KR102701770B1 - Method for controlling remotely by using priorty and apparatus thereof - Google Patents

Abstract

One embodiment of the present invention discloses a method for remotely controlling a work vehicle using priorities, including: a step of receiving a control command for one of modules included in a work vehicle; a step of determining a generation subject of the received control command; a step of determining a priority of the determined generation subject based on a priority list set for each module; and a step of determining whether to perform the received control command according to the determined priority.

Description

Method for controlling remotely by using priorty and apparatus thereof

The present invention relates to a method for remotely controlling a work vehicle, and more specifically, to a method for remotely controlling a work vehicle using priority and a device for implementing the method.

Just like tractors that operate based on mechanical devices, work vehicles used in the past were configured to operate the work equipment connected to the work vehicle based on various indoor operating devices being mechanically connected, and wires being operated by mechanical operation, which in turn opened and closed the hydraulic pressure.

Figure 1 is a drawing for schematically comparing the operating devices of a traditional work vehicle and a recent work vehicle of the present invention.

Figure 1 (a) shows an operating device of a tractor used in the past, more specifically, a mechanical hitch operating lever. A user riding in a tractor can control a hitch at the rear of the tractor using the mechanical hitch operating lever.

Fig. 1(b) and Fig. 1(c) illustrate recently used tractor operating devices, which represent an analog type electronic hitch operating lever and an encoder type electronic hitch operating dial, respectively. The analog type electronic hitch operating lever illustrated in Fig. 1(b) can operate a hitch located at the rear of the tractor based on a user's input detected through a lever (110). The encoder type electronic hitch operating dial illustrated in Fig. 1(c) can operate a hitch located at the rear of the tractor based on a user's input detected through a dial (130).

Figure 2 is a diagram schematically showing the raising and lowering movements of the work machine according to hitch operation.

A work implement is connected to the rear of the tractor as shown in Fig. 2, and the work implement can be powered by the PTO of the engine (or motor) of the tractor, and can be raised or lowered according to the hitch at the rear of the tractor whenever the hitch at the rear of the tractor is raised or lowered. The hitch at the rear of the tractor is additionally equipped with a position sensor and an angle sensor, so that the work implement, whose position changes due to the raising or lowering of the hitch, can be accurately detected.

Recently, tractors have adopted an electronic control method, as shown above. When a user operates an electronic button or lever, the ECU (Electric Control Unit) that receives this information processes internal calculations and controls a proportional control solenoid in response to the user's input, thereby controlling the hydraulic pressure of the tractor's hydraulic section to move the implement.

However, in the case of tractors that adopt an electronic control method, since they use a number of electronic modules, they are controlled through various input devices and have high convenience, but there is a problem that if different control commands are input simultaneously or within a certain period of time for one module, the predictability of the operation of the work vehicle decreases, increasing the risk of a safety accident. Therefore, a technology to resolve this is necessary.

U.S. Patent Publication No. 11178712 (registered on November 16, 2021)

The technical problem to be solved by the present invention is to provide a method for remotely controlling a work vehicle using priority and a device for implementing the method.

A method according to one embodiment of the present invention for solving the above technical problem comprises: a step of receiving a control command for one of the modules included in a work vehicle; a step of determining a generation subject of the received control command; a step of determining a priority of the determined generation subject based on a priority list set for each module; and a step of determining whether to perform the received control command based on the determined priority.

In the above method, the priority list may be information received from a server.

In the above method, the priority list may be information received from the server under the condition that the engine of the work vehicle is started.

In the above method, the priority list may be information received from the server under the condition that the work vehicle is connected to the charging cable.

In the above method, the step of determining the generating subject may determine any one of a controller inside the cabin of the work vehicle, a remote control for the work vehicle, and an application installed on a user terminal as the generating subject of the control command.

In the above method, the step of determining the generating subject may determine the controller inside the cabin of the work vehicle as the generating subject of the control command based on information sensed by a sensor of a seat installed inside the cabin of the work vehicle.

In the above method, the module may be a module for controlling a driving unit that generates power to move the work vehicle, a PTO connected to the driving unit, a hitch of the work vehicle, a PRND control unit of the work vehicle, lighting of the work vehicle, and a loader of the work vehicle.

In the above method, the work vehicle may be an electric tractor, and the driving unit may be a motor.

In the above method, the step of determining whether to perform comprises: if the determined priority is the second priority, determining whether a control command according to the first priority is being performed; and only when the control command according to the first priority is not being applied, can the control command of the second priority be applied.

According to another embodiment of the present invention for solving the above technical problem, a device is a remote control device using priorities mounted on a work vehicle, comprising: a communication unit; a memory storing at least one program; and a processor performing a calculation by executing the at least one program, wherein, when the communication unit receives a control command for one of the modules included in the work vehicle, the processor determines a generation subject of the received control command, determines a priority of the determined generation subject based on a priority list set for each module, and determines whether to perform the received control command based on the determined priority.

One embodiment of the present invention can provide a computer-readable recording medium storing a program for executing the above method.

According to the present invention, an electronic work vehicle including a plurality of electronic modules can operate safely even when receiving multiple control commands simultaneously or within a short period of time.

Figure 1 is a drawing for schematically comparing the operating devices of a traditional work vehicle and a recent work vehicle of the present invention.
Figure 2 is a diagram schematically showing the raising and lowering movements of the work machine according to hitch operation.
Figure 3 is a schematic diagram showing the entire system for implementing the method according to the present invention.
Figure 4 is a diagram schematically illustrating an example of information on a work vehicle output to the user terminal of Figure 3.
Figure 5 is a block diagram showing an example of sub-modules that constitute devices that implement a method for remotely controlling a work vehicle using priority.
Figure 6 is a flowchart illustrating an example of a method for remotely controlling a work vehicle using priority.
FIG. 7 is a flowchart illustrating another example of a method according to the present invention.
FIG. 8 is a block diagram showing another example of a remote control device according to the present invention.

The present invention can be modified in various ways and can have various embodiments. Specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention and the methods for achieving them will become clear with reference to the embodiments described in detail below together with the drawings. However, the present invention is not limited to the embodiments disclosed below and can be implemented in various forms.

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. When describing with reference to the drawings, identical or corresponding components are given the same drawing reference numerals and redundant descriptions thereof are omitted.

In the examples below, the terms first, second, etc. are not used in a limiting sense but are used for the purpose of distinguishing one component from another.

In the examples below, singular expressions include plural expressions unless the context clearly indicates otherwise.

In the following examples, terms such as “include” or “have” mean that a feature or component described in the specification is present, and do not preclude the possibility that one or more other features or components may be added.

In some embodiments, where the embodiments are otherwise feasible, a particular process sequence may be performed in a different order than the order described. For example, two processes described in succession may be performed substantially simultaneously, or in a reverse order from the order described.

Figure 3 is a schematic diagram showing the entire system for implementing the method according to the present invention.

Referring to FIG. 3, it can be seen that a system (1) for implementing a method for remotely controlling a work vehicle using priority according to one embodiment of the present invention includes a work vehicle (10) equipped with a device (11), a server (20), and a user terminal (50). Here, the device (11), the server (20), and the user terminal (50) can be electrically connected through a communication network (30).

A user may operate the work vehicle (10) by directly riding in the work vehicle (10), or may control the operation of the work vehicle (10) through an external device without riding in the work vehicle (10). That is, in the present invention, a user is a person related to the work vehicle (10), and may be nicknamed an operator or a driver, depending on the embodiment.

In the present invention, the work vehicle (10) may be an agricultural machine such as a tractor or a harvester. The work vehicle (10) may run unmanned (i.e., without a driver) or may run based on the control of a driver. As an example, the work vehicle (10) may be an electric tractor whose driving unit is a motor. In this case, the work vehicle (10) may omit a fuel tank for storing fuel and may include a large battery for supplying power to the motor.

The device (11) is a telematics terminal and is mounted or installed on a work vehicle (10). The device (11) may include a processor (12) that performs various data processing or calculations, a memory (13) that stores various data used by the processor (12), and a communication module (14) for communication with an external device such as a server (20).

The server (20) can support telematics services for a work vehicle (10) equipped with a device (11). To this end, the server (20) includes a communication module (21) and can be connected to a work vehicle (10) (e.g., a device (11) of the work vehicle (10)) through the communication module (21).

In addition, the server (20) includes a memory (23) that stores a program (25) that supports a telematics service. The processor (22) of the server (20) can execute the program (25) stored in the memory (23) to perform data processing or calculation for the telematics service. The processor (22) can load a command or data into the memory (23) (e.g., a volatile memory), process the stored command or data, and store the result data in the memory (23) (e.g., a non-volatile memory). As an example, the server (20) may be a cloud server, but is not limited thereto.

Various information about the work vehicle (10) may be stored in the memory (23) of the server (20). According to one embodiment, information about the device (11) may be the serial number of the telematics terminal mounted on the work vehicle (10). In addition, information about the driver who drives the work vehicle (10) while riding in the work vehicle (10) may be stored in the memory (23) of the server (20).

The communication network (30) performs the function of connecting the work vehicle (10), the server (20), and the user terminal (50), which are components of the overall system (1), and may include various wired and wireless communication networks such as a data network, a mobile communication network, and the Internet. In particular, the communication network (30) in the present invention includes not only the currently used mobile communication network, but also the old-generation mobile communication network that has already been used and then discarded, and the next-generation mobile communication network whose infrastructure is to be built and used in the future, and thus may be one of GSM (Global System for Mobile communications), CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), CDMA 2000, LTE (Long Term Evolution), LTE-A (Long Term Evolution Advanced), 5G (5-Generation), and the 6G mobile communication network scheduled for service in 2030. In addition, the communication network (30) may also include a network implemented through satellite communication, such as STARLINK.

The user terminal (50) is an electronic device of a purchaser who has purchased a work vehicle (10) equipped with a device (11), and may include, for example, a desktop PC, a tablet PC, a laptop, a smartphone, etc., but is not limited thereto. In addition, the user terminal (50) may store programs (e.g., applications) for implementing various telematics services.

The present invention is not limited to the individual components illustrated in FIG. 3. For example, the system (1) may further include other components in addition to the device (11), the server (20), and the user terminal (50). In addition, other components may be added to each of the work vehicle (10), the device (11), the server (20), and the user terminal (50), or some components may be omitted.

Figure 4 is a diagram schematically illustrating an example of information on a work vehicle output to the user terminal of Figure 3.

Below, the explanation will be given with reference to Fig. 3.

As shown in Fig. 4, the user can easily check the speed, RPM, average fuel efficiency (liter per hour), oil temperature, coolant temperature, etc. of the work vehicle (10) through the user terminal (50). The user can check various information of the work vehicle (10) through the user terminal (50), and if it is determined that an operation instruction for the work vehicle (10) is necessary, the user can issue a control command to activate or deactivate a specific function of the work vehicle (10) through the user terminal (50).

In the present invention, the user terminal (50) may be a smart phone as shown in Fig. 4, or may be a dedicated remote control (remocon, remote controller) manufactured to remotely issue a control command to the work vehicle (10). That is, in the present invention, the user terminal (50) is not limited to a specific type of device as long as it can remotely issue a control command to the work vehicle (10) through a communication network.

For example, if the user terminal (50) is the user's smart phone or tablet PC, the control command can be implemented as a unique command script generated by a dedicated application installed on the smart phone or tablet PC. In the past, various functions that were activated only by the user directly boarding the work vehicle (10) and inputting input to a lever or button can be activated by an app installed on a remote control or a portable electronic device in recent tractors equipped with multiple electronic modules and a central controller such as an ECU, and the present invention was also designed based on this premise.

As another example, if the user terminal (50) is a dedicated remote control of the work vehicle (10), the control command is generated from the dedicated remote control and can be transmitted to the work vehicle (10) only through a dedicated channel formed between the work vehicle (10) and the dedicated remote control of the work vehicle (10). At this time, the maintenance time or effective time of the dedicated channel formed between the work vehicle (10) and the dedicated remote control of the work vehicle (10) is based on a preset value, which will be described later.

Figure 5 is a block diagram showing an example of sub-modules that constitute devices that implement a method for remotely controlling a work vehicle using priority.

Referring to FIG. 5, when the cabin sensing unit (510), the cabin control communication unit (520), the RF communication unit (530), and the LTE communication unit (540) transmit a control command to the control priority determination unit (500), it can be seen that after the control priority determination unit (500) determines the priority of the control command, it selectively transmits a control command with the highest priority to a hardware group (590) that implements a core function of the work vehicle (10), thereby activating the corresponding function.

The cabin sensing unit (510) can perform a function of collecting sensing values from various sensors to determine whether a user is on board the work vehicle (10) and transmitting the collected sensing values to the cabin control communication unit (520).

The cabin control communication unit (520) can use the sensing value of a seat sensor installed in a seat inside the cabin to determine whether a user has entered a cabin equipped in a work vehicle (10). For example, if a temperature detection sensor is installed in the seat, the seat sensor can sense that the ambient temperature of the seat has changed to a certain level or more when a user sits on the seat and transmit the sensing value to the cabin sensing unit (510), and the cabin control communication unit (520) can determine whether the user is in the cabin based on the sensing value collected by the cabin sensing unit (510). Unlike the above-described example, the seat sensor may be an infrared sensor, a distance sensor, an impact detection sensor, a sound detection sensor, etc., instead of a temperature detection sensor.

In addition, the sensor collected by the cabin sensing unit (510) may be a sensor other than the seat sensor. For example, the temperature detection sensor, infrared sensor, distance sensor, shock detection sensor, sound detection sensor, etc. described above may be installed in a place other than the seat inside the cabin, and the cabin sensing unit (510) may collect the values of such sensors.

The RF communication unit (530) refers to a module for communicating with a dedicated remote control of the work vehicle (10) located outside the work vehicle (10). Specifically, when a channel is created between the work vehicle (10) and the dedicated remote control of the work vehicle (10), the RF communication unit (530) can perform a function of transmitting the received signal as it is or transmitting the analysis result of primarily analyzing the received signal to the control priority determination unit (500) when an RF (Radio Frequency) signal including a control command is received from the dedicated remote control. The unique number and characteristic value of the channel created in the process of using the dedicated remote control change each time, and such unique number and characteristic value are automatically invalidated when a predetermined period of time passes without communication.

The LTE communication unit (540) may perform a function of receiving a control command from a user terminal (50) based on LTE (Long-Term Evolution) communication and transmitting it to a control priority determination unit (500). The LTE communication unit (540) may include an LTE communication module for implementing LTE communication through a communication network (30), and may further include a timeout counter module for counting a certain timeout time when a control command is received from the user terminal (50). In FIG. 5, it is conveniently referred to as an LTE communication unit (540) and described accordingly, but depending on the embodiment, the LTE communication unit (540) may further include a communication module for implementing not only old generation communication such as 2nd generation and 3rd generation communication but also 5th generation (5G) communication. The LTE communication unit (540) may be implemented in a form included in the communication unit described later in FIG. 8, and this will be described later.

The control priority determination unit (500) can receive control commands from the cabin sensing unit (510), cabin control communication unit (520), RF communication unit (530), and LTE communication unit (540) described above, and analyze the received control commands to determine the control priority. The control priority determination unit (500) instructs an appropriate control operation for at least one of the various hardwares included in the hardware group (590) based on the finally determined control priority.

The hardware group (590) collectively represents a plurality of hardware or modules that are controlled by receiving a control signal from the control priority judgment unit (500). In Fig. 5, the hardware group (590) includes, but is not limited to, a starting module, a PTO (power take off), a hitch, a PRND change module, a lighting module, and a loader control module of the work vehicle (10).

Figure 6 is a flowchart illustrating an example of a method for remotely controlling a work vehicle using priority.

The method illustrated in FIG. 6 can be implemented by a device (11) including a control priority determination unit (500), a cabin sensing unit (510), a cabin control communication unit (520), an RF communication unit (530), and an LTE communication unit (540) described in FIG. 5, and hereinafter, for convenience of explanation, the device will be abbreviated as a 'remote control device (11)'. In addition, hereinafter, the description will be made with reference to FIG. 3.

First, the remote control device (11) can download a control priority list from the server (20) (S605).

Table 1 shows an example of a control priority list downloaded by the remote control device (11) in step S605. Referring to Table 1, it can be seen that the functions that are the control command targets of the work vehicle (10), the hardware (module) related to the functions, and the three priorities are each mapped by function index. When interpreting Table 1, when the remote control device (11) receives a control command related to the starting function of the work vehicle (10) from the controller inside the cabin, the remote control, and the app, respectively, it can operate to control the drive unit of the work vehicle (10) based on the control signal according to the controller inside the cabin with the highest priority. At this time, if the work vehicle (10) is a traditional tractor, the drive unit that receives the control signal can be an engine, and if the work vehicle (10) is an electric tractor, the drive unit that receives the control signal can be a motor.

The remote control device (11) receives various control commands from multiple devices after downloading the control priority list, and inputs the received control commands into the control priority determination unit (500) so that the priorities among the control commands can be determined (S610). For example, the remote control device (11) is assumed to sequentially receive control commands generated by a dedicated remote control and an app (application) installed on a smartphone used by the user, and the following process will be described. In addition, it is assumed that both control commands are commands for 'lighting' among the many modules (hardware) that constitute the work vehicle (10), and the control command by the dedicated remote control is abbreviated as the first command, and the control command by the app on the smartphone is abbreviated as the second command, respectively.

Next, the remote control device (11) refers to the control priority list downloaded in step S605 to determine whether the second command is a command with priority 1 (first priority) (S615), and if it is a command with priority 1, the operation of the 'lighting' can be controlled immediately according to the control command (S650).

Meanwhile, the remote control device (11) can determine whether the second command is a command of the second priority if the second command is not a command of the first priority (S620), and if the second command is a command of the second priority, can determine whether a control command of the first priority is in use (S625). The process of determining whether the control command is in use in step S625 means a process of determining whether the control command is in a validly activated state.

If the control command with the first priority remains valid, the control command with the second priority is automatically discarded, but if the control command with the first priority was valid in the past but is invalid, it is most in line with the user's intention to apply the control command with the second priority. Therefore, the present invention includes a process of first determining the priority of the received control command and then secondarily determining whether a control command with a higher priority is in use. In this way, if the control command with the first priority is in use in step S625, the remote control device (11) can ignore the last received second command (S660), and if the control command with the first priority is not in use in step S625, the remote control device (11) can execute the control command for 'lighting' according to the last received second command (S650).

Meanwhile, the remote control device (11) determines whether the second command is of the third priority if it is not of the second priority in step S620 (S630), and, based on the result of the determination, determines the activation status of the control command of the first priority or the second priority (S635, S640), or ignores the second command (S660).

According to the process of the present invention illustrated in FIG. 6, when there is a control command received at the most recent point in time, the priority of the control command is first determined, and when it is determined that the control command is not the first priority, it is secondarily or tertiarily determined whether a control command with a higher priority than the control command is in use, and by clearly distinguishing that the control command is applied to the operation of the lower modules of the work vehicle (10), even if control commands for specific modules of the work vehicle (10) are input through various routes, no conflict of control commands occurs, and thus the reliability and safety of the operation of the work vehicle (10) can be significantly improved. That is, according to the present invention, safety accidents such as fatal accidents can be prevented in advance.

In particular, in reality, in the process of connecting a work machine to a work vehicle such as a tractor, there are many cases where a user commands the connection of the work machine from the outside without boarding the tractor, and in such a situation, if control commands for the same module for the work vehicle are input with different directions through multiple routes, the work vehicle may operate in a direction not desired by the user, resulting in a fatal accident or material damage. However, according to the present invention, since the priority between control commands is clear, the accident occurrence rate can be significantly reduced.

FIG. 7 is a flowchart illustrating another example of a method according to the present invention.

The method according to Fig. 7 can be implemented by the remote control device (11) of Fig. 3, and will be described below with reference to Figs. 3 to 6. In addition, any description that overlaps with the contents already described in Figs. 3 to 6 will be omitted.

The remote control device (11) can receive a control command for one of the modules included in the work vehicle (10) (S710).

The remote control device (11) can determine the creator of the received control command (S730).

In step S730, the subject of generation of the control command determined by the remote control device (11) may be any one of the controller inside the cabin, the dedicated remote control, and the app installed on the user terminal, as described in Table 1. Depending on the embodiment, the subject of generation of the control command may be more or less than the three types described above (the controller inside the cabin, the dedicated remote control, and the user terminal).

Table 2 is an example of a priority list when there are four types of control command creators. Comparing Table 2 with Table 1, it can be seen that the cabin controller in Table 1 is subdivided into cabin controller (1) and cabin controller (2). In Table 2, cabin controller (1) refers to a control command generated by inputting a lever or button inside the cabin after user information is properly input and the user logs in by the IVI touch panel installed inside the cabin of the work vehicle (10), and cabin controller (2) refers to a control command generated by inputting a lever or button inside the cabin when user information is not input.

In other words, the controller (1) inside the cabin and the controller (2) inside the cabin both refer to the same hardware, but depending on whether a login process is performed in advance, the former can be conceptually distinguished as a device input by an authenticated user, and the latter as a device input by a user who has omitted the authentication procedure. For example, referring to Table 2, if a legitimate user 1 of a work vehicle (10) issues a control command to turn on the engine of the work vehicle (10) through an app, and a user 2 who does not have the authority to use the work vehicle (10) gets into the cabin of the work vehicle (10) and issues a control command to turn off the engine of the work vehicle (10) through various levers or buttons installed inside the cabin, the engine of the work vehicle (10) can be turned on because the control command with a priority of 3 (third priority) has a higher priority than the control command with a priority of 4 (fourth priority).

The remote control device (11) can determine the priority level of the creation subject determined in step S730 based on the priority list set for each module of the work vehicle (S750).

In step S750, the priority list may be information received from the server (20). In the present invention, the priority list has already been described in Table 1. The priority list is continuously stored in the memory (23) of the server (20), and its contents may be changed by an administrator who can modify or update the priority list stored in the memory (23) of the server (20). In addition, according to the embodiment, the user of FIG. 3 may also receive a limited authority to change the priority list from the server (20) through a management application installed on the user terminal. At this time, the user may arbitrarily change the priority list based on the logged-in information to increase the convenience of work through the work vehicle (10).

As another example, the priority list may be information that the remote control device (11) receives from the server (20) under the condition that the engine of the work vehicle (10) is turned off and then started. According to the present embodiment, the priority list is updated every time the engine is turned off and then started again, thereby preventing the case where the priority list is not updated for a long time.

As another example, the priority list may be information that the remote control device (11) receives from the server (20) under the condition that the work vehicle (10) is connected to the charging cable. This embodiment is an effective embodiment when the work vehicle (10) is an electric tractor that is charged via the charging cable, and the priority list can be updated only when the work vehicle (10) is connected to the charging cable and is stably supplied with power.

The remote control device (11) can determine whether to perform the control command received in step S710 according to the priority determined in step S750 (S770).

FIG. 8 is a block diagram showing another example of a remote control device according to the present invention.

Hereinafter, the remote control device (800) of Fig. 8 is the same device as the remote control device (11) described in Fig. 3, and therefore, it is considered that all of the processes of the remote control device (11) described in Figs. 3 to 7 can be implemented.

Referring to FIG. 8, the remote control device (800) may include a communication unit (810), a processor (820), and a DB (830). Only components related to the embodiment are illustrated in the remote control device (800) of FIG. 8. Therefore, a person skilled in the art will understand that other general components may be included in addition to the components illustrated in FIG. 8.

The communication unit (810) may include one or more components that enable wired/wireless communication with an external server or external device. For example, the communication unit (810) may include at least one of a short-range communication unit (not shown), a mobile communication unit (not shown), and a broadcast receiving unit (not shown).

DB (830) is a hardware that stores various data processed within the remote control device (800) and can store a program for processing and controlling the processor (820).

DB (830) may include random access memory (RAM) such as dynamic random access memory (DRAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), CD-ROM, Blu-ray or other optical disk storage, hard disk drive (HDD), solid state drive (SSD), or flash memory.

The processor (820) controls the overall operation of the remote control device (800). For example, the processor (820) can control the input unit (not shown), the display (not shown), the communication unit (810), the DB (830), etc., by executing programs stored in the DB (830). The processor (820) can control the operation of the remote control device (800) by executing programs stored in the DB (830).

As an example, when the communication unit (810) receives a control command for one of the modules included in the work vehicle, the processor (820) can determine the subject of generation of the control command, determine the priority of the subject of generation based on a priority list set for each module, and determine whether to perform the received control command based on the determined priority.

The processor (820) may be implemented using at least one of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, micro-controllers, microprocessors, and other electrical units for performing functions.

The embodiments of the present invention described above may be implemented in the form of a computer program that can be executed through various components on a computer, and such a computer program may be recorded on a computer-readable medium. At this time, the medium may include a magnetic medium such as a hard disk, a floppy disk, and a magnetic tape, an optical recording medium such as a CD-ROM and a DVD, a magneto-optical medium such as a floptical disk, and a hardware device specifically configured to store and execute program instructions, such as a ROM, a RAM, a flash memory, and the like.

Meanwhile, the computer program may be one that is specifically designed and constructed for the present invention or one that is known and available to those skilled in the art of computer software. Examples of computer programs may include not only machine language codes created by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc.

The specific implementations described in the present invention are only exemplary embodiments and do not limit the scope of the present invention in any way. For the sake of brevity of the specification, descriptions of conventional electronic configurations, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connections or lack of connections of lines between components illustrated in the drawings are merely exemplary of functional connections and/or physical or circuit connections, and may be replaced or represented as various additional functional connections, physical connections, or circuit connections in an actual device. In addition, if there is no specific mention such as “essential,” “important,” etc., it may not be a component absolutely necessary for the application of the present invention.

The use of the term “above” and similar referential terms in the specification of the present invention (especially in the claims) may be in both singular and plural. In addition, when a range is described in the present invention, it includes an invention that applies individual values belonging to the range (unless otherwise stated), and it is the same as describing each individual value constituting the range in the detailed description of the invention. Finally, unless there is an explicit description or contrary description of the order of the steps constituting the method according to the present invention, the steps may be performed in any suitable order. The invention is not necessarily limited by the order of the steps described. The use of all examples or exemplary terms (e.g., etc.) in the present invention is merely for the purpose of describing the invention in detail, and the scope of the invention is not limited by the examples or exemplary terms unless otherwise defined by the claims. In addition, those skilled in the art will recognize that various modifications, combinations, and alterations can be made according to design conditions and factors within the scope of the appended claims or their equivalents.

800: Remote control device
810: Communications Department
820: Processor
830: DB

Claims (11)

A step of receiving a control command for a first module among the modules included in a work vehicle;
A step for determining the creator of the above received control command;
A step of determining the priority of the determined creator based on the priority list set for each module;
A step of determining whether to perform the received control command according to the determined priority;
The step of determining the above creator is:
One of the controller inside the cabin of the above work vehicle, the remote control for the above work vehicle, and the application installed on the user terminal is judged to be the subject of the control command,
The above priority list is:
Information on the priorities of the controller, the remote control, and the application for controlling the modules included in the work vehicle is processed in a table format.
The step of determining whether to perform the above is:
If the above judged priority is the first priority, the received control command is immediately executed in the first module,
If the above-determined priority is the second priority, determine whether a control command according to the first priority is being performed, and only if the control command according to the first priority is not being performed, perform the received control command.
A method for remotely controlling a work vehicle using priorities, wherein if the above-determined priority is the third priority, it is determined whether any one of the control commands according to the generating subjects of the first and second priorities is being executed, and only if the control commands according to the generating subjects of the first and second priorities are not being executed, the received control command is executed. In the first paragraph,
The above priority list is:
A method for remotely controlling a work vehicle using priority information received from a server. In the second paragraph,
The above priority list is:
A method for remotely controlling a work vehicle using priority, which is information received from the server under the condition that the engine of the work vehicle is started. In the second paragraph,
The above priority list is:
A method for remotely controlling a work vehicle using priority, which is information received from the server under the condition that the work vehicle is connected to a charging cable. delete In the first paragraph,
The step of determining the above creator is:
A remote control method of a work vehicle using priority, wherein the controller inside the cabin of the work vehicle is determined to be the generator of the control command based on information sensed by a sensor of a seat installed inside the cabin of the work vehicle. In the first paragraph,
The above module,
A method for remotely controlling a work vehicle using priority, the method comprising: a driving unit generating power to move the work vehicle; a PTO connected to the driving unit; a hitch of the work vehicle; a PRND control unit of the work vehicle; lighting of the work vehicle; and a module for controlling a loader of the work vehicle. In Article 7,
The above work vehicle is an electric tractor.
The above driving unit is a motor, a remote control method of a work vehicle using priority. delete A computer-readable recording medium storing a program for executing the method according to Article 1. A remote control device utilizing priority mounted on a work vehicle,
Department of Communications;
memory in which at least one program is stored; and
By executing at least one program, a processor is included that performs the operation,
The above processor,
When the above communication unit receives a control command for the first module among the modules included in the work vehicle, it determines the creator of the received control command,
Based on the priority list set for each module above, the priority of the determined creator is determined,
Depending on the priority determined above, it is determined whether to execute the received control command,
The above priority list is:
This is information processed in a table format regarding the priorities of the controller inside the cabin of the work vehicle for controlling the modules included in the work vehicle, the remote control for the work vehicle, and the application installed on the user terminal.
The above processor,
One of the above controller, the above remote control, or the above application is determined to be the creator of the control command,
If the above judged priority is the first priority, the received control command is immediately executed in the first module,
If the above-determined priority is the second priority, determine whether a control command according to the first priority is being performed, and only if the control command according to the first priority is not being performed, perform the received control command.
A remote control device utilizing priorities, which determines whether any one of the control commands according to the generating subjects of the first and second priorities is being executed if the above-determined priority is the third priority, and executes the received control command only if the control commands according to the generating subjects of the first and second priorities are not being executed.

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