JP7402752B2 - Remote control and autonomous driving system - Google Patents

Description

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

In recent years, in order to efficiently and easily perform agricultural work in fields, autonomous driving systems have been developed that autonomously drive unmanned work vehicles without an operator (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 that is separate from the working vehicle, and the working status of the tractor cannot be visually observed, making it difficult to respond in an emergency. . Therefore, in order to operate the autonomous driving of a work vehicle in a work place such as a farm field, an autonomous driving system has been developed that uses a control terminal provided by a wireless communication terminal device (see Patent Documents 2 and 3).

Japanese Patent Application Publication No. 2011-254704 Japanese Patent Application Publication No. 2016-093127 Japanese Patent Application Publication No. 2016-168883

By the way, when agricultural work is performed using a work vehicle controlled by an autonomous driving system, it is necessary to stop the work vehicle by remote control when a danger such as when someone else invades the field occurs.

The present invention has been made in view of the above-mentioned current situation, and a technical object of the present invention is to provide an autonomous working vehicle system that can safely stop a working vehicle even when remote control becomes impossible.

The present invention provides a remote control capable of communicating with an autonomously traveling work vehicle, comprising a plurality of operating sections capable of controlling the traveling of the working vehicle, and controlling at least an emergency stop of the working vehicle depending on the operation mode of the plurality of operating sections. One of the temporary stops of the work vehicle is executed.

In the above remote control, the work vehicle may be restarted from the temporary stop by another operation mode of the plurality of operation units.

In the remote control described above, the power may be turned on by another operation mode of the plurality of operation units.

In the above remote control, the plurality of operation parts may be an emergency stop button that stops autonomous driving of the working vehicle, and a start button that restarts autonomous driving of the working vehicle.

In the remote controller, the work vehicle may be temporarily stopped by pressing a start button.

The remote controller may include a notification unit that performs notification of at least one of the communication state with the work vehicle, the operating state of the work vehicle, and the remaining battery level.

In the above remote control, the notification section includes a light emitting section that emits light in a plurality of light emission modes, and when the notification section reports one of the communication state with the work vehicle, the operating state of the work vehicle, and the remaining battery level. , the notification may be performed in a manner that is differentiated depending on the light emission mode of the light emitting unit.

According to the present invention, at least one of the emergency stop of the work vehicle and the temporary stop of the work vehicle is executed by operating the remote control, so that the work vehicle can be driven safely autonomously.

FIG. 1 is an overall side view of a robot tractor in an embodiment. FIG. 2 is a plan view of the robot tractor. FIG. 2 is a functional block diagram of a robot tractor. They are a front view, a top view, and a right side view of the remote control device. FIG. 3 is a rear view of the remote control device. They are a front view, a top view, a bottom view, a left side view, and a right side view of an example of an emergency stop remote control. FIG. 1 is a front view of an embodiment of a wireless communication terminal device. FIG. 3 is a front view and a plan view for explaining the attachment/detachment state of the emergency stop remote control. FIG. 3 is a functional block diagram of the emergency stop remote control. It is a timing chart which shows the operation|movement based on operation of the emergency stop button of the remote control for an emergency stop. 5 is a timing chart showing the operating state of the emergency stop remote control after power is turned on. It is a flowchart which shows the state notification operation of the remote control for emergency stop. It is a flowchart which shows the detection operation of the battery residual quantity of a remote control for an emergency stop. 5 is a timing chart illustrating an example in which a request for pairing processing is executed by a service tool. 5 is a timing chart illustrating an example in which a request for pairing processing is executed by a remote control device. 5 is a flowchart showing the operation of pairing settings in the tractor 1. FIG. It is a flowchart which shows operation|movement of pairing registration in a remote control for an emergency stop. It is a flowchart which shows the autonomous driving determination operation in a tractor. 5 is a timing chart showing an example of a communication state between a remote control receiver and a plurality of emergency stop remote controllers. 12 is a timing chart showing an example in which a remote control receiver establishes communication with a plurality of emergency stop remote controllers. It is a flowchart which shows operation of communication confirmation processing in a remote control receiver. It is a flowchart which shows the operation|movement of the communication confirmation process in a remote control for an emergency stop. It is a flow chart which shows another example of autonomous driving judgment operation in a tractor.

<Autonomous driving system>
Embodiments embodying the present invention will be described below based on the drawings. First, a robot tractor 1 (hereinafter, a "robot tractor" may be simply referred to as a "tractor" or an "unmanned tractor"), which is an example of a work vehicle according to the present invention, will be described. The tractor 1 includes a body 2 that autonomously travels in a field. As shown in FIGS. 1 and 2, the machine body 2 is equipped with a work implement 3 that can be detachably attached to it. The working machine 3 is used for agricultural work. As this working machine 3, there are various working machines such as a power tiller, a plow, a fertilizer applicator, a mowing machine, a seeding machine, etc., and a desired working machine 3 is selected from these as necessary and the machine 2 is It can be attached to. The body 2 is configured to be able to change the height and posture of the working machine 3 attached thereto.

In this specification, autonomous driving means that the configuration of the tractor 1 for driving is controlled by an autonomous driving control device 51 or the like included in the tractor 1, as shown in FIG. 1 means running. Furthermore, in this specification, autonomous work means that the configuration that the tractor 1 has for work is controlled by the autonomous travel control device 51 or the like, and the tractor 1 performs work along a predetermined route.

<Tractor>
The configuration of the tractor 1 will be explained with reference to FIGS. 1 and 2. As shown in FIG. 1, the body 2, which is the body of the tractor 1, has its front portion supported by a pair of left and right front wheels 7, 7, and its rear portion supported by a pair of left and right rear wheels 8, 8. The front wheels 7, 7 and the rear wheels 8, 8 constitute a running section.

A bonnet 9 is arranged at the front of the fuselage 2. The hood 9 accommodates an engine 10, which is a driving source for the tractor 1, and the like. This 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 a driving source, an electric motor may be used in addition to or in place of the engine.

A cabin 11 in which an operator rides is arranged behind the hood 9. Inside the cabin 11, there are mainly provided a steering handle 12 for the operator to perform steering operations, a seat 13 on which the operator can sit, and various operating devices for performing various operations. There is. However, the agricultural work vehicle is not limited to one with the cabin 11, and may be one without the cabin 11.

Although not shown, examples of the above-mentioned operating devices include a monitor device, a throttle lever, a main shift lever, a lift 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 about the tractor 1. The throttle lever is used to set the rotational speed of the engine 10. The main gear shift lever is used to change the gear ratio of the transmission case 22. The lift lever is used to raise 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 to a PTO shaft (power take-off shaft) that protrudes outward from the rear end side of the mission case 22. That is, when the PTO switch is in the ON state, power is transmitted to the PTO shaft, the PTO shaft rotates, and the work equipment 3 is driven, 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 speed change lever is used to change the power input to the working machine 3, and specifically, to change the rotational speed of the PTO shaft. The hydraulic gear shift lever is used to switch and operate a hydraulic pressure external intake valve.

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

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

As shown in FIG. 3, the tractor 1 functions as a control unit for controlling the operation of the machine body 2 (forward movement, reverse movement, stopping, turning, etc.) and the operation of the working machine 3 (elevating, driving, stopping, etc.). It includes an engine control device 15, a transmission control device 16, and a work implement control device 17 that can communicate with each other via a bus line 18. The engine control device 15 is electrically connected to a common rail device 41 as a fuel injection device provided in the engine 10, and the transmission control device 16 includes a hydraulic transmission that changes the speed of power from the engine 10. It is electrically connected to the transmission 42. Further, the work machine control device 17 is electrically connected to the work machine lifting actuator 44. Further, the tractor 1 is configured such that a service tool 19 such as a computer operated by a service person 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 opening and closing of the fuel injection valves of the injectors for each cylinder of the engine 10 is controlled 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 transferred 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 precision.

Specifically, the transmission 42 is, for example, a movable swash plate type hydraulic continuously variable transmission, and is provided in the mission 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 lifting actuator 44 moves the working equipment 3 to a retreat position (a position where no agricultural work is performed) or a working position (a position where agricultural work is performed) by operating a three-point linkage mechanism that connects the working equipment 3 to the machine body 2, for example. It is something that can be raised or lowered. By controlling the lifting actuator 44 by the working machine control device 17 to appropriately raise and lower the working machine 3, it is possible to perform agricultural work with the working machine 3 at a desired height in the field area, for example.

The engine control device 15 also 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 sensor that detects the rotation angle (steering angle) of the steering wheel 12. A detection value of a sensor such as sensor 33 is converted into a detection signal and transmitted.

The tractor 1 equipped with the control devices 15 to 17 as described above is configured such that the control devices 15 to 17 communicate with each other via the vehicle bus line 18 based on various operations by an operator riding in the cabin 11. By controlling each part (the machine body 2, the working machine 3, etc.), it is configured to be able to carry out agricultural work while traveling in the field. In addition, the tractor 1 of the embodiment can be driven autonomously based on a predetermined control signal output from the remote control device 70, for example, even without an operator on board.

Specifically, as shown in FIG. 3, various configurations such as an autonomous travel control device 51 are added to the tractor 1 to enable autonomous travel. Further, the tractor 1 is equipped with various components such as a positioning antenna 6 necessary for acquiring its own (its own) position information based on a 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 of 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 driving control device 51, a steering control device 52, a positioning and surveying 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.

The autonomous running control device 51 and the steering control device 52 are configured to be able to communicate with each of the engine control device 15, transmission control device 16, and work implement control device 17 via the vehicle bus line 18. Furthermore, the autonomous running control device 51 connects to the positioning and surveying device 53, the wireless communication router 54, and Mutual communication is possible with each of the remote control receivers 55.

The steering actuator 43 is provided, for example, in the middle of the rotating 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 along 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 rotation angle. Further, the steering control device 52 executes steering according to the vehicle speed of the tractor 1 by communicating with each of the engine control device 15, transmission control device 16, and work implement control device 17 via the vehicle bus line 18. can. Note that the steering actuator 43 may be used to adjust the steering angle of the front wheels 7 of the tractor 1 instead of adjusting the rotation angle of the steering handle 12. In that case, even when turning, the steering handle 12 does not rotate.

The positioning antenna 6 receives signals from positioning satellites forming 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 of the cabin 11. The signal received by the positioning antenna 6 is input to the positioning and surveying device 53 shown in FIG. Calculated. The position information calculated by the positioning and surveying device 53 is acquired by the autonomous travel control device 51 and used for controlling the tractor 1.

The positioning and surveying device 53 is electrically connected to a first wireless communication antenna 48a in the wireless communication antenna unit 48, and is connected to a first wireless communication network (for example, a 920 MHz band wireless communication network) using specified low power radio, as described below. It communicates with a 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 of the cabin 11. The positioning and 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 determined. For example, various positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real-time kinematic positioning) can be applied.

In this embodiment, for example, RTK positioning is applied, and in addition to the positioning antenna 6 provided on the tractor 1 serving as the mobile station, a reference station 60 including a reference station positioning antenna 61 is provided. The reference station 60 is arranged at a position (reference point) that does not interfere with the traveling of the tractor 1, such as around a farm field, for example. The positional information of the reference point, which is the installation position of the reference station 60, is set in advance. The reference station 60 is equipped with a reference station communication device 62 that can communicate via a first wireless communication network constructed between the positioning and surveying device 53 of the tractor 1 and a communication device using the first wireless communication antenna 48a.

In RTK positioning, the carrier wave phase (satellite positioning information) from the positioning satellite 63 is measured by both the reference station 60 installed at a reference point and the positioning antenna 6 of the tractor 1, which is the mobile station 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 each time the satellite positioning information is measured from the positioning satellite 63 or every time a set period elapses, and transmits the correction information to the reference station communication device 62. The correction information is transmitted from the first wireless communication antenna 48a of the tractor 1 to the first wireless communication antenna 48a of the tractor 1. The positioning and surveying device 53 of the tractor 1 (corresponding to a mobile station) corrects the satellite positioning information measured by the positioning antenna 6 using the correction information transmitted from the reference station 60, and obtains the current position information of the tractor 1 ( For example, latitude information and longitude information).

Although this embodiment uses a high-precision satellite positioning system that uses the GNSS-RTK method, it is not limited to this, and other positioning systems may be used as long as highly accurate position coordinates can be obtained. It's okay. GNSS-RTK is a positioning method that corrects and improves accuracy based on information from a reference station whose location is known, and there are several methods that differ in the way information is distributed from the reference station. Since the present invention does not depend on the GNSS-RTK method, details will be omitted in this embodiment.

Furthermore, the positioning and surveying device 53 is capable of measuring not only the position information of the tractor 1 (airframe 2) by satellite positioning, but also the longitudinal and horizontal inclination angle information by inertial measurement. The tilt angle information measured by the positioning and surveying device 53 is acquired by the autonomous travel control device 51 in a state where it is associated with position information (latitude and longitude information), and is used for controlling the tractor 1. Note that the positioning and surveying device 53 can also measure the height position of the positioning antenna 6 with respect to the field scene, and furthermore, the vehicle height of the tractor 1 (body 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 has first to third wireless communication antennas 48a to 48c that are communicatively connected to first to third wireless communication networks having different frequency bands. It is equipped with The first wireless communication network is constructed using, for example, a specified low-power radio in the 920 MHz band with a high data transmission rate, in order to communicate positioning correction information by the reference station 60. The second wireless communication network is constructed using, for example, a 2.4 GHz band low power data communication system in order to communicate large amounts of data such as image data at high speed. Since the third wireless communication network has a smaller data transmission amount than the second wireless communication network, it is constructed using, for example, a 400 MHz band specified low power wireless. Note that a portion of the antennas 48a to 48c may be placed inside the cabin 11.

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

Specifically, the remote control device 70 is configured as a tablet-type personal computer equipped with a touch panel. The operator can refer to and confirm the information displayed on the touch panel of the remote control device 70 (for example, information on the field necessary for autonomous driving, etc.). The operator also operates the remote control device 70 to transmit a control signal for controlling the tractor 1 to the autonomous travel control device 51 of the tractor 1 . Note that the remote control device 70 of the embodiment is not limited to a tablet-type personal computer, and may instead be configured with, for example, a notebook-type personal computer. Alternatively, a monitor device mounted on another tractor other than the tractor 1 can also be used as the remote control device.

The autonomous travel control device 51 compares the travel route generated by the remote control device 70 with the position information of the tractor 1, and autonomously controls the tractor 1 at a predetermined travel speed while performing a predetermined work along the travel route. In order to drive the tractor 1, the steering angle, target engine speed, gear ratio, etc. of the tractor 1 are calculated and communicated with each control device 15 to 17, 52 through the vehicle bus line 18. Thereby, the tractor 1 can perform agricultural work using the working machine 3 while autonomously traveling along the travel route. In this manner, the route within the field area (driving area) along which the tractor 1 autonomously travels may be referred to as a "travel route" in the following description. In addition, in the field area (driving area), the area (work area) that is the target of agricultural work by the work equipment 3 of the tractor 1 is defined as the area excluding the headland and margin from the entire field area, and the operator etc. This is set based on these registration points and the working width of the tractor 1 when the registration work of the registration points is executed.

The emergency stop remote control 71 is a remote control switch for stopping the tractor 1 in an emergency, and is owned by the operator who operates the remote control device 70, and sends an emergency stop control signal when the operator operates the switch. Send. The emergency stop remote control 71 transmits an emergency stop control signal when the operator presses the emergency stop button 72. Further, the emergency stop remote control 71 is configured to be detachable from the remote control device 70, and is also configured to be able to attach a strap (string-like member) to the operator's body so as to hang it around the operator's neck.

Based on the operator's operation of the emergency stop button 72 on the emergency stop remote control 71, the autonomous running control device 51 stops the fuel injection in the common rail device 41 through communication with the engine control device 15, and also stops the fuel injection in the transmission control device 16, the transmission device 42 is put into a neutral state, and then a braking operation by a brake device 26, which will be described later, is applied. At this time, the autonomous running control device 51 controls the steering actuator 43 to bring the steering wheel 12 to the neutral position through communication with the steering control device 52, and directs the left and right front wheels 7 in the straight-ahead direction. You can also use it as

The autonomous running control device 51 determines the communication state of the positioning and surveying device 53 with the reference station 60 (the communication state in the first communication network), and the communication state of the wireless communication router 54 with the remote control device 70 (the communication state in the second communication network). , and the communication state (communication state in the third communication network) between the remote control receiver 55 and the emergency stop remote control 71 via the autonomous bus line 56. When the autonomous driving control device 51 confirms that the communication state in any of the first to third communication networks is interrupted, the autonomous driving control device 51 controls the tractor 1 by communicating with the engine control device 15, the transmission control device 16, etc. Emergency stop of autonomous driving. Note that the autonomous running control device 51 interrupts communication with the communication partner when the positioning and surveying device 53, the wireless communication router 54, and the remote control receiver 55 do not receive a signal from the communication partner for a predetermined period or longer. It is determined that the

Furthermore, the tractor 1 is provided with a pair of left and right brake devices 26, 26 that apply brakes to the left and right rear wheels 8, 8 through two systems: operation of a brake pedal or parking brake lever, and automatic control. That is, both the left and right brake devices 26, 26 are configured to brake both the left and right rear wheels 8, 8 by operating the brake pedal (or parking brake lever) in the braking direction. Furthermore, when the rotation angle of the handle 12 exceeds a predetermined angle, the brake device 26 for the rear wheel 8 on the inside of the turn automatically performs a braking operation in response to a command from the transmission control device 16. (so-called autobrake).

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 signals from a positioning satellite 63, and a reference station electrically connected to the wireless communication antenna 64 and the positioning antenna 61, respectively. A communication device 62 is provided. The portable reference station 60 is installed at a reference point for specifying the position of the tractor (work vehicle) 1 serving as a mobile station. The portable reference station 60 is configured to be disassembled into a plurality of members, and each disassembled member is configured to a size that allows it to be accommodated in a predetermined case and transported.

The portable reference station 60, which is assembled from disassembled parts and installed at a reference point, sends the signal from the positioning satellite 63 received by the reference station positioning antenna 61 to the reference station communication device 62, and the reference station communication device 62 transmits the measured satellite positioning information. and correction information including position information of the reference point, etc. 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 control 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, a remote control device (terminal device main body) 70 and an emergency stop remote control 71 are used as a wireless communication terminal device 88 to operate the unmanned tractor 1, which is an autonomous working vehicle. We are prepared. The remote control device 70 and the emergency stop remote control 71 each communicate with the tractor 1 using wireless communication networks with different communication methods. Further, the remote control device 70 includes a display 74 that can be operated with a touch panel, and the emergency stop remote control 71 is configured to be detachable from the outer frame of the remote control device 70 . Further, the emergency stop remote control 71 includes an emergency stop button 72 for stopping the autonomous running of the tractor 1, and a start button 73 for restarting the autonomous running of the tractor 1. The emergency stop button 72 and the start button 73 are each configured with a momentary switch that conducts a contact point when pressed, and the emergency stop button 72 also functions as a power-on switch. Note that "resuming autonomous driving of the tractor 1" means starting autonomous driving again after the autonomous driving is started by the remote control device 70, and then the autonomous driving is temporarily stopped. The autonomous running may be temporarily stopped by the remote control device 70 or by the emergency stop remote control 71. The temporary stop of autonomous driving using the emergency stop remote control 71 may be executed by, for example, operating the start button 73, or a temporary stop remote control different from the emergency stop remote control 71 may be used. Good too.

As shown in FIGS. 4 and 5, the remote control device 70 includes a display 74 on the front side 70a, a camera 75 on the back side 70b, a terminal cover 76 for a power connection terminal 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 controller mounting portion 79 is removably attached to the outer peripheral portion of the upper right portion of the remote control device 70, extending from the front surface 70a to the back surface 70b via the upper surface 70e. The remote controller mounting portion 79 has a substantially U-shaped cross section, and is provided with a tapered convex portion 80 on its upper surface, the width of which is narrower toward the base end.

As shown in FIG. 6, the emergency stop remote control 71 has a vertically elongated substantially rectangular parallelepiped shape, and includes an emergency stop button 72, a start button 73, and a lamp 81 on a front surface 71a. The lamp 81 is composed of an LED, and announces the state of the tractor 1 by, for example, turning off, turning on, blinking, or changing color. Further, the emergency stop remote control 71 has a built-in buzzer 155 (see FIG. 9) that notifies the state of the tractor 1 by voice. When the operator carries only the emergency stop remote control 71, the operator can recognize the status of the tractor 1 by the notification operation of the lamp 81 and the buzzer 155 even if the operator is a little far from the autonomously traveling tractor 1, improving safety. can.

A hanging member attachment part 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 control 71. A mounting groove 84 is provided on one side 71c of the emergency stop remote control 71 to engage with a convex strip 80 of the remote control mounting portion 79. The attachment groove 84 is formed from the middle of the one side surface 71c to the one end surface 71b, has a tapered shape that becomes narrower toward the one side surface 71c, and is open at the end on the one side surface 71c side. In this embodiment, the hanging member attachment portion 83 is provided on one end surface 71b of the emergency stop remote control 71 where the emergency stop button 72 is disposed, but the hanging member attachment portion 83 is provided on the other end surface (i.e., the emergency stop remote control 71 The start button 73 may be provided on the side where the start button 73 is provided.

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

Further, an emergency stop button image 86 for stopping the autonomous running of the tractor 1 is displayed on the upper right part of the display 74 of the remote control device 70, and a start or stop button image for starting or stopping the autonomous running of the tractor 1. 87 is displayed on the upper left part of the display 74. In this way, by displaying the emergency stop button image 86 near the mounting position of the emergency stop remote control 71 on the display 74, the emergency stop button 72 and the emergency stop button image 86 can be arranged together. Since it becomes easier for the operator to recognize the positions of the emergency stop button 72 and the emergency stop button image 86 when the operator wants to make an emergency stop of the tractor 1, delays and erroneous operations in the emergency stop operation can be suppressed.

Furthermore, since the start of wireless communication with the tractor 1 is not something to be performed in an emergency, when the emergency stop remote control 71 is attached to the remote control device 70, the start button 73 and the start or stop button image 87 are connected to each other. Even if they are placed at a remote location, there is a low risk of erroneous operation and no particular problem will occur.

In addition, since the operation of the emergency stop button image 86 involves pressing (touching) the touch panel display 74, the operator does not feel the push operation, but the emergency stop button 72 is structured so that it can be pressed firmly, so the operator You can feel the touch when you press the button. Note that the operator may use either the emergency stop button 72 or the emergency stop button image 86 when stopping the tractor 1 in an emergency.

By the way, the number of emergency stop remote controllers 71 with which the tractor 1 can communicate is not limited to one, but can communicate with a plurality of emergency stop remote controllers 71. Operators other than the operator operating the remote control device 70 (including workers working in the same field) can carry the sudden stop remote control 71 and use the lamp 81 or buzzer 155 to notify the tractor. 1 status can be recognized, and in case of an emergency, the emergency stop button 72 of the emergency stop remote control 71 can be operated, so that the monitoring system for 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 structure and each operation of the emergency stop remote control 71 will be described below with reference to FIGS. 9 to 13. As shown in FIG. 9, the emergency stop remote control 71 includes a wireless communication antenna 151 and a communication interface 152 that are communicatively connected to the third wireless communication network so as to be able to communicate with the remote control receiver 55 in the tractor 1. Further, the emergency stop remote controller 71 includes a control section 153 that controls each part in the emergency stop remote controller 71, and a memory 154 that stores the receiver ID of the remote control receiver 55 that is the communication partner. Further, the emergency stop remote control 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 contacting and separating the contacts based on the operation of the emergency stop button 72 and is input to the control unit 153, the control unit 153 turns on power or makes an emergency stop based on the state of the switching signal. judge. Further, when a switching signal is generated by contacting and separating the contacts based on the operation of the start button 73 and is input to the control unit 153, the control unit 153 performs mutual authentication processing (pairing processing) with the remote control receiver 55. ). The control unit 153 executes communication with the remote control receiver 55 by controlling the communication interface 152. Then, the control unit 153 operates the lamp 81 and the buzzer 155 according to the state of the tractor 1 based on the signal from the remote control receiver 55 and the remaining battery level in the emergency stop remote control 71.

As shown in FIG. 10, when the emergency stop button 72 of the emergency stop remote controller 71 is operated by the operator, the control unit 153 is powered on, and the communication interface 152 starts a communication operation. That is, when the operator connects and then separates the contacts of the switch constituting the emergency stop button 72, a switching signal with rise and fall based on the contact and separation of the emergency stop button 72 is input to the control unit 153. , the control unit 153 determines that power-on has been instructed, and executes power-on to the control unit 153 and starts a communication operation by the communication interface 152.

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

In the emergency stop remote control 71, the emergency stop button 72 is constituted by a switch that makes the contacts conductive when pressed, and also functions as a power-on switch. Then, the control unit 153 turns on the power when the contacts of the emergency stop button 72 are connected and then separated, and after the power is turned on, the controller 153 communicates with the communication interface 152 when the contacts of the emergency stop button 72 are connected. A stop signal is sent to the tractor 1 to stop the autonomous traveling of the tractor 1. Thereby, the emergency stop button 72 can be provided with two functions, the number of switches provided on the emergency stop remote controller 71 can be reduced, and the emergency stop remote controller 71 can be made smaller.

Further, if an oxide film is formed on the contacts of the emergency stop button 72 and there is no conduction even when the emergency stop button 72 is pressed, it becomes impossible to turn on the power by operating the emergency stop button 72. Therefore, the malfunction of the emergency stop button 72 can be confirmed without operating the emergency stop remote controller 71 and before the emergency stop remote controller 71 is powered on. The operator can be made aware that an emergency stop by operating 71 is impossible.

If the emergency stop button 72 fails and does not return even when pressed, the contacts of the emergency stop button 72 will remain 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 (the rising edge of the switching signal), the control unit 153 prevents the contact points of the emergency stop button 72 from separating (the falling edge of the switching signal) even after a predetermined period of time has elapsed. If the confirmation is not made, it may be assumed that the power is not turned on. As a result, a malfunction of the emergency stop button 72 can be confirmed before the emergency stop remote control 71 is powered on, making it impossible to perform an emergency stop by operating the emergency stop remote control 71 before the tractor 1 starts autonomous travel. The operator can be made aware of this fact.

As described above, the emergency stop remote control 71 includes a communication interface 152 that communicates with an autonomously running work vehicle, an emergency stop button 72 that stops autonomous running of the tractor 1, and a control unit that controls communication operations by the communication interface 152. 153, and the emergency stop button 72 is composed of a switch whose contacts connect and separate, and also functions as a power-on switch. Since the emergency stop button 72 also serves as a power-on switch, the operator can check whether there is a failure or lack of power when turning on the power by checking whether the power can be turned on based on the operation of the emergency stop button 72. Therefore, before starting autonomous driving of the tractor 1, the use of the defective emergency stop remote control 71 is prohibited to prevent accidents caused by a failure of the emergency stop remote control 71 when the tractor 1 is running automatically. It can be prevented. Moreover, by using the emergency stop button 72 as a power-on switch, not only can the operation time for emergency stop be shortened, but also the emergency stop remote control 71 can be configured compactly so that it is easy for the operator to carry.

The control unit 153 turns on the power when the operation on the emergency stop button 72 satisfies the first criterion before turning on the power, and when the operation on the emergency stop button 72 after turning on the power satisfies the second criterion. Then, a stop signal for stopping the autonomous running of the tractor 1 is transmitted from the communication interface 152. The time required for the operation of the emergency stop button 72 to satisfy the first criterion is longer than the time required for the operation of the emergency stop button 72 to satisfy the second criterion. By making the operation time for the emergency stop button 72 for transmitting a stop signal shorter than the operation time for the emergency stop button 72 for powering on, the emergency stop can be performed for transmission of a highly urgent stop signal. It is possible to immediately respond to the operation of the button 72. Therefore, when operating the emergency stop button 72 when the tractor 1 is running autonomously, the time for stopping the tractor 1 can be shortened, so safety can be ensured when the tractor 1 is running autonomously. On the other hand, by lengthening the time it takes to operate the emergency stop button 72 to turn on the power, the operator can be made aware of the state of the emergency stop remote control 71.

The control unit 153 determines that the first criterion is satisfied when both contact and separation of the contacts of the emergency stop button 72 are detected, and one of the contacts of the emergency stop button 72 (in this embodiment, the contact connection), it is determined that the second criterion is satisfied. Although it is possible to prevent the emergency stop remote controller 71 from being powered on if the emergency stop button 72 becomes physically stuck or accidentally touched, it is impossible to ensure the emergency stop of the tractor 1 after the power is turned on. It can be given instructions and safety can be guaranteed.

As shown in FIG. 11, when the power to the control unit 153 is turned on, the emergency stop remote control 71 notifies the power-on and then turns on the operation time (wake-up time) every predetermined time Tx (for example, 1 second). ) Power is supplied to the control unit 153 for Tx1 (Tx1<Tx, for example, 0.3 seconds) to bring the communication interface 152 into a state in which reception is possible (wake-up state). Then, during the sleep time Tx2 (=Tx-Tx1) other than the operating time Tx1 in the predetermined time Tx, the emergency stop remote control 71 sets the control unit 153 to a state (sleep state) of no reception operation via the communication interface 152, and the power is turned off. Reduce power consumption after power on. At this time, by setting the operating time Tx1 to be shorter than the sleep time Tx2, it is possible to significantly reduce the power consumption of the emergency stop remote control 71 after the power is turned on, and at the same time, the power consumption of the remote control receiver 55 is transmitted every predetermined time Tx. The communication establishment confirmation signal (heartbeat signal) can be reliably received.

Next, the status notification operation of the emergency stop remote control 71 will be described below according to the flowcharts of FIGS. 12 and 13. The emergency stop remote control 71 includes a lamp 81 and a buzzer 155 as a notification section that can notify the operating state of the tractor 1 and the communication state with the remote control receiver (wireless communication device) 55. By providing the lamp 81 and the buzzer 155 as a notification unit, the communication state with the remote control receiver 55 is notified, so that the operator can easily recognize that remote control using the emergency stop remote control 71 is possible. Furthermore, since the operating state of the tractor 1 is also reported, the running state of the tractor 1 can be grasped even if the tractor 1 is located at a distance from the operator.

The lamp 81 is configured with an LED (light emitting unit) that emits light in a plurality of light emission modes, and the buzzer 155 is configured as an audio output unit that outputs a plurality of sounds. The emergency stop remote control 71 notifies each of the normal operation of the tractor 1, the stoppage of the tractor 1, an abnormality in communication with the remote control receiver 55, and a decrease in the remaining battery level by a combination of the light emission mode of the lamp 81 and the sound of the buzzer 155. do. By changing the operation of the lamp 81 and the buzzer 155, it is configured to be able to notify each of normal operation, communication abnormality, and stoppage of the tractor 1, so the emergency stop remote control 71 can be configured compactly. Although the system is portable, it allows the operator to effectively grasp the communication status and running status.

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

The emergency stop remote control 71 enters the wake-up state, and if the communication interface 152 receives a heartbeat signal transmitted from the remote control receiver 55 of the tractor 1 before a predetermined time T (for example, 1 second) has elapsed, the remote control It is notified that communication with the receiver 55 has been established (STEP 4 to STEP 6). That is, by receiving the heartbeat signal from the remote control receiver 55 of the tractor 1, the control unit 153 confirms that communication with the remote control receiver 55 is normal, and notifies that the communication has been established. In order to do so, the lamp 81 is turned on and the buzzer 155 outputs a sound.

In STEP 6, for example, during the operation time Tx1 during which the emergency stop remote control 71 is in the wake-up state, the lamp 81 lights up in the first color (green), and the buzzer 155 lights up for a predetermined time Tz2 (0.1 seconds). ) is repeated intermittently. That is, when the emergency stop remote control 71 establishes communication with the remote control receiver 55, the lamp 81 starts blinking in the first color (green) at each time Tx, and the buzzer 155 starts blinking immediately after communication is established. Alerts repeatedly when in wake-up state.

After communication with the remote control receiver 55 is established, the emergency stop remote control 71 checks reception of a heartbeat signal from the remote control receiver 55 at every time Tx, and receives the heartbeat signal before a predetermined time Tx elapses. If so, check the operating status of the tractor 1 (STEP 7 to STEP 9). At this time, if the tractor 1 is performing the work operation normally (No in STEP 9), the emergency stop remote control 71 notifies that the autonomous driving of the tractor 1 is normal (normal operation) (STEP 10). , move on to STEP 7. In STEP10, for example, the lamp 81 lights up in the first color (green) during the operating time Tx1 during which the emergency stop remote control 71 is in the wake-up state. That is, in the emergency stop remote control 71, when communication with the remote control receiver 55 is established, the lamp 81 blinks in the first color (green) at every time Tx.

Further, if the tractor 1 is stopped (Yes in STEP 9), the emergency stop remote control 71 notifies that the tractor 1 is stopped (the tractor 1 is stopped) (STEP 11). In STEP11, for example, the lamp 81 blinks in the second color (red) every predetermined time Ty2, and the buzzer 155 sounds an alarm for a predetermined time Tz2 (Tz2>Tz1). At this time, the blinking cycle Ty2 of the second color of the lamp 81 is set to be the same as the predetermined time Tx, the lighting time of each blinking cycle is set to be the same as the operating time Tx1, and the blinking cycle Ty2 of the second color of the lamp 81 is set to be the same time as the operating time Tx1, and the blinking cycle Ty2 of the second color of the lamp 81 is set to be the same time as the predetermined time Tx, the lighting time of each blinking cycle is set to be the same time as the operating time Tx1, and the blinking cycle Ty2 of the second color of the lamp 81 is set to be the same time as the operating time Tx1. ), the transition to the sleep state may be prohibited, and the alarm time Tz2 of the buzzer 155 may be set to the time N×Tx+Tx1. As a result, immediately after recognizing that the tractor 1 has stopped, the lamp 81 flashes in the second color for N cycles, and at the same time the buzzer 155 sounds, after which the wake-up state and sleep state are repeated, and the wake-up state is activated. In this state, only the lamp 81 is lit in the second color to notify that the tractor 1 has stopped.

If the heartbeat signal from the remote control receiver 55 cannot be received (No in STEP 5 or No in STEP 7), the emergency stop remote control 71 indicates that communication with the remote control receiver 55 of the tractor 1 has been cut off. (Communication abnormality) is notified (STEP 12). In STEP12, for example, the lamp 81 blinks in the third color (yellow) every predetermined time Ty3, and the buzzer 155 sounds an alarm for a predetermined time Tz3 (Tz3>Tz1). At this time, similarly to the case of notifying the stop of the tractor 1, the blinking cycle Ty3 of the third color of the lamp 81 is set to be the same as the predetermined time Tx, and the lighting time of each blinking cycle is set to be the same time as the operating time Tx1. At the same time, transition to the sleep state may be prohibited for N cycles (for example, 3 cycles), and the alarm time Tz3 of the buzzer 155 may be set to the time N×Tx+Tx1.

The emergency stop remote control 71 is equipped with a battery (not shown) as a power source, and the control unit 153 detects the remaining battery power, and when the remaining battery power becomes low, a lamp 81 and a buzzer 155 notify the user. to notify the decrease in battery capacity due to As shown in FIG. 13, the control unit 153 detects the power supply voltage and power supply current during energization after the power is turned on, and calculates the remaining battery power from the amount of change in the power supply voltage and power supply current (STEP 21).

The emergency stop remote control 71 notifies the remote control 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 remaining battery level notification signal using the third wireless communication antenna 48c and the remote control receiver 55 and checks the remaining battery level of the emergency stop remote control 71, the tractor 1 receives the remaining battery level notification signal using the third wireless communication antenna 48c and the remote control receiver 55, and then transmits the second wireless communication antenna 48b and the wireless communication router 54. A battery remaining amount 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 level 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 below a predetermined amount X% (for example, 5%), the emergency stop remote control 71 notifies you of a decrease in the remaining battery level (STEP 23 to STEP 24). . In STEP24, for example, during the operation time Tx1 during 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 lights up for a predetermined time Tz4 (0.1 seconds). ) is repeated intermittently. That is, when the emergency stop remote control 71 confirms that the battery level is low, the lamp 81 starts blinking in the second color (red) at each time Tx, and the buzzer 155 starts blinking when the buzzer 155 is in the wake-up state immediately after communication is established. The alarm will be issued multiple times (for example, twice).

As described above, the emergency stop remote control 71 is powered by a battery, and when the remaining battery level falls below a predetermined value, the lamp 81 and buzzer 155 notify the user of the remaining battery level. A predetermined notification indicating a decline is made. Therefore, since the notification unit of the emergency stop remote controller 71 can confirm the low battery level, a separate device (remote control device 70) for checking the battery level of the emergency stop remote controller 71 is not required, and the tractor 1 can be moved to the field. The remaining battery level of the emergency stop remote control 71 can be recognized before operation, and the battery can be replaced, thereby preventing the battery from running out during operation.

The emergency stop remote control 71 performs the following control when either a communication abnormality or a stop of the tractor 1 occurs and the remaining battery level is below a predetermined value (low battery level). One of the lamp 81 and the buzzer 155 is made to issue a notification indicating a communication abnormality and the tractor 1 has stopped, and the other of the lamp 81 and the buzzer 155 is made to issue a notification indicating a decrease in the battery level. By notifying different events (communication abnormality, stopping of the tractor 1, and remaining battery level) using the sound from the buzzer 155 and the light emission from the lamp 81, the operator can recognize that multiple problems have occurred.

In the emergency stop remote control 71 according to the present embodiment, when the control unit 153 simultaneously recognizes that the tractor 1 has stopped and the remaining battery level has decreased, the emergency stop remote control 71 first switches the lamp 81 to the second lamp in order to notify that the tractor 1 has stopped. The color (red) flashes every predetermined time Ty2 (same time as the operating time Tx1), and at the same time, the buzzer 155 sounds for a predetermined time Tz2. Thereafter, during the operating time Tx1 during which the emergency stop remote control 71 is in the wake-up state, the lamp 81 lights up in the second color (red), and the buzzer 155 emits a predetermined time Tz4 (0.1 seconds). This message is repeated intermittently to notify low battery power. As a result, it is possible to continue notifying the low battery level after notifying the stoppage of a high-priority tractor, and the operator can immediately respond to the stoppage of the tractor 1, as well as the emergency stop remote control 71. Recognizes battery replacement.

Further, when the control unit 153 simultaneously recognizes a communication abnormality with the remote control receiver 55 and a low battery level, first, the lamp 81 is illuminated in the second color (red) for a predetermined period of time to notify the communication abnormality. At the same time as it blinks every Ty3 (same time as the operating time Tx1), the buzzer 155 sounds for a predetermined time Tz3. Thereafter, during the operation time Tx1 during which the emergency stop remote control 71 is in the wake-up state, the lamp 81 lights up in the second color (red) to notify of communication or more, and the buzzer 155 sounds for a predetermined time Tz4 ( 0.1 seconds) is repeated intermittently to notify that the battery level is low. As a result, it is possible to continue notifying the low battery level after notifying a high-priority communication abnormality, and the operator can immediately respond to stopping the tractor 1. Recognize exchange.

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

At this time, the tractor 1 stops if it becomes unable to communicate with any one of the remote control device 70 and the three emergency stop remote controllers 71. If one of the three emergency stop remote controllers 71 becomes unable to communicate with the tractor 1 after the tractor 1 starts autonomous travel, the emergency stop remote controller 71 that has become unable to communicate will switch the lamp 81 to the third The color (yellow) indicates a communication abnormality, while the remaining two emergency stop remote controllers 71 display the lamps 81 in a second color (red) to indicate that the tractor 1 has stopped. In other words, among the plurality of emergency stop remote controllers 71, the emergency stop remote controller 71 that has become unable to communicate with the tractor 1 has the lamp 81 in the third color, and the emergency stop remote controller 71 that has established communication with the tractor 1 The lamp has a second color.

In addition, by transmitting the remote control number of the emergency stop remote control 71 that has become unable to communicate from the tractor 1 to the remote control device 70, the remote control number for the emergency stop remote control 71 that has become unable to communicate is displayed on the display of the remote control device 70. can be displayed. As a result, not only the operator operating the emergency stop remote controller 71 that has experienced a communication error, but also the operator operating the remote control device 70 can recognize which emergency stop remote controller 71 has become unable to communicate. Can safely handle outages.

Furthermore, by transmitting the battery level of each of the plurality (three) emergency stop remote controllers 71 from the tractor 1 to the remote control device 70 together with the remote control number, the remote control device 70 can check the battery level 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, by recognizing the remaining battery level of each of the plurality of emergency stop remote controllers 71, the operator operating 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 checking the emergency stop remote control 71, the battery of the emergency stop remote control 71 can be prevented from running out, and the autonomous driving of the tractor 1 can be continued stably.

<Pairing (authentication process)>
Next, the pairing operation between the remote control receiver 55 and the emergency stop remote control 71 in the tractor 1 will be described below with reference to FIGS. 14 to 17. As shown in FIGS. 14 and 15, an emergency stop remote control (first remote control) is transmitted from an external device such as a service tool 19 or a remote control device 70 to a remote control receiver (first vehicle side communication device) 55 in the tractor 1. When pairing with the communication device 71 is requested, the remote control receiver 55 shifts to a pairing mode in which the emergency stop remote control 71 is authenticated. Then, upon receiving the signal from the emergency stop remote controller 71, the remote control receiver 55 that has entered the pairing mode stores the remote controller ID (identification information) of the emergency stop remote controller 71, and then sets the stored remote controller ID to the emergency stop controller. Pairing is established by transmitting the data to the remote controller 71.

As shown in FIG. 14, a service tool 19 that can set various functions of the tractor 1 is connected by wire to the vehicle bus line 18 of the tractor 1, and when the service tool 19 is operated by a service person, emergency Authentication processing (pairing) of the stop remote controller 71 is executed. The remote control receiver 55 in the tractor 1 can authenticate a plurality of (in this embodiment, three) remote control units 71 for emergency stop, and associates the remote control ID of each remote control unit 71 with the corresponding remote control number (storage area). memorize it.

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

When the emergency stop remote controller 71 receives an operation on the emergency stop button 72 or the start button 73, it reads the remote control ID, which is identification information assigned to each emergency stop remote controller 71, from the memory 154, and connects the wireless communication antenna 151 and the communication It is transmitted to the remote control receiver 55 via the interface 152. In the following description, it will be assumed that the remote control ID is transmitted to the remote control receiver 55 based on the operation of the start button 73. Upon receiving the remote control ID of the emergency stop remote control 71, the remote control receiver 55 stores the received remote control ID in correspondence with the remote control number. 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 control receiver 55 generates a response signal combining the received remote control ID and the receiver ID, and transmits the response signal to the emergency stop remote control 71 via the third wireless communication antenna 48c.

When the emergency stop remote control 71 receives the response signal from the remote control receiver 55, it confirms that the pairing has been established by confirming that the remote control ID confirmed from the response signal matches the remote control ID of its own device. recognize. Then, the emergency stop remote control 71 extracts the receiver ID from the response signal and stores the receiver ID in the memory 154, thereby identifying the remote control receiver 55 and the tractor 1 with which pairing has been established. Further, when the emergency stop remote control 71 receives an operation on the start button 73, it lights the lamp 81 in the third color (yellow) to notify that it is in the pairing mode. Thereafter, when the emergency stop remote control 71 establishes pairing with the remote control receiver 55, the buzzer 155 sounds to notify the establishment of the pairing.

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

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

The remote control device 70 selects a remote control number to be registered for pairing, and sends an instruction signal to the wireless communication router 54 with the remote control number attached thereto. By receiving the instruction signal from the remote control device 70, the wireless communication router 54 confirms the instruction for pairing registration, and notifies the remote control receiver 55 of the remote control number to be registered for pairing. When the remote control receiver 55 receives a pairing registration instruction from the wireless communication router 54, it shifts to pairing mode, and when it receives the remote control ID from the emergency stop remote control 71, it stores the remote control ID in correspondence with the remote control number. . After that, the remote control receiver 55 transmits a response signal combining the remote control ID and the receiver ID to the emergency stop remote control 71, and sends the remote control receiver 55 and the tractor with which pairing has been established to the emergency stop remote control 71. Notify 1.

The tractor 1 can set whether or not to accept a pairing request for the emergency stop remote control 71 from the remote control device 70 through the service tool 19 . That is, when a request to disable 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 cannot be received. The device 55 does not execute the transition to pairing mode. Therefore, registration of the remote control by an operator other than the operator authorized to remotely control the tractor 1 can be prevented, and theft due to impersonation can be prevented. Furthermore, by setting the pairing process to be performed only on the service tool 19 operated by the service person, not only can the pairing process be performed reliably, but also the relationship between the tractor 1 and the emergency stop remote control 71 can be controlled. This makes it 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 a deletion request from the service tool 19 or the remote control device 70. The remote control receiver 55 stores the remote control ID of the emergency stop remote control 71 registered in the pairing process in association with the remote control number. Then, when a remote control number whose remote control ID is to be deleted is selected among the remote control numbers whose remote control IDs have been registered in the service tool 19 or the remote control device 70, the remote control receiver 55 The memory of the remote control ID corresponding to the remote control number notified by the operating device 70 is deleted.

Since the remote control ID of the emergency stop remote control 71 that can operate the tractor 1 can be registered and deleted, an operator for the tractor 1 can be assigned using the emergency stop remote control 71 that the operator owns. Therefore, operators who can operate the tractor 1 can be easily assigned according to the work schedule and work process, and theft due to impersonation can be prevented.

Next, details of the pairing setting operation in the tractor 1 will be described below with reference to the flowchart of FIG. 16. As shown in FIG. 16, in the tractor 1, when the remote control receiver 55 detects reception of a pairing setting request signal (Yes in STEP 31), the wireless communication router 54 detects the request signal from the remote control device 70. (Ys in STEP 32), and if the request from the remote control device 70 is not restricted (No in STEP 33), the remote control receiver 55 checks the remote control number included in the request signal (STEP 34). Further, even when receiving a request signal from the service tool 19 via the autonomous running 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 registration of the remote control ID for the confirmed remote control number is requested based on the request signal (“register” in STEP 35), it shifts to the pairing mode and waits for a predetermined time T1 (for example, , 1 minute) until it receives the remote control ID from the emergency stop remote control 71 (STEP 36 to STEP 38). When the remote control receiver 55 receives the remote control ID from the emergency stop remote control 71 (Yes in STEP 37), the remote control receiver 55 stores the received remote control ID and then generates a response signal in which the receiver ID of the remote control receiver 55 itself is added to the remote control ID. is generated and transmitted to the emergency stop remote control 71 (STEP 39 to STEP 41). Further, if no remote control ID is received for the predetermined time T1 (Yes in STEP 38), the pairing mode is ended (STEP 42).

When the wireless communication router 54 receives a pairing request signal from the remote control device 70, if the pairing request from the remote control device 70 is prohibited (restricted) (Yes in SETP33), the wireless communication router 54 notifies the remote control device 70 that pairing requests are restricted (STEP 43). At this time, the remote control receiver 55 does not execute the transition to pairing mode. Furthermore, when the remote control receiver 55 confirms that deletion of the remote control ID is requested from the received pairing request (“delete” in STEP 35), the remote control receiver 55 responds 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 (STEP 44). Note that in this embodiment, the storage of the remote control ID is deleted based on the pairing request signal, but the remote control ID may be deleted based on the pairing deletion request signal.

Next, details of the pairing registration operation by the emergency stop remote control 71 will be described below with reference to the flowchart of FIG. 17. As described above, when registration of the emergency stop remote control 71 is requested from the service tool 19 or the remote control device 70 and the remote control receiver 55 of the tractor 1 shifts to the pairing mode, the operator or service person The stop remote control 71 is operated, and the remote control ID is registered in the remote control 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 indicates that it has started pairing processing (authentication processing) with the remote control receiver 55. Notify (STEP 52). At this time, the control unit 153 controls the lighting/blinking operation of the lamp 81 and the alarming operation of the buzzer 155 to notify that the pairing process is being executed. For example, the lamp 81 continues to light 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 using the wireless communication antenna 151 and the communication interface 152 (STEP 53). Furthermore, the control unit 153 repeats transmitting the remote control ID for a predetermined time T2 until a response signal is received from the remote control receiver 55 (STEP 53 to STEP 55). When the communication interface 152 receives a response signal from the remote control receiver 55 (Yes in STEP 54), the control unit 153 checks whether the remote control ID included in the response signal is the same as the remote control ID of its own device. (STEP56-STEP57).

If the remote control ID included in the response signal matches the remote control ID of the device itself (Yes in STEP 57), the control unit 153 acquires the receiver ID of the remote control receiver 55 included in the response signal and stores it in the memory 154b. Thereafter, the lamp 81 and buzzer 155 notify that pairing has been established (STEP 58 to STEP 60). Further, if the control unit 153 does not receive a response signal including the remote control ID of the own device by the time T2 has elapsed (No in STEP 55), the control unit 153 notifies the lamp 81 and the buzzer 155 that the pairing has failed. (STEP 61). Note that it is not necessary to notify that the pairing has failed.

<Autonomous driving control>
Next, details of the autonomous driving determination operation in the tractor 1 will be described below with reference to the flowchart of FIG. 18. As shown in FIG. 18, in the tractor 1, the emergency stop remote control 71 that received the signal has been registered for pairing (authentication registration) in the remote control receiver 55 (Yes in STEP 72), and the pairing has been registered. After confirming the establishment of communication with the emergency stop remote control 71 (Yes in STEP 73), when 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 in SETP74), the autonomous driving control device 51 determines whether there is an abnormality in the tractor 1 based on the presence or absence of error signals from the engine control device 15, transmission control device 16, and work implement control device 17 (STEP75). . Then, when the autonomous driving control device 51 determines that the tractor 1 can normally perform work and traveling (Yes in STEP 75), it starts autonomous driving according to the traveling route received from the remote control device 70 (STEP 76). .

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 control 71 is established. That is, only when communication between the remote control device 70 and the wireless communication router 54 of the tractor 1 is established, and at the same time communication between the emergency stop remote control 71 and the remote control receiver 55 of the tractor 1 is established, is the work vehicle activated. Since the autonomous driving of the tractor 1 is permitted, remote control of the tractor 1 is not performed inadvertently, and the tractor 1 can be driven autonomously safely. Note that if a plurality of emergency stop remote controllers 71 are registered for pairing and communication with the emergency stop remote controllers 71 is enabled, if communication with at least one emergency stop remote controller 71 is confirmed, the tractor 1 starts autonomous driving.

When the tractor 1 starts autonomous driving (STEP 76), when the wireless communication router 54 confirms that an abnormality has occurred in communication with the remote control device 70 (Yes in STEP 77), or when the remote control receiver 55 detects a communication abnormality. When the emergency stop remote controller 71 is confirmed to have stopped (Yes in STEP 79), or when an emergency stop is requested from the remote control device 70 or the emergency stop remote controller 71 (Yes in STEP 80), or when the tractor 1 is being operated. When this is completed (Yes in STEP 81), the autonomous driving control device 51 stops the tractor 1 (STEP 82).

As described above, when the tractor 1 is autonomously traveling and communication with at least one of the remote control device 70 and the emergency stop remote control 71 is cut off, the tractor 1 is stopped. That is, after autonomous driving of the tractor 1 has started, if communication with at least one of the remote control device 70 and the emergency stop remote control 71 is interrupted, the autonomous driving of the tractor 1 is stopped. The safety of the time can be ensured.

Further, by configuring the remote control receiver 55 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 multiple directions by a plurality of operators. . Therefore, for example, even if one operator cannot check the condition of the tractor 1, the remaining operators can check the condition of the tractor 1 and perform operations in response to an emergency.

<Heartbeat (communication confirmation process)>
Next, communication confirmation processing (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 power is turned on to the remote control receiver 55 of the tractor 1, the remote control receiver 55 transmits a heartbeat signal every predetermined time T3 (for example, 0.1 seconds) and communicates. The existence of a possible emergency stop remote control 71 is confirmed. At this time, when the two emergency stop remote controllers 71A and 71B become communicable in order, the emergency stop remote controller 71A that became communicable first receives the heartbeat signal from the remote controller receiver 55. Thereafter, the emergency stop remote controller 71A transmits a response signal to the remote control receiver 55, thereby establishing communication with the emergency stop remote controller 71A. Then, after the emergency stop remote control 71B, which is now able to communicate, receives the heartbeat signal from the remote control receiver 55, the remote control receiver 55 receives a response signal from the emergency stop remote control 71B, and the emergency stop remote control 71B is activated. Communication with the stop rimmon 71B is established.

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

Then, when the remote control receiver 55 transmits a heartbeat signal after receiving the response signal from the emergency stop remote controller 71A, the emergency stop remote controller 71B, which is in the receiving standby state, transmits the response signal after receiving the heartbeat signal. It is transmitted to the remote control receiver 55. At this time, the emergency stop remote control 71B remains in the wake-up state for a longer time than the wake-up time Tx1. Thereafter, the emergency stop remote control 71B enters a sleep state for a sleep time Tx2 (for example, 0.7 seconds), and then enters a wake-up state. As a result, the emergency stop remote controllers 71A and 71B each enter a wake-up state for a time Tx1 at different timings every predetermined time Tx (for example, 1 second), and transmit and receive heartbeat signals and response signals to and from the remote control receiver 55. I do.

Next, the processing operation during communication confirmation processing (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 that the predetermined time T3 has elapsed, the remote control receiver 55 receives the operating state (running or stopping, etc.) of the tractor 1 from the autonomous driving control device 51, and adds information indicating the operating state to the remote control receiver 55. A heartbeat signal with the receiver ID of the receiver 55 added is generated and transmitted to the emergency stop remote control 71 (STEP 200 to STEP 203).

The remote control receiver 55 receives a response signal from the emergency stop remote controller 71 in response to the heartbeat signal (Yes in STEP 204), and confirms from the response signal that the remote control ID of the emergency stop remote controller 71 has already been registered for pairing. If it is confirmed that there is such a thing (Yes in STEP 205), it is confirmed whether the response signal includes information (stop request information) that requests the tractor 1 to stop (STEP 206). Note that when the remote control receiver 55 receives a stop request from the emergency stop remote control 71, the autonomous driving control device 51 receives the stop request via the autonomous driving bus line 56 and causes the tractor 1 to come to an emergency stop. On the other hand, even when the wireless communication router 54 receives a stop request from the remote control device 70, the autonomous driving control device 51 receives the stop request via the autonomous driving bus line 56 and causes the tractor 1 to come to an emergency stop.

If the remote control receiver 55 has not received a request to stop the tractor 1 from the emergency stop remote controller 71 registered for pairing (No in STEP 206), the remote control receiver 55 determines whether or not the emergency stop remote controller 71 with which communication has already been established is received. (STEP 207). At this time, if communication with the emergency stop remote control 71 that sent the response signal has not been established (No in STEP 207), the remote control receiver 55 identifies the remote control ID from the response signal and indicates that communication has been established. Register (STEP 208). On the other hand, if communication with the emergency stop remote controller 71 that sent the response signal is established (Yes in STEP 208), the remote control receiver 55 determines that communication with the emergency stop remote controller 71 that sent the response signal is normal. It is determined that there is one (STEP 209).

Furthermore, if the remote control receiver 55 does not receive a response signal to the heartbeat signal from the emergency stop remote controller 71, it checks whether the emergency stop remote controller 71 has a communication abnormality (STEP 210). At this time, the remote control receiver 55 checks whether a predetermined time T4 (for example, time Tx1) or more has elapsed since the response signal received last time for the emergency stop remote control 71 for which communication establishment has been registered. If the emergency stop remote controller 71 does not receive a response signal for a predetermined time T4 or longer, it is determined that a communication abnormality has occurred.

When the remote control receiver 55 confirms that it has received a request to stop the tractor 1 from the remote control device 70 or the emergency stop remote control 71 (Yes in STEP 204), the remote control receiver 55 detects that stop request information is included in the response signal to the heartbeat signal. (Yes in STEP 206), and if the existence of the emergency stop remote controller 71 that has experienced a communication error is confirmed (Yes in STEP 210), 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 driving control device 51 is requested to stop the tractor 1 (STEP 211). Thereby, the remote control receiver 55 and the emergency stop remote control 71 can exchange heartbeat signals and response signals with each other in order to check the communication state at regular intervals. Therefore, the remote control receiver 55 detects a communication abnormality with the emergency stop remote control 71 in real time and makes an emergency stop of the tractor 1, thereby enabling safe operation of the autonomous driving system of the tractor 1.

Next, the processing operation of the emergency stop remote control 71 during communication confirmation processing (heartbeat) will be described below with reference to FIG. 22. As shown in FIG. 22, after transitioning to the wake-up state (STEP 251), the emergency stop remote controller 71 receives a heartbeat signal from the remote controller receiver 55 (YES in SETP 252), and then uses the information included in the heartbeat signal to Check the driving state of No. 1 (STEP 253). Thereafter, the emergency stop remote control 71 generates a response signal including the remote control ID of its own device, transmits the response signal to the remote control receiver 55, and then shifts to a sleep state when the wake-up time exceeds the time Tx1. (STEP 254 to STEP 257). Note that the emergency stop remote control 71 in the sleep state shifts to the wake-up state (STEP 251) when the sleep time exceeds the time Tx2 (Yes in STEP 258). Note that the remote control receiver 55 does not need to check the driving state of the tractor 1 based on the heartbeat signal, and if the heartbeat signal includes a signal instructing the notification mode by the lamp 81 and the buzzer 155, Based on the signal, the lamp 81 is caused to emit light in a predetermined manner, and the buzzer 155 is made to sound in a predetermined manner.

If the emergency stop remote control 71 has not received the heartbeat signal from the remote control receiver 55 (YES in SETP 252), the emergency stop remote control 71 counts the number of communication failures, which is the number of times the heartbeat signal has not been received (STEP 259), and stops the communication. If the number of failures is less than N times (for example, 5 times) (No in STEP 260), reception of the heartbeat signal is confirmed (STEP 252). On the other hand, when the emergency stop remote controller 71 confirms that the number of communication failures is N or more (Yes in STEP 260), it notifies the user that there is a communication error using the lamp 81 and the buzzer 155 (STEP 261), and enters the sleep state. Move (STEP 257).

The present invention is not limited to the above-described embodiments, but 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, communication with the emergency stop remote control 71 may be specified to be disabled. In this case, before the start of autonomous travel, if communication with the emergency stop remote controller 71 is enabled (No in STEP 71), the presence or absence of the emergency stop remote controller 71 registered for pairing is determined (STEP 72). On the other hand, after the start of autonomous travel, if communication with the emergency stop remote controller 71 is valid (No in STEP 78), the presence or absence of the emergency stop remote controller 71 with a communication abnormality is checked (STEP 79).

That is, when the tractor 1 receives a notification from the remote control device 70 that communication with the emergency stop remote control 71 is disabled, the tractor 1 disables the remote control to the tractor 1 regardless of the communication state with the disabled emergency stop remote control 71. The operation is performed. By requesting disabling of communication with the emergency stop remote controller 71 from the remote control device 70, the power of the emergency stop remote controller 71 is turned off, for example, when the battery of the emergency stop remote controller 71 needs to be replaced. Even in this case, an unnecessary emergency stop of the tractor 1 can be avoided, and work with the tractor 1 can be continued.

Further, if the remote control receiver 55 has established communication with a plurality of emergency stop remote controllers 71 while the tractor 1 is autonomously traveling, the remote control device 70 disables the emergency stop remote controllers 71. 71 may be specified. At this time, when the wireless communication router 54 receives from the remote control device 70 a notification designating the emergency stop remote control 71 to be disabled in the autonomously running tractor 1, the remote control receiver 55 Even if the communication with the emergency stop remote controller 71 is disabled and the communication with the emergency stop remote controller 71 designated to be disabled is cut off, the tractor 1 continues to run autonomously.

1 Robot tractor (work vehicle)
48 Wireless communication antenna unit 48a First antenna 48b Second antenna 48c Third antenna 51 Autonomous travel control device 52 Steering control device 53 Positioning device 54 Wireless communication router 55 Remote control receiver 56 Autonomous bus line 70 Remote control device (device) body)
71 Emergency stop remote control 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 (7)

A remote control as a first remote control communication device capable of communicating with the work vehicle using a communication method different from a second remote control communication device capable of displaying information regarding autonomous running of the work vehicle,
comprising a plurality of operation units capable of controlling the traveling of the work vehicle,
A first operation mode of the plurality of operation sections executes an emergency stop that stops the work vehicle in a state where it is impossible to restart the work vehicle using the remote control, and a second operation mode of the plurality of operation sections executes an emergency stop that stops the work vehicle in a state where it is impossible to restart the work vehicle using the remote control. The remote controller is characterized in that a temporary stop is executed to stop the vehicle in a state where the remote controller can resume running. The remote control according to claim 1, wherein the work vehicle restarts running from the temporary stop by a third operation mode of the plurality of operation units. The remote control according to claim 1 or 2, wherein the engine of the work vehicle is stopped during the emergency stop. The remote control according to any one of claims 1 to 3, wherein the transmission of the work vehicle is in a neutral state during the emergency stop. The remote control according to any one of claims 1 to 4, wherein at the time of the emergency stop, a braking operation by a brake device of the work vehicle is applied. The remote control according to any one of claims 3 to 5, wherein a steering section of the work vehicle is in a neutral state during the emergency stop. An autonomous driving system comprising an autonomous driving control device capable of communicating with the remote control according to any one of claims 1 to 6 and controlling autonomous driving of the work vehicle.