# US 11,898,323 B2 · Control system and traveling vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,898,323 B2 - Document ID: US11898323B2 - Status: Granted - Kind: B2 - Application number: 17/016,681 - Filed: 2020-09-10 - Published: 2021-03-18 - Granted: 2024-02-13 - Earliest claimed: 2019-09-13 - Assignees: Kubota Corporation - Applicants: Kubota Corporation - Inventors: Shinnosuke Ishikawa; Susumu Umemoto; Ryo Kurata - Web page: https://patentgrep.com/patent/US11898323B2 ## CPC - A01B 59/00: Devices specially adapted for connection between animals or tractors and agricultural machines or implements - E02F 9/205: {Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence)} - A01B 71/02: Setting or adjusting mechanisms - G06F 21/305: {by remotely controlling device operation} - G06F 21/44: Program or device authentication - A01B: SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL (making or covering furrows or holes for sowing, planting or manuring A01C5/00; mowers convertible to soil working apparatus or capable of soil working A01D42/04; mowers combined with soil working implements A01D43/12; soil working for engineering purposes E01, E02, E21) - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract A control system to control a work machine and a traveling vehicle traveling with the work machine, includes a first communication device and a second communication device each of which controls operation of the traveling vehicle and at least one of which includes an authenticator to authenticate the work machine by communicating with a third communication device to control operation of the work machine, and a notifier to notify the other one of the first communication device and the second communication device that the authenticator succeeded in authentication, the first communication device and the second communication device each being prohibited, unless the authenticator succeeds in authentication, from at least controlling operation of the traveling vehicle in accordance with information sent from the third communication device. ## Claims ### Claim 1 A control system for controlling a work machine and a traveling vehicle traveling while being provided with the work machine, the control system comprising: a first computer configured or programmed to define and function as a first communication device and a second computer configured or programmed to define and function as a second communication device each to independently give an instruction to a traveling vehicle control device that controls operation of the traveling vehicle, the first communication device and the second communication device being mutually communicable with each other, and at least one of the first communication device and the second communication device being configured or programmed to include: an authenticator to authenticate the work machine by communicating with a third communication device to provide an instruction to a work machine control device, provided in the work machine, that controls operation of the work machine; a notifier to notify the other one of the first communication device and the second communication device that the authenticator succeeded in authentication; and the first communication device and the second communication device each being prohibited, unless the authenticator succeeds in authentication, from at least controlling operation of the traveling vehicle in accordance with information sent from the third communication device. ### Claim 2 (depends on 1) The control system as set forth in claim 1, wherein the second communication device is configured or programmed to include the authenticator and the notifier; and the first communication device is configured or programmed to include an information transmitter to send, to the third communication device, traveling vehicle information on the traveling vehicle. ### Claim 3 (depends on 2) The control system as set forth in claim 2, wherein the second communication device is configured or programmed to further include: an information receiver to obtain, from the third communication device of the work machine that has been authenticated by the authenticator, work machine information on the work machine; and an instruction generator to control operation of the traveling vehicle in accordance with the work machine information. ### Claim 4 (depends on 2) The control system as set forth in claim 2, wherein the first communication device is configured or programmed to further include: a first information receiver to obtain, from the third communication device of the work machine that has been authenticated by the authenticator, first specification information that specifies first operation of the traveling vehicle; and a first instruction generator to control the first operation of the traveling vehicle in accordance with the first specification information; and the second communication device is configured or programmed to further include: a second information receiver configured to obtain, from the third communication device of the work machine that has been authenticated by the authenticator, second specification information that specifies second operation of the traveling vehicle; and a second instruction generator to control the second operation of the traveling vehicle in accordance with the second specification information. ### Claim 5 (depends on 2) The control system as set forth in claim 2, wherein the first communication device is configured or programmed to further include: an information receiver to obtain, from the third communication device of the work machine that has been authenticated by the authenticator, work machine information on the work machine; and an instruction generator to control operation of the traveling vehicle in accordance with the work machine information. ### Claim 6 (depends on 2) The control system as set forth in claim 2, wherein the first communication device is configured or programmed to further include the authenticator and the notifier; and the first communication device and the second communication device are each prohibited, unless the authenticator of the first communication device and the authenticator of the second communication device both succeed in authentication, from at least controlling operation of the traveling vehicle in accordance with the information sent from the third communication device. ### Claim 7 (depends on 1) A traveling vehicle comprising the control system as set forth in claim 1. ### Claim 8 (depends on 1) The control system as set forth in claim 1, wherein the first communication device includes a successful authentication determining section to determine that the authentication was successful when receiving, from the second communication device, a notification notifying that the authentication was successful. ### Claim 9 (depends on 1) The control system as set forth in claim 1, wherein each of the first communication device and the second communication device is communicable with the third communication device. ### Claim 10 (depends on 4) The control system as set forth in claim 4, wherein the first specification information includes information that specifies a traveling speed of the traveling vehicle; and the second specification information includes information that specifies operation of a connecting unit connecting the traveling vehicle and the work machine.