machine number.
The automatic driving route storage unit 64 stores the automatic driving route generated by the control unit 40 .

Control unit 40 includes a microcomputer having a CPU and memory (ROM, RAM, nonvolatile memory, etc.). The control unit 40 includes a wireless connection control unit 41, a route generation/automatic travel control unit 42, and the like.
The wireless connection control unit 41 performs wireless communication connection processing for controlling wireless communication connection with the work vehicle 2 . The wireless connection control unit 41 receives identification information (access point identification information) of the access points wirelessly transmitted from a plurality of access points 30, and selects one of the access points 30 corresponding to the received access point identification information. An automatic connection target selection unit 41A for selecting one access point 30 as an automatic connection target is included.

The route generation/automatic driving control unit 42 generates an automatic driving route, receives various settings for automatic driving, and communicates with the work vehicle 2 connected by wireless communication based on an application for automatic driving.
FIG. 4 is a flowchart showing an example of a procedure of wireless communication connection processing executed by the wireless connection control unit 41. As shown in FIG.

Here, it is assumed that the control terminal 3 and the work vehicles 2A to 2D have been wirelessly connected by manual connection at the time of shipment of the work vehicles 2A to 2D, delivery of the work vehicles 2A to 2D, and the like. Therefore, it is assumed that automatic connection information (access point identification information and encryption key) for each of the work vehicles 2A to 2D has already been registered in the automatic connection information storage unit 62 (see FIG. 3).

In order to simplify the explanation below, the access point identification information may be referred to as "SSID". Also, the access point identification information registered in the automatic connection information storage unit 62 may be referred to as "registered SSID".
When the power of the control terminal 3 is turned on, the automatic connection target selection unit 41A in the wireless connection control unit 41 performs SSID reception processing for a certain period of time (step S1). Specifically, the automatic connection target selection unit 41A receives a beacon signal transmitted from the access point 30, and stores the SSID included in the received beacon signal in a memory (work memory).

Hereinafter, the latest SSID received in step S1 and stored in the memory may be referred to as a "captured SSID".
Next, the automatic connection target selection unit 41A determines whether or not the registered SSID is included in the captured SSID (step S2).
If it is determined that the registered SSID is not included in the acquired SSIDs (step S2: NO), the wireless connection control unit 41 performs manual connection processing (step S3). Specifically, wireless connection control unit 41 first displays a list of captured SSIDs on operation display unit 52 . Then, when the user selects the captured SSID to be connected and inputs the encryption key, the wireless connection control unit 41 performs authentication processing and the like, and then establishes the connection. If the connection can be established, the wireless connection control unit 41 registers the captured SSID selected by the user and the encryption key input by the user in the automatic connection information storage unit 62 in the manual connection process. Then, the wireless connection control unit 41 ends the current wireless connection control process. When the control terminal 3 is connected to the work vehicle 2 for the first time, the wireless communication connection is established by the manual connection processing in step S2.

If it is determined in step S2 that the registered SSID is included in the captured SSID (step S2: YES), the automatic connection target selector 41A proceeds to step S4.
In the following, the registered SSID included in the acquired SSID may be referred to as "acquired registered SSID".

In step S4, the automatic connection target selection unit 41A stores the number L of captured and registered SSIDs in the memory.
Next, the automatic connection target selection unit 41A determines whether or not L is 1 (step S5). If L is 1 (step S5: YES), the wireless connection control unit 41 performs automatic connection processing to the access point (AP) 30 corresponding to one captured and registered SSID (step S6).

Specifically, the wireless connection control unit 41 establishes a connection after performing authentication processing and the like using the captured and registered SSID and the corresponding encryption key. Then, the wireless connection control unit 41 ends the current wireless connection control process.
If it is determined in step S5 that L is 2 or more (step S5: NO), the automatic connection target selection unit 41A sets a variable k used as a counter to 1 (step S7).

Next, the automatic connection target selection unit 41A performs connection candidate vehicle setting/confirmation processing (step S8).
Specifically, the automatic connection target selection unit 41A first selects the work vehicle 2 equipped with the access point 30 having the k-th highest radio wave intensity among the access points 30 corresponding to the captured and registered SSID as the connection candidate vehicle. set as Then, the automatic connection target selection unit 41A displays a confirmation screen on the operation display unit 52 for confirming whether or not the work vehicle 2 set as the connection candidate vehicle is the work vehicle 2 that the user intends to connect. indicate.

For example, if k=1, the work vehicle 2 equipped with the access point 30 corresponding to the SSID with the highest radio wave intensity among the captured and registered SSIDs is set as the connection candidate vehicle. Further, for example, if k=2, the work vehicle 2 equipped with the access point corresponding to the SSID having the second highest radio wave intensity among the captured and registered SSIDs is set as the connection candidate vehicle. .

The confirmation screen displays, for example, the SSID corresponding to the work vehicle 2 set as a connection candidate vehicle, a confirmation affirmation button (OK button), a confirmation denial button (NG button), and the like. In this embodiment, the SSID corresponding to the work vehicle 2 set as the connection candidate vehicle includes the model number name (for example, "YTaaa") of the work vehicle corresponding to the connection candidate vehicle. , the work vehicle 2 corresponding to the connection candidate vehicle can be recognized.

The user presses the OK button if the work vehicle 2 set as the connection candidate vehicle is the work vehicle 2 that the user intends to connect, and if the work vehicle 2 is not the work vehicle 2 that the user intends to connect. press the NG button.
When the OK button is pressed on the confirmation screen (step S9: OK), the wireless connection control unit 41 performs automatic connection processing to the access point (AP) 30 of the connection candidate vehicle (step S10). . Then, the wireless connection control unit 41 ends the current wireless connection control process.

When the NG button is pressed on the confirmation screen (step S9: NG), the automatic connection target selection unit 41A increments k by 1 (step S11). Then, the automatic connection target selection unit 41A determines whether or not k is equal to or less than L (step S12).
If k is equal to or less than L (step S12: YES), the automatic connection target selector 41A returns to step S8. In this case, the processes after step S8 are executed again.

On the other hand, when k is larger than L (step S12: NO), the automatic connection target selection unit 41A returns to step S1. In this case, the processing after step S1 is executed again.
5 and 6 are flowcharts showing the procedure of the first modification of the wireless communication connection process executed by the wireless connection control unit 41. FIG. In FIG. 5, steps corresponding to the steps in FIG. 4 described above are given the same step numbers as in FIG.

In FIG. 5, the processing of steps S1 to S6 is the same as the processing of steps S1 to S6 in FIG. 4, so the description thereof will be omitted.
In step S5, when it is determined that L is 2 or more (step S5: NO), the automatic connection target selection unit 41A proceeds to step S6A.
In step S6A, the automatic connection target selection unit 41A selects the captured and registered SSID based on the model number included in the captured and registered SSID and the vehicle information (model name and model number) stored in the vehicle information storage unit 63. The model of the work vehicle 2 corresponding to each SSID is specified.

Next, the automatic connection target selection unit 41A stores the number M of the specified model types in the memory (step S6B).
Then, the automatic connection target selection unit 41A determines whether or not M is 1 (step S6C).
When M=1 (step S6C: YES), the automatic connection target selection unit 41A sets a variable k used as a counter to 1 (step S7).

Next, the automatic connection target selection unit 41A performs connection candidate vehicle setting/confirmation processing (step S8).
Specifically, the automatic connection target selection unit 41A first selects the work vehicle 2 equipped with the access point 30 having the k-th highest radio wave intensity among the access points 30 corresponding to the captured and registered SSID as the connection candidate vehicle. set as Then, the automatic connection target selection unit 41A displays a confirmation screen on the operation display unit 52 for confirming whether or not the work vehicle 2 set as the connection candidate vehicle is the work vehicle 2 that the user intends to connect. indicate. This process is the same as the process of step S8 in FIG. 4, so detailed description thereof will be omitted.

When the OK button is pressed on the confirmation screen (step S9: OK), the wireless connection control unit 41 performs automatic connection processing to the access point 30 of the connection candidate vehicle (step S10). Then, the wireless connection control unit 41 ends the current wireless connection control process.
When the NG button is pressed on the confirmation screen (step S9: NG), the automatic connection target selection unit 41A increments k by 1 (step S11). Then, the automatic connection target selection unit 41A determines whether or not k is equal to or less than L (step S12).

If k is equal to or less than L (step S12: YES), the automatic connection target selector 41A returns to step S8. On the other hand, when k is larger than L (step S12: NO), the automatic connection target selection unit 41A returns to step S1.
In step S6C, when it is determined that M is 2 or more (step S6C: NO), the automatic connection target selection unit 41A proceeds to step S13 in FIG. In step S13, the automatic connection target selection unit 41A sets 1 to a variable k used as a counter.

Next, the automatic connection target selection unit 41A performs connection candidate model setting/confirmation processing (step S14).
Specifically, the automatic connection target selection unit 41A first sets, as a connection model candidate, the model with the kth highest radio wave intensity among the model types identified in steps S6A and S6B. The order of electric field intensity for a plurality of models is determined by comparing access points 30 with the highest electric field intensity among the access points 30 of the work vehicles included in each model.

Then, the automatic connection target selection unit 41A displays a confirmation screen on the operation display unit 52 for confirming whether or not the model set as the connection candidate model is the model of the work vehicle 2 to which the user intends to connect. to display.
For example, if k=1, the model with the highest radio wave intensity among the model types specified in steps S6A and S6B is set as the connection candidate model. Also, for example, if k=2, the model with the second highest radio wave intensity among the model types specified in steps S6A and S6B is set as the connection candidate model.

On this confirmation screen, for example, information (model name) of a model set as a connection candidate model, a confirmation affirmation button (OK button), a confirmation denial button (NG button), and the like are displayed.
The user presses the OK button if the model set as the connection candidate model is the model of the work vehicle that the user intends to connect, and if it is not the model of the work vehicle that the user intends to connect. press the NG button.

When the NG button is pressed on the confirmation screen (step S15: NG), the automatic connection target selection unit 41A increments k by 1 (step S16). Then, the automatic connection target selection unit 41A determines whether or not k is equal to or less than M (step S17).
If k is equal to or less than M (step S17: YES), the automatic connection target selection unit 41A returns to step S14. In this case, the processing after step S14 is executed again.

On the other hand, if k is greater than M (step S17: NO), the automatic connection target selection unit 41A returns to step S1 in FIG. In this case, the processing after step S1 is executed again.
If it is determined in step S15 that the OK button has been pressed on the confirmation screen (step S15: OK), acquisition registration corresponding to the model set as the connection candidate model among the acquisition registered SSIDs is performed. The number N of existing SSIDs is stored in the memory (step S18).

Next, the automatic connection target selection unit 41A determines whether or not N is 1 (step S19). If N is 1 (step S19: YES), the wireless connection control unit 41 performs automatic connection processing to the access point 30 corresponding to one captured and registered SSID corresponding to the model set as the connection candidate model. (step S20). Then, the wireless connection control unit 41 ends the current wireless connection control process.

When it is determined in step S19 that N is 2 or more (step S19: NO), the automatic connection target selection unit 41A sets a variable k used as a counter to 1 (step S21).
Next, the automatic connection target selection unit 41A performs connection candidate vehicle setting/confirmation processing (step S22).

Specifically, the automatic connection target selection unit 41A first selects the access point 30 corresponding to the plurality of acquisition registered SSIDs corresponding to the model set as the connection candidate model, the access point 30 having the k-th highest radio wave intensity. The work vehicle 2 on which the point 30 is mounted is set as a connection candidate vehicle. Then, the automatic connection target selection unit 41A displays a confirmation screen on the operation display unit 52 for confirming whether or not the work vehicle 2 set as the connection candidate vehicle is the work vehicle 2 that the user intends to connect. indicate. Since this process is the same as the process of step S8 in FIG. 4, its detailed description is omitted.

When the OK button is pressed on the confirmation screen (step S23: OK), the wireless connection control unit 41 performs automatic connection processing to the access point (AP) 30 of the connection candidate vehicle (step S24). . Then, the wireless connection control unit 41 ends the current wireless connection control process.
When the NG button is pressed on the confirmation screen (step S23: NG), the automatic connection target selection unit 41A increments k by 1 (step S25). Then, the automatic connection target selection unit 41A determines whether or not k is equal to or less than N (step S26).

If k is equal to or less than N (step S26: YES), the automatic connection target selection unit 41A returns to step S22. In this case, the processing after step S22 is executed again.
On the other hand, when k is larger than N (step S26: NO), the automatic connection target selection unit 41A returns to step S1. In this case, the processing after step S1 is executed again.

5 and 7 are flowcharts showing the procedure of the second modification of the wireless communication connection process executed by the wireless connection control unit 41. FIG. FIG. 5 is shared by the first modified example and the second modified example. The processes of steps S1 to S6, S6A, S6B, S6C, and S7 to S12 of FIG. 5 are the same as the processes of steps S1 to S6, S6A, S6B, S6C, and S7 to S12 of FIG. Therefore, description of these processes is omitted.

In step S6C, when it is determined that M is 2 or more (step S6C: NO), the automatic connection target selector 41A proceeds to step S31 in FIG.
In step S31, the automatic connection target selection unit 41A displays a model selection screen on the operation display unit 52. FIG. Specifically, the automatic connection target selection unit 41A first identifies the model of the work vehicle 2 corresponding to each captured and registered SSID. Then, the automatic connection target selection unit 41A displays on the operation display unit 52 a model selection screen having a model name list including all of the specified model types.

Based on the model selection screen, the user selects the model corresponding to the work vehicle 2 to which the user intends to connect.
When a model is selected on the model selection screen (step S32: YES), the automatic connection target selection unit 41A displays the SSID selection screen (vehicle selection screen) on the operation display unit 52. FIG. Specifically, an SSID selection screen having an SSID list (a model number list in this embodiment) containing the registered SSIDs corresponding to the model selected by the user from among the registered SSIDs is displayed on the operation display unit 52. (Step S33).

FIG. 8A is a schematic diagram showing an example of the SSID selection screen displayed in step S33 when the model selected in step S32 is a tractor. In the SSID selection screen 71 of FIG. 8A, the model number "YTaaa" of the first tractor 2A and the model number "YTbbbb" of the second tractor 2B are listed. When the part where the model number is displayed is tapped, the model number (SSID) is selected.

Based on the SSID selection screen, the user selects the SSID (acquisition registered SSID) corresponding to the work vehicle 2 to which the user intends to connect.
When an SSID is selected on the vehicle type selection screen (step S34: YES), the wireless connection control unit 41 performs automatic connection processing for the selected SSID (step S35).
Specifically, the wireless connection control unit 41 performs authentication processing using the SSID selected by the user and the encryption key corresponding thereto, and then establishes the connection. Then, the wireless connection control unit 41 ends the current wireless connection control process.

9 and 10 are flowcharts showing procedures of a third modification of the wireless communication connection process executed by the wireless connection control unit 41. FIG.
When the control terminal 3 is powered on, the automatic connection target selector 41A in the wireless connection controller 41 performs SSID reception processing (step S41). Specifically, the automatic connection target selection unit 41A receives a beacon signal transmitted from the access point 30, and stores the SSID included in the received beacon signal in a memory (work memory).

Further, the automatic connection target selection unit 41A displays a model selection screen on the operation display unit 52 (step S42). Specifically, the automatic connection target selection unit 41A displays on the operation display unit 52 a model selection screen having a model name list including all types of models of the work vehicle 2 corresponding to each registered SSID.
Based on the model selection screen, the user selects the model corresponding to the work vehicle 2 to which the user intends to connect.

When a model is selected on the model selection screen (step S43: YES), the automatic connection target selection unit 41A determines whether the captured SSID includes a registered SSID (step S44).
If it is determined that the registered SSID is not included in the acquired SSIDs (step S44: NO), the wireless connection control unit 41 performs manual connection processing (step S45). Then, the wireless connection control unit 41 ends the current wireless connection control process.

If it is determined in step S44 that the registered SSID is included in the captured SSID (step S44: YES), the automatic connection target selector 41A proceeds to step S46.
In step S46, the automatic connection target selection unit 41A determines whether or not the SSIDs already registered for capture include the SSID corresponding to the model selected by the user. If the captured and registered SSIDs do not include the SSID corresponding to the model selected by the user (step S46: NO), the automatic connection target selector 41A proceeds to step S45.

If it is determined in step S46 that the SSIDs corresponding to the model selected by the user are included in the registered SSIDs (step S46: YES), the registered SSIDs selected by the user The number J of captured and registered SSIDs corresponding to the selected model is stored in the memory (step S47).
Next, the automatic connection target selection unit 41A determines whether or not J is 1 (step S48). If J is 1 (step S48: YES), the wireless connection control unit 41 performs automatic connection processing to the access point 30 corresponding to one captured registered SSID corresponding to the model selected by the user ( step S49). Then, the wireless connection control unit 41 ends the current wireless connection control process.

When it is determined in step S47 that J is 2 or more (step S48: NO), the automatic connection target selection unit 41A proceeds to step S50 in FIG.
In step S50, the automatic connection target selection unit 41A sets 1 to a variable k used as a counter.
Next, the automatic connection target selection unit 41A performs connection candidate vehicle setting/confirmation processing (step S51).

Specifically, the automatic connection target selection unit 41A first selects the access point 30 having the k-th highest radio wave intensity among the access points 30 corresponding to the plurality of acquisition registered SSIDs corresponding to the model selected by the user. The work vehicle 2 mounted thereon is set as a connection candidate vehicle. Then, the automatic connection target selection unit 41A displays a confirmation screen on the operation display unit 52 for confirming whether or not the work vehicle 2 set as the connection candidate vehicle is the work vehicle 2 that the user intends to connect. indicate. Since this process is the same as the process of step S8 in FIG. 4, its detailed description is omitted.

When the OK button is pressed on the confirmation screen (step S52: OK), the wireless connection control unit 41 performs automatic connection processing to the access point 30 of the connection candidate vehicle (step S53). Then, the wireless connection control unit 41 ends the current wireless connection control process.
When the NG button is pressed on the confirmation screen (step S52: NG), the automatic connection target selection unit 41A increments k by 1 (step S54). Then, the automatic connection target selection unit 41A determines whether or not k is equal to or less than J (step S55).

If k is equal to or less than J (step S55: YES), the automatic connection target selection unit 41A returns to step S51. In this case, the processing after step S51 is executed again.
On the other hand, when k is larger than J (step S55: NO), the automatic connection target selection unit 41A returns to step S1. In this case, the processing after step S1 is executed again.

9 and 11 are flowcharts showing procedures of a fourth modification of the wireless communication connection process executed by the wireless connection control unit 41. FIG. FIG. 9 is shared by the third modified example and the fourth modified example. Since the processing of steps S41 to S49 in FIG. 9 is the same as the processing in steps S41 to S49 of FIG. 9 of the third modified example described above, description of these processing will be omitted.

In step S48, when it is determined that J is 2 or more (step S48: NO), the automatic connection target selection unit 41A proceeds to step S61 in FIG.
In step S<b>61 , the automatic connection target selection unit 41</b>A displays an SSID selection screen (vehicle selection screen) on the operation display unit 52 . Specifically, the operation display unit 52 displays an SSID selection screen having an SSID list (model number list) including the registered SSIDs corresponding to the model selected by the user from among the registered SSIDs. This SSID selection screen is the same as the SSID selection screen displayed in step S33 of FIG. 7 described above.

Based on the SSID selection screen, the user selects the SSID (acquisition registered SSID) corresponding to the work vehicle 2 to which the user intends to connect.
When an SSID is selected on the vehicle type selection screen (step S62: YES), the wireless connection control unit 41 performs automatic connection processing for the selected SSID (step S63).
Specifically, the wireless connection control unit 41 performs authentication processing using the SSID selected by the user and the encryption key corresponding thereto, and then establishes the connection. Then, the wireless connection control unit 41 ends the current wireless connection control process.

In the above-described embodiment and the first to fourth modifications, wireless communication connection of the control terminal to the work vehicle to be controlled is facilitated.
Although the embodiments of the present invention have been described above, the present invention can also be implemented in other forms.
In the above-described embodiment, a character string representing the model number of the work vehicle is set as the SSID of the access point mounted on each work vehicle. However, a character string including the model number and machine number of the work vehicle may be set as the SSID of the access point mounted on each work vehicle. A specific example of the SSID selection screen displayed in step S33 of FIG. 7 (or step S61 of FIG. 11) in such a case will be described below.

FIG. 8B shows an example of the SSID selection screen displayed in step S33 when the model selected in step S32 is a tractor. In this embodiment, it is assumed that the serial number consists of 6 digits.
In the SSID selection screen 71 of FIG. 8B, the SSID of the first tractor 2A and the SSID of the second tractor 2B are listed. In this embodiment, the SSID of the first tractor 2A is composed of a character string "YTaaa_123333" in which "YTaaa" representing the model number and "123333" representing the machine number are connected via an underscore. The SSID of the second tractor 2B is composed of a character string "YTbbbb_124444" in which "YTbbbb" representing the model number and "124444" representing the model number are connected with an underscore.

It is assumed that a third tractor exists as a tractor that can be controlled by the control terminal 3 in addition to the first tractor 2A and the second tractor 2B. The model number of the third tractor is the same as the model number "YTaaa" of the first tractor 2A, and the model number is "125555". The SSID selection screen displayed in step S33 in such a case will be described.
FIG. 8C shows an example of the SSID selection screen displayed in step S33 when the model selected in step S32 is a tractor.

The SSID selection screen 71 of FIG. 8C lists the SSID of the first tractor 2A, the SSID of the second tractor 2B, and the SSID of the third tractor. The SSID of the first tractor 2A and the SSID of the second tractor 2B are the same as in FIG. 8B. The SSID of the third tractor is composed of a character string "YTaaaa_125555" in which "YTaaaa" representing the model number and "125555" representing the model number are connected with an underscore.

The first tractor 2A and the third tractor have the same model number, but the SSIDs corresponding to these work vehicles include the machine number in addition to the model number. These work vehicles can be identified based on the display.
In the above-described embodiment, the work vehicles that can be controlled by the control terminal 3 are tractors and rice transplanters. There may be.

Further, in the above-described embodiment, a positioning system other than the independent positioning system is used as the positioning system used in the work vehicle 2, but the independent positioning system may be used.
In addition, various design changes can be made within the scope of the matters described in the claims.

1 work vehicle control system 2, 2A to 2D work vehicle 3 control terminal 10 control unit 11 automatic travel control unit 20 various controllers 21 position information calculation unit 22 inertial measurement device 23 communication interface (communication I/F)
24 operation display unit 25 operation unit 26 storage unit 27 satellite signal reception antenna 28 reference station signal reception antenna 29 wireless communication antenna 30 access point 31 basic information storage unit 32 connection information storage unit 33 automatic driving route storage unit 40 control unit 41 Wireless connection control unit 41A Automatic connection target selection unit 42 Route generation/automatic travel control unit 51 Communication interface (communication I/F)
52 operation display unit 53 operation unit 54 storage unit 61 application storage unit 62 automatic connection information storage unit 63 vehicle information storage unit 64 automatic driving route storage unit 71 SSID selection screen

Claims (3)

Automatic connection information for automatically connecting to an access point mounted on each of a plurality of work vehicles including a plurality of models is registered, and a control terminal for remotely controlling the plurality of work vehicles,
Automatic connection target selection for receiving identification information of the access points wirelessly transmitted from the plurality of access points and selecting one access point as an automatic connection target from access points corresponding to the received identification information. including the part
The automatic connection target selection unit
determining means for determining whether or not the received identification information includes identification information of access points of multiple models of work vehicles;
When it is determined that the received identification information includes the identification information of the access points of the work vehicles of a plurality of models, a model selection screen is displayed for allowing the user to select a model to be wirelessly connected from the plurality of models. selection screen display means;
When the model to be wirelessly connected is selected based on the model selection screen, one of the access points corresponding to the selected model of work vehicle out of the access points corresponding to the received identification information is selected. access point selection means for selecting one access point as an automatic connection target. The access point selection means is
If there are a plurality of access points corresponding to the selected model of work vehicle among the access points corresponding to the received identification information, the user selects one access point from among the plurality of access points. and when an access point to be connected for wireless communication is selected based on the access point selection screen, the selected access point is selected as an automatic connection target. 2. The control terminal of claim 1, wherein the control terminal is Automatic connection information for automatically connecting to an access point mounted on each of a plurality of work vehicles including a plurality of models is registered, and a control terminal for remotely controlling the plurality of work vehicles,
Automatic connection target selection for receiving identification information of the access points wirelessly transmitted from the plurality of access points and selecting one access point as an automatic connection target from access points corresponding to the received identification information. including the part
The automatic connection target selection unit
selection screen display means for displaying a model selection screen for allowing a user to select one model to be wirelessly connected from the plurality of models;
When one model to be wirelessly connected is selected based on the model selection screen, among the access points corresponding to the received identification information, among the access points corresponding to the work vehicle of the selected model, access point selection means for selecting one access point as an automatic connection target;
If there are a plurality of access points corresponding to the work vehicle of the selected model among the access points corresponding to the received identification information, the access point selection means selects one of the plurality of access points. display an access point selection screen for allowing the user to select one access point, and when an access point to be connected to wireless communication is selected based on the access point selection screen, the selected access point is automatically connected. A controlling terminal that is configured to select.

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