WO2020031864A1

WO2020031864A1 - Control terminal

Info

Publication number: WO2020031864A1
Application number: PCT/JP2019/030330
Authority: WO
Inventors: 想介村田; 横山　和寿; 圭志中村
Original assignee: ヤンマー株式会社
Priority date: 2018-08-07
Filing date: 2019-08-01
Publication date: 2020-02-13
Also published as: JP7174561B2; JP2020025189A

Abstract

This control terminal has automatic connection information registered therein for automatic connection to an access point mounted on each of a plurality of work vehicles, and can remotely control the work vehicles. The control terminal includes an automatic connection target selection unit that receives identification information of the access points wirelessly transmitted from the access points, and selects one access point as an automatic connection target from among the access points corresponding to the received identification information, wherein the automatic connection target selection unit is configured to select one access point to be automatically connected on the basis of the radio wave intensity of the received identification information.

Description

Control terminal

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

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

Japanese Patent No. 6274211

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

作業 In a work vehicle control system in which control such as automatic traveling is performed using a control terminal, it is conceivable that one control terminal has a function of controlling a plurality of work vehicles. In this case, the user needs to connect the control terminal to the work vehicle to be controlled by wireless communication. However, when trying to perform wireless communication connection by automatic connection, when a plurality of work vehicles that can be controlled by the control terminal are present at relatively close positions, the work vehicle that the user is trying to control is The control terminal may be wirelessly connected to another different work vehicle.

In this specification, the manual connection means that in a wireless communication connection process between the control terminal and the work vehicle, the control terminal side displays a list of received access point identification information such as an SSID (Service Set Identifier). When the access point identification information to be connected is selected and the encryption key (password) is input by the user, a wireless communication connection between them is established.

On the other hand, automatic connection refers to at least one of an operation of selecting access point identification information and an operation of inputting an encryption key (password) on the control terminal in a wireless communication connection process between the control terminal and the work vehicle. A connection method in which a wireless communication connection between these is established without performing an input operation of a virtualization key.

An object of the present invention is to provide a control terminal capable of remotely controlling a plurality of work vehicles, wherein the control terminal facilitates wireless communication connection to a work vehicle to be controlled.

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

With this configuration, the wireless communication connection of the control terminal to the work vehicle to be controlled is facilitated.

In one embodiment of the present invention, the automatic connection target selection unit is configured to select an access point corresponding to the identification information having the highest reception strength among the received pieces of identification information as an automatic connection target.

In one embodiment of the present invention, the control terminal includes a wireless connection control unit including the automatic connection target selection unit, and the wireless connection control unit uses the automatic connection target selection unit as one of the automatic connection targets. When one of the access points is selected, a confirmation screen for confirming to the user whether or not wireless connection can be made to the access point is displayed, and based on the confirmation screen, Only when a wireless communication connection instruction is input, an automatic connection process to the access point is performed.

In a second control terminal according to the present invention, automatic connection information for automatically connecting to an access point mounted on each of a plurality of work vehicles including a plurality of types is registered, and the plurality of work vehicles are remotely controlled. A control terminal for receiving identification information of the access point wirelessly transmitted from the plurality of access points, and automatically selecting one of the access points from the access points corresponding to the received identification information. An automatic connection target selection unit for selecting as the automatic connection target selection unit, wherein the automatic connection target selection unit determines whether the received identification information includes identification information of access points of a plurality of types of work vehicles and If it is determined that the information includes identification information of access points of a plurality of types of work vehicles, wireless communication connection from the plurality of types of vehicles is performed. Selection screen display means for displaying a model selection screen for allowing a user to select a model to be connected, and, when a model to be connected for wireless communication is selected based on the model selection screen, access corresponding to the received identification information. Access point selecting means for selecting one of the access points corresponding to the work vehicle of the selected model as an automatic connection target from the access points.

In one embodiment of the present invention, if there are a plurality of access points corresponding to the work vehicle of the selected model among the access points corresponding to the received identification information, It is configured to select one access point to be automatically connected from a plurality of access points based on the radio wave intensity of the corresponding identification information.

In one embodiment of the present invention, if there are a plurality of access points corresponding to the work vehicle of the selected model among the access points corresponding to the received identification information, An access point selection screen for allowing the user to select one access point from a plurality of access points is displayed. When an access point to be connected for wireless communication is selected based on the access point selection screen, the access point is selected. The selected access point is selected as an automatic connection target.

In a third control terminal according to the present invention, automatic connection information for automatically connecting to an access point mounted on each of a plurality of work vehicles including a plurality of types is registered, and the plurality of work vehicles are remotely controlled. A control terminal for receiving identification information of the access point wirelessly transmitted from the plurality of access points, and automatically selecting one of the access points from the access points corresponding to the received identification information. A selection screen display for displaying a model selection screen for allowing a user to select one of the plurality of models to be connected by wireless communication from the plurality of models. Means, and when one model to be connected for wireless communication is selected based on the model selection screen, the received identification information Of the access point to respond, from the access point corresponding to the working vehicle of the selected model, and an access point selection means for selecting one of the access point as an automatic connection object.

The above or other objects, features, and effects of the present invention will become apparent from the following description of embodiments with reference to the accompanying drawings.

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

FIG. 1 is a schematic diagram showing a work vehicle control system to which a control terminal according to one embodiment of the present invention is applied.

The work vehicle control system 1 includes a plurality of

work vehicles

2A, 2B, 2C, and 2D, and one control terminal 3 that can control the plurality of work vehicles 2.

In this embodiment, it is assumed that the work vehicles that can be controlled by the control terminal 3 include the first tractor 2A, the second tractor 2B, the first rice transplanter 2C, and the second rice transplanter 2D. These work vehicles are collectively referred to as “work vehicle 2”. Each work vehicle 2 has a function of measuring the position of the work vehicle 2 using a positioning satellite and a reference station (not shown).

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

The control terminal 3 is a portable terminal such as a smartphone, a tablet personal computer (tablet PC), or the like. The control terminal 3 is for remotely controlling the work vehicle 2 and can be connected to the work vehicle 2 by wireless communication.

The control terminal 3 has a plurality of applications for controlling the work vehicle 2 (hereinafter referred to as “vehicle control applications”). The vehicle control application includes an application (automatic traveling application) used for automatically traveling the work vehicle 2. Since the application for automatic driving is well known, the description thereof is omitted.

FIG. 2 is a block diagram showing an electrical configuration of the work vehicle 2.

Work vehicle 2 includes control unit 10. The control unit 10 controls the operation of the traveling machine body of the work vehicle 2 (operations such as forward, backward, stop, and turn) and the operation of the work machine mounted on the work vehicle 2. Various controllers 20 for controlling each part of the work vehicle 2 are electrically connected to the control unit 10. The various controllers 20 include an engine controller that controls the number of revolutions of an engine (not shown), a vehicle speed controller that controls the vehicle speed of the work vehicle 2, a steering controller that controls the steering angle of the front wheels of the work vehicle 2, and a work machine. It includes a PTO controller for controlling the rotation of the PTO shaft for driving.

The control unit 10 is further connected with a position information calculation unit 21, an inertial measurement device 22, a communication interface (communication I / F) 23, an operation display unit 24, an operation unit 25, a storage unit 26, and the like.

The position information calculation unit 21 calculates the position information of the work vehicle 2 based on the satellite positioning system. The satellite positioning system is, for example, an RTK (Real Time Kinematic) -GNSS (Global Navigation Navigation System). In the RTK-GNSS (real-time kinematic GNSS), a reference station (not shown) installed at a predetermined position is used. The reference station calculates, at predetermined time intervals, positioning information of the reference station calculated based on GNSS satellite signals received from a plurality of positioning satellites (not shown), a self-position recognized in advance (recognized self-position), and Is calculated, and the difference information is transmitted as a positioning correction signal.

The position information calculation unit 21 acquires satellite signals from a plurality of GNSS satellites via the satellite signal receiving antenna 27. Further, the position information calculation unit 21 acquires positioning correction information from a predetermined reference station via the reference station signal receiving antenna 28. The position information calculation unit 21 calculates positioning information of the work vehicle 2 based on satellite signals obtained from a plurality of positioning satellites, and converts the obtained positioning information of the work vehicle 2 into positioning correction information obtained from a reference station. By using the correction, the position information indicating the position of the work vehicle 2 is calculated. The position information includes, for example, latitude, longitude, and altitude information.

The inertial measurement device 22 is a measurement unit that can measure the posture (direction), acceleration, and the like of the work vehicle 2.

The communication interface 23 is a communication interface for the control unit 10 to wirelessly communicate with the control terminal 3 and includes a wireless access point (hereinafter, referred to as “access point”) 30. The communication interface 23 includes, for example, a wireless LAN router (Wi-Fi (registered trademark) router). A wireless communication antenna 29 is connected to the communication interface 23.

The operation display unit 24 is, for example, a touch panel display. The operation unit 25 includes one or a plurality of operation buttons.

The storage unit 26 is configured by a storage device such as a hard disk and a nonvolatile memory. The storage unit 26 includes a basic information storage unit 31, a connection information storage unit 32, an automatic traveling route storage unit 33, and the like.

The basic information storage unit 31 stores a model name, a model number, a machine number (machine number), and the like. The model name is the name of a work vehicle such as a tractor or a rice transplanter. The model number is a symbol for distinguishing products within the same model. The machine number is an identification number unique to the work vehicle.

With reference to FIG. 1, in this embodiment, the model number of the first tractor 2A is "YTaaaaa", the model number of the second tractor 2B is "YTbbbb", and the model number of the first rice transplanter 2C is "RGcccc". It is assumed that the model number of the second rice transplanter 2D is “RGdddd”. In this embodiment, the first two characters of the model number represent the model. Therefore, it is possible to determine the model from the model number.

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

自動 The automatic driving route storage unit 33 stores the automatic driving route generated by the control terminal 3.

The control unit 10 includes a microcomputer including a CPU and a memory (a ROM, a RAM, a nonvolatile memory, and the like). The control unit 10 includes an automatic traveling control unit 11 and the like.

The automatic travel control unit 11 controls the various controllers 20 to cause the work vehicle 2 to automatically travel along the previously generated automatic travel route or to stop the automatic travel. In addition, the automatic traveling control unit 11 performs wireless communication with the control terminal 3 via the communication interface 23.

FIG. 3 is a block diagram showing an electrical configuration of the control terminal 3. As shown in FIG.

The control terminal 3 includes the control unit 40. A communication interface (communication I / F) 51, an operation display unit 52, an operation unit 53, a storage unit 54, and the like are connected to the control unit 40.

The communication interface 51 is a communication interface for the control terminal 3 to wirelessly communicate with the control unit 10 of the work vehicle 2.

The operation display unit 52 displays various data and receives an operation by a user. The operation display unit 52 includes, for example, a touch panel display. The operation unit 953 includes, for example, one or a plurality of operation buttons and the like.

The storage unit 54 is configured by a storage device such as a nonvolatile memory. The storage unit 54 includes an application storage unit 61, an automatic connection information storage unit 62, a vehicle information storage unit 63, an automatic traveling route storage unit 64, and the like.

The application storage unit 61 stores various applications. The various applications include an automatic traveling application for automatically traveling the work vehicle.

The automatic connection information storage unit 62 stores automatic connection information necessary for automatic connection to the access point 30 to which automatic connection is possible. The automatic connection information is information including access point identification information and an encryption key (password) corresponding to the access point 30 to which automatic connection is possible. The automatic connection information is registered in the automatic connection information storage unit 62 when, for example, the control terminal 3 is wirelessly connected to the work vehicle 2 for the first time by manual connection.

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

The automatic driving route storage unit 64 stores the automatic driving route generated by the control unit 40.

The control unit 40 includes a microcomputer including a CPU and a memory (ROM, RAM, nonvolatile memory, and the like). The control unit 40 includes a wireless connection control unit 41, a route generation / automatic traveling control unit 42, and the like.

The wireless connection control unit 41 performs a wireless communication connection process for controlling a wireless communication connection with the work vehicle 2. The wireless connection control unit 41 receives the identification information (access point identification information) of the access point wirelessly transmitted from the plurality of access points 30 and selects one of the access points 30 corresponding to the received access point identification information. An automatic connection target selection unit 41A for selecting one access point 30 as an automatic connection target is included.

The route generation / automatic traveling control unit 42 generates an automatic traveling route, accepts various settings for automatic traveling, communicates with the work vehicle 2 that is wirelessly connected, and the like, based on the application for automatic traveling.

FIG. 4 is a flowchart illustrating an example of a procedure of a wireless communication connection process performed by the wireless connection control unit 41.

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

In the following, the access point identification information may be referred to as “SSID” for simplicity of description. The access point identification information registered in the automatic connection information storage unit 62 may be referred to as “registered SSID”.

(4) When the power of the control terminal 3 is turned on, the automatic connection target selection unit 41A in the wireless connection control unit 41 performs an SSID reception process for a predetermined time (step S1). Specifically, the automatic connection target selection unit 41A receives the beacon signal transmitted from the access point 30, and stores the SSID included in the received beacon signal in a memory (working memory).

Hereinafter, the SSID received in the latest step S1 and stored in the memory may be referred to as “capture SSID”.

Next, the automatic connection target selection unit 41A determines whether or not the registered SSID is included in the captured SSID (step S2).

If it is determined that the registered SSID is not included in the captured SSID (step S2: NO), the wireless connection control unit 41 performs a manual connection process (step S3). Specifically, the wireless connection control unit 41 first displays a list of the captured SSIDs on the operation display unit 52. When the user selects a capture SSID to be connected and inputs an encryption key, the wireless connection control unit 41 performs an authentication process and the like, and then establishes a connection. When the connection is established, the wireless connection control unit 41 registers the captured SSID selected by the user and the encryption key input by the user in the automatic connection information storage unit 62 in the manual connection process. Then, the wireless connection control unit 41 ends the current wireless connection control process. When the control terminal 3 is connected to the work vehicle 2 for the first time, the wireless communication connection is performed by the manual connection process in step S2.

If it is determined in step S2 that the registered SSID is included in the captured SSID (step S2: YES), the automatic connection target selection unit 41A proceeds to step S4.

In the following, the registered SSID included in the captured SSID may be referred to as “captured registered SSID”.

In step S4, the automatic connection target selection unit 41A stores the number L of captured and registered SSIDs in the memory.

Next, the automatic connection target selection unit 41A determines whether or not L is 1 (step S5). If L is 1 (step S5: YES), the wireless connection control unit 41 performs an automatic connection process on the access point (AP) 30 corresponding to one captured and registered SSID (step S6).

Specifically, the wireless connection control unit 41 establishes a connection after performing an authentication process or the like using the captured and registered SSID and an encryption key corresponding thereto. Then, the wireless connection control unit 41 ends the current wireless connection control process.

(4) When it is determined in step S5 that L is 2 or more (step S5: NO), the automatic connection target selection unit 41A sets a variable k used as a counter to 1 (step S7).

Next, the automatic connection target selection unit 41A performs a setting / confirmation process of the connection candidate vehicle (step S8).

Specifically, the automatic connection target selection unit 41A firstly connects the work vehicle 2 on which the access point 30 having the k-th largest radio field intensity is installed among the access points 30 corresponding to the captured and registered SSID to the connection candidate vehicle. Set as Then, the automatic connection target selection unit 41A displays a confirmation screen on the operation display unit 52 for confirming whether the work vehicle 2 set as the connection candidate vehicle is the work vehicle 2 that the user intends to connect. indicate.

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

On the confirmation screen, for example, an SSID corresponding to the work vehicle 2 set as a connection candidate vehicle, a confirmation affirmation button (OK button), a confirmation denial button (NG button), and the like are displayed. In this embodiment, the SSID corresponding to the work vehicle 2 set as the connection candidate vehicle includes the model number (for example, “YTaaaa”) of the work vehicle corresponding to the connection candidate vehicle. The work vehicle 2 corresponding to the connection candidate vehicle can be recognized.

The user presses the OK button when the work vehicle 2 set as the connection candidate vehicle is the work vehicle 2 that the user intends to connect, and when the work vehicle 2 is not the work vehicle 2 that the user intends to connect. Press the NG button.

When the OK button is pressed on the confirmation screen (Step S9: OK), the wireless connection control unit 41 performs an automatic connection process to the access point (AP) 30 of the connection candidate vehicle (Step S10). . Then, the wireless connection control unit 41 ends the current wireless connection control process.

If the NG button is pressed on the confirmation screen (step S9: NG), the automatic connection target selection unit 41A increments k by 1 (step S11). Then, the automatic connection target selection unit 41A determines whether or not k is equal to or less than L (step S12).

If k is equal to or less than L (step S12: YES), the automatic connection target selection unit 41A returns to step S8. In this case, the processing after step S8 is executed again.

On the other hand, if k is larger than L (step S12: NO), the automatic connection target selection unit 41A returns to step S1. In this case, the processing after step S1 is executed again.

FIGS. 5 and 6 are flowcharts showing a procedure of a first modified example of the wireless communication connection process executed by the wireless connection control unit 41. In FIG. 5, steps corresponding to the steps in FIG. 4 described above are denoted by the same step numbers as in FIG.

5. In FIG. 5, the processing in steps S1 to S6 is the same as the processing in steps S1 to S6 in FIG. 4, and a description thereof will be omitted.

If it is determined in step S5 that L is 2 or more (step S5: NO), the automatic connection target selection unit 41A proceeds to step S6A.

In step S6A, the automatic connection target selection unit 41A determines that the capture registration has been completed based on the model number included in the capture registered SSID and the vehicle information (model name and model number) stored in the vehicle information storage unit 63. The model of the work vehicle 2 corresponding to each SSID is specified.

Next, the automatic connection target selection unit 41A stores the number M of types of the specified models in the memory (step S6B).

Then, the automatic connection target selection unit 41A determines whether or not M is 1 (step S6C).
If M = 1 (step S6C: YES), the automatic connection target selection unit 41A sets a variable k used as a counter to 1 (step S7).

Specifically, the automatic connection target selection unit 41A firstly connects the work vehicle 2 on which the access point 30 having the k-th largest radio field intensity is installed among the access points 30 corresponding to the captured and registered SSID to the connection candidate vehicle. Set as Then, the automatic connection target selection unit 41A displays a confirmation screen on the operation display unit 52 for confirming whether the work vehicle 2 set as the connection candidate vehicle is the work vehicle 2 that the user intends to connect. indicate. Note that this processing is the same as the processing in step S8 in FIG. 4, and a detailed description thereof will be omitted.

If the OK button is pressed on the confirmation screen (step S9: OK), the wireless connection control unit 41 performs an automatic connection process on the access point 30 of the connection candidate vehicle (step S10). Then, the wireless connection control unit 41 ends the current wireless connection control process.

If k is equal to or less than L (step S12: YES), the automatic connection target selection unit 41A returns to step S8. On the other hand, when k is larger than L (step S12: NO), the automatic connection target selection unit 41A returns to step S1.

場合 If it is determined in step S6C that M is 2 or more (step S6C: NO), the automatic connection target selection unit 41A proceeds to step S13 in FIG. In step S13, the automatic connection target selection unit 41A sets a variable k used as a counter to 1.

Next, the automatic connection target selection unit 41A performs a setting / confirmation process of a connection candidate model (step S14).

Specifically, the automatic connection target selection unit 41A first sets, as a connection model candidate, a model whose radio field intensity is the k-th largest among the types of models specified in steps S6A and S6B. The order of the magnitude of the electric field strength for a plurality of models is determined by comparing the access points 30 of the work vehicles included in each model with the largest electric field strength.

Then, the automatic connection target selection unit 41A displays the confirmation screen for confirming whether or not the model set as the connection candidate model is the model of the work vehicle 2 to which the user intends to connect with the operation display unit 52. To be displayed.

{For example, if k = 1, the model with the highest radio field intensity among the model types specified in steps S6A and S6B is set as the connection candidate model. Also, for example, if k = 2, the model having the second largest radio field intensity among the model types specified in steps S6A and S6B is set as the connection candidate model.

確認 On this confirmation screen, for example, information (model name) of a model set as a connection candidate model, a confirmation affirmation button (OK button), a confirmation denial button (NG button), and the like are displayed.

The user presses the OK button when the model set as the connection candidate model is the model of the work vehicle to which the user intends to connect, and when the model is not the model of the work vehicle to which the user intends to connect. Press the NG button.

If the NG button is pressed on the confirmation screen (step S15: NG), the automatic connection target selection unit 41A increments k by 1 (step S16). Then, the automatic connection target selection unit 41A determines whether k is equal to or less than M (step S17).

If k is equal to or less than M (step S17: YES), the automatic connection target selection unit 41A returns to step S14. In this case, the processing after step S14 is executed again.

On the other hand, if k is greater than M (step S17: NO), the automatic connection target selection unit 41A returns to step S1 in FIG. In this case, the processing after step S1 is executed again.

If it is determined in step S15 that the OK button has been pressed on the confirmation screen (step S15: OK), the capture registration corresponding to the model set as the connection candidate model among the capture registered SSIDs The number N of completed SSIDs is stored in the memory (step S18).

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

(4) When it is determined in step S19 that N is 2 or more (step S19: NO), the automatic connection target selection unit 41A sets a variable k used as a counter to 1 (step S21).

Next, the automatic connection target selection unit 41A performs a setting / confirmation process of the connection candidate vehicle (Step S22).

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

When the OK button is pressed on the confirmation screen (Step S23: OK), the wireless connection control unit 41 performs an automatic connection process to the access point (AP) 30 of the connection candidate vehicle (Step S24). . Then, the wireless connection control unit 41 ends the current wireless connection control process.

If the NG button is pressed on the confirmation screen (step S23: NG), the automatic connection target selection unit 41A increments k by 1 (step S25). Then, the automatic connection target selection unit 41A determines whether k is equal to or smaller than N (step S26).

If k is equal to or less than N (step S26: YES), the automatic connection target selection unit 41A returns to step S22. In this case, the processing after step S22 is executed again.

On the other hand, if k is greater than N (step S26: NO), the automatic connection target selection unit 41A returns to step S1. In this case, the processing after step S1 is executed again.

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

If it is determined in step S6C that M is 2 or more (step S6C: NO), the automatic connection target selection unit 41A proceeds to step S31 in FIG.

In step S31, the automatic connection target selection unit 41A displays a model selection screen on the operation display unit 52. Specifically, the automatic connection target selection unit 41A first specifies the model of the work vehicle 2 corresponding to each of the captured and registered SSIDs. Then, the automatic connection target selection unit 41A displays a model selection screen having a model name list including all types of the specified models on the operation display unit 52.

(4) The user selects a model corresponding to the work vehicle 2 to which the user intends to connect, based on the model selection screen.

(4) When a model is selected on the model selection screen (step S32: YES), the automatic connection target selection unit 41A displays an SSID selection screen (vehicle selection screen) on the operation display unit 52. Specifically, the operation display unit 52 displays an SSID selection screen having an SSID list (a model number list in this embodiment) including the captured and registered SSID corresponding to the model selected by the user among the captured and registered SSIDs. (Step S33).

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

(4) The user selects an SSID (capture registered SSID) corresponding to the work vehicle 2 to which the user intends to connect based on the SSID selection screen.

When the SSID is selected on the vehicle type selection screen (step S34: YES), the wireless connection control unit 41 performs an automatic connection process on the selected SSID (step S35).

{Specifically, the wireless connection control unit 41 establishes a connection after performing an authentication process or the like using the SSID selected by the user and the encryption key corresponding thereto. Then, the wireless connection control unit 41 ends the current wireless connection control process.

FIGS. 9 and 10 are flowcharts showing a procedure of a third modification of the wireless communication connection process executed by the wireless connection control unit 41.

When the power of the control terminal 3 is turned on, the automatic connection target selection unit 41A in the wireless connection control unit 41 performs an SSID receiving process (step S41). Specifically, the automatic connection target selection unit 41A receives the beacon signal transmitted from the access point 30, and stores the SSID included in the received beacon signal in a memory (working memory).

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

(4) When a model is selected on the model selection screen (step S43: YES), the automatic connection target selection unit 41A determines whether a registered SSID is included in the captured SSID (step S44).

If it is determined that the registered SSID is not included in the captured SSID (step S44: NO), the wireless connection control unit 41 performs a manual connection process (step S45). Then, the wireless connection control unit 41 ends the current wireless connection control process.

If it is determined in step S44 that the registered SSID is included in the captured SSID (step S44: YES), the automatic connection target selection unit 41A proceeds to step S46.

In step S46, the automatic connection target selecting unit 41A determines whether or not the captured and registered SSID includes an SSID corresponding to the model selected by the user. If the captured and registered SSID does not include the SSID corresponding to the model selected by the user (step S46: NO), the automatic connection target selection unit 41A proceeds to step S45.

If it is determined in step S46 that the captured and registered SSID includes the SSID corresponding to the model selected by the user (step S46: YES), the user selects one of the captured and registered SSIDs. The number J of the captured and registered SSID corresponding to the model that has been registered is stored in the memory (step S47).

Next, the automatic connection target selection unit 41A determines whether or not J is 1 (step S48). If J is 1 (step S48: YES), the wireless connection control unit 41 performs an automatic connection process on the access point 30 corresponding to one captured and registered SSID corresponding to the model selected by the user (step S48). Step S49). Then, the wireless connection control unit 41 ends the current wireless connection control process.

If it is determined in step S47 that J is 2 or more (step S48: NO), the automatic connection target selection unit 41A proceeds to step S50 in FIG.

In step S50, the automatic connection target selection unit 41A sets a variable k used as a counter to 1.

Next, the automatic connection target selection unit 41A performs a setting / confirmation process of the connection candidate vehicle (step S51).

Specifically, the automatic connection target selection unit 41A first determines, among the access points 30 corresponding to the plurality of acquired registered SSIDs corresponding to the model selected by the user, the access point 30 having the k-th largest radio field intensity. The mounted work vehicle 2 is set as a connection candidate vehicle. Then, the automatic connection target selection unit 41A displays a confirmation screen on the operation display unit 52 for confirming whether the work vehicle 2 set as the connection candidate vehicle is the work vehicle 2 that the user intends to connect. indicate. This process is the same as the process in step S8 in FIG. 4, and thus a detailed description thereof will be omitted.

If the OK button is pressed on the confirmation screen (step S52: OK), the wireless connection control unit 41 performs an automatic connection process on the access point 30 of the connection candidate vehicle (step S53). Then, the wireless connection control unit 41 ends the current wireless connection control process.

If the NG button is pressed on the confirmation screen (step S52: NG), the automatic connection target selection unit 41A increments k by 1 (step S54). Then, the automatic connection target selection unit 41A determines whether or not k is equal to or less than J (step S55).

If k is equal to or less than J (step S55: YES), the automatic connection target selection unit 41A returns to step S51. In this case, the processing after step S51 is executed again.

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

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

If it is determined in step S48 that J is 2 or more (step S48: NO), the automatic connection target selection unit 41A proceeds to step S61 in FIG.

In step S61, the automatic connection target selection unit 41A displays an SSID selection screen (vehicle selection screen) on the operation display unit 52. Specifically, the operation display unit 52 displays an SSID selection screen having an SSID list (model number list) including the captured and registered SSID corresponding to the model selected by the user among the captured and registered SSIDs. This SSID selection screen is similar to the SSID selection screen displayed in step S33 of FIG. 7 described above.

When the SSID is selected on the vehicle type selection screen (step S62: YES), the wireless connection control unit 41 performs an automatic connection process on the selected SSID (step S63).

In the above-described embodiment and the first to fourth modified examples, the wireless communication connection of the control terminal to the work vehicle to be controlled becomes easy.

Although the embodiments of the present invention have been described above, the present invention can be embodied in other forms.

In the above-described embodiment, a character string representing the model number of the work vehicle is set as the SSID of the access point mounted on each work vehicle. However, a character string including the model number and the machine number of the work vehicle may be set as the SSID of the access point mounted on each work vehicle. Hereinafter, a specific example of the SSID selection screen displayed in step S33 of FIG. 7 (or step S61 of FIG. 11) in such a case will be described.

FIG. 8B shows an example of the SSID selection screen displayed in step S33 when the model selected in step S32 is a tractor. In this embodiment, the machine number is composed of six digits.

Ｂ The SSID of the first tractor 2A and the SSID of the second tractor 2B are displayed in a list on the SSID selection screen 71 in FIG. 8B. In this embodiment, the SSID of the first tractor 2A is composed of a character string "YTaaaaa_123333" in which "YTaaaa" representing the model number and "123333" representing the model number are connected via an underbar. The SSID of the second tractor 2B is composed of a character string “YTbbbb — 124444” in which “YTbbbb” representing a model number and “124444” representing a model number are connected via an underbar.

。As a tractor that can be controlled by the control terminal 3, it is assumed that a third tractor exists in addition to the first tractor 2A and the second tractor 2B. The model number of the third tractor is the same as the model number "YTaaaa" of the first tractor 2A, and the machine number is "125555". The SSID selection screen displayed in step S33 in such a case will be described.

FIG. 8C shows an example of the SSID selection screen displayed in step S33 when the model selected in step S32 is a tractor.

Ｃ The SSID selection screen 71 of FIG. 8C displays a list of the SSID of the first tractor 2A, the SSID of the second tractor 2B, and the SSID of the third tractor. The SSID of the first tractor 2A and the SSID of the second tractor 2B are the same as in FIG. 8B. The SSID of the third tractor is composed of a character string “YTaaaa — 125555” in which “YTaaaa” representing the model number and “125555” representing the machine number are connected via an underbar.

Although the first tractor 2A and the third tractor have the same model number, the SSID corresponding to these work vehicles includes the model number in addition to the model number. These work vehicles can be identified based on the display.

In the above-described embodiment, the work vehicles that can be controlled by the control terminal 3 are the tractor and the rice transplanter. There may be.

Further, in the above-described embodiment, a positioning system other than the single positioning system is used as the positioning system used for the work vehicle 2, but a single positioning system may be used.

Although the embodiments of the present invention have been described in detail, these are only specific examples used for clarifying the technical contents of the present invention, and the present invention is interpreted by limiting to these specific examples. Rather, the scope of the present invention is limited only by the accompanying claims.

This application corresponds to Japanese Patent Application No. 2018-148592 filed with the Japan Patent Office on August 7, 2018, the entire disclosure of which application is incorporated herein by reference.

Reference Signs List 1 work

vehicle control system

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

Claims

An automatic connection information for automatically connecting to an access point mounted on each of the plurality of work vehicles is registered, and a control terminal capable of remotely controlling the plurality of work vehicles,
Automatic connection target selection for receiving identification information of the access point wirelessly transmitted from the plurality of access points and selecting one of the access points corresponding to the received identification information as an automatic connection target Part,
The control terminal, wherein the automatic connection target selection unit is configured to select one access point to be automatically connected based on the radio wave intensity of each received identification information.
The control terminal according to claim 1, wherein the automatic connection target selection unit is configured to select an access point corresponding to the identification information having the highest reception strength among the received identification information as an automatic connection target. .
The control terminal includes a wireless connection control unit including the automatic connection target selection unit,
When one access point is selected as an automatic connection target by the automatic connection target selection unit, the wireless connection control unit confirms with a user whether wireless connection may be made to the access point. A confirmation screen for displaying, based on the confirmation screen, only when a wireless communication connection instruction to the access point is input, is configured to perform an automatic connection process to the access point. Item 3. The control terminal according to item 1 or 2.
A control terminal for automatically connecting information for automatic connection to an access point mounted on each of a plurality of work vehicles including a plurality of models, and for remotely controlling the plurality of work vehicles,
Automatic connection target selection for receiving identification information of the access point wirelessly transmitted from the plurality of access points and selecting one of the access points corresponding to the received identification information as an automatic connection target Part,
The automatic connection target selection unit,
Determining means for determining whether the received identification information includes identification information of access points of a plurality of types of work vehicles,
Selection screen display means for displaying a model selection screen for allowing a user to select a model to be connected by wireless communication from the plurality of models when it is determined that the identification information of the access points of the plurality of types of work vehicles is included,
When a model to be connected by wireless communication is selected based on the model selection screen, among the access points corresponding to the received identification information, one of the access points corresponding to the work vehicle of the selected model is selected. Access point selecting means for selecting one of the access points as an automatic connection target.
The access point selecting means, among the access points corresponding to the received identification information, if there are a plurality of access points corresponding to the work vehicle of the selected model, from among these plurality of access points, The control terminal according to claim 4, wherein the control terminal is configured to select one access point to be automatically connected based on the radio wave intensity of the corresponding identification information.
The access point selecting means,
When there are a plurality of access points corresponding to the work vehicle of the selected model among the access points corresponding to the received identification information, one access point is selected by the user from the plurality of access points. And displaying an access point selection screen for causing the selected access point to be automatically connected when an access point to be connected for wireless communication is selected based on the access point selection screen. The control terminal according to claim 4, wherein
A control terminal for automatically connecting information for automatic connection to an access point mounted on each of a plurality of work vehicles including a plurality of models, and for remotely controlling the plurality of work vehicles,
Automatic connection target selection for receiving identification information of the access point wirelessly transmitted from the plurality of access points and selecting one of the access points corresponding to the received identification information as an automatic connection target Part,
The automatic connection target selection unit,
Selection screen display means for displaying a model selection screen for allowing a user to select one model to be connected by wireless communication from the plurality of models,
When one model to be connected for wireless communication is selected based on the model selection screen, among the access points corresponding to the received identification information, from the access points corresponding to the work vehicle of the selected model, An access point selecting means for selecting one access point as an automatic connection target.
The access point selecting means, among the access points corresponding to the received identification information, if there are a plurality of access points corresponding to the work vehicle of the selected model, from among these plurality of access points, The control terminal according to claim 7, wherein the control terminal is configured to select one access point to be automatically connected based on the radio wave intensity of the corresponding identification information.
When there are a plurality of access points corresponding to the work vehicle of the selected model among the access points corresponding to the received identification information, the access point selecting means selects one of the plurality of access points from the plurality of access points. Display an access point selection screen for allowing the user to select one access point, and when an access point to be connected by wireless communication is selected based on the access point selection screen, the selected access point is set as an automatic connection target. The control terminal according to claim 7, wherein the control terminal is configured to select.