JP2018173764A - Information gathering system of agricultural work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an information gathering system of an agricultural work vehicle capable of easily complementing information stored in a server.SOLUTION: An information gathering system of an agricultural work vehicle 1 of the present invention includes: a server 100 for storing a drive state of the agricultural work vehicle 1 as basic history information by communication with the agricultural work vehicle 1; and a remote control device 70 capable of communicating with the agricultural work vehicle 1 in a work area H1 of the agricultural work vehicle 1. The remote control device 70 stores the drive state of the agricultural work vehicle 1 as additional history information. Then, when the remote control device 70 is communicatively connected with the server 100, the server 100 combines the basic history information with the additional history information and stores combined information.SELECTED DRAWING: Figure 14

Description

  The present invention relates to a farm vehicle information collection system that stores drive information in each of a server and a terminal device that communicate with the farm vehicle.

  In recent years, in order to efficiently and easily perform farm work on a farm field, a farm field data collection system has been proposed in which work contents by farm machines in the farm field are converted into data and the work contents are collected by a collection device installed on the farm machine ( Patent Document 1). Further, a production management system that uses a work plan registered for a work area in a remote server has been proposed (see Patent Document 2). In the production management system of Patent Document 2, operation information on the work vehicle is recorded in a remote server.

JP 2013-210692 A JP, 2006-076123, A

  By the way, in the field data collection system of patent document 1, in order to collect a lot of work contents as history information in order to collect work contents in the collection device installed in the agricultural machine, the collection device by a large-capacity storage device is installed. There is a need to. On the other hand, in the production management system of Patent Document 2, since a telephone line network is used for communication connection with a remote server, there is a limit to the data capacity that can be transmitted to the remote server, and the data sampling interval becomes long. Cannot memorize detailed work history.

  This invention is made | formed in view of said present condition, and makes it the technical subject to provide the information collection system of the farm work vehicle which can supplement easily the information memorize | stored in the server.

  The present invention relates to a farm work vehicle comprising: a server that stores the driving state of the farm work vehicle as basic history information by communication with the farm work vehicle; and a remote control device that can communicate with the farm work vehicle in a work area of the farm work vehicle. In the information collection system, the remote operation device stores the driving state of the farm vehicle as additional history information, and when the remote operation device and the server are connected for communication, the server The information is combined with the additional history information and stored.

  In the information collecting system, the basic history information and the additional history information each include time information, and the server compares the basic history information and the additional history information to detect matching feature points. A time difference is calculated based on time information at each feature point of the basic history information and the additional history information, and the basic history information and the additional history information are matched by matching the time information of the basic history information and the additional history information. It is good also as what synthesize | combines.

  In the information collection system, the basic history information and the additional history information may each include position information of the farm work vehicle, and the feature point may be position information of the farm work vehicle.

  In the information collection system, the feature point may be driving state information representing a driving state of the farm work vehicle.

  In the information collection system, the basic history information and the additional history information each include an identifier assigned to the work area, and the server performs the work on the basic history information and the additional history information. A work start point or work end point in the work area by the farm work vehicle may be detected based on an area identifier, and the work start point or the work end point may be used as the feature point.

  According to the present invention, the additional history information can be stored in the remote control device that performs communication with the farm vehicle in the work area, and the basic history information in the server can be interpolated with the additional history information. Can store a simple work history. Therefore, the analysis accuracy for farm work executed in the past is improved, and an efficient work plan can be established by setting the farm work plan based on the analysis result.

It is a whole view showing composition of an autonomous running system in an embodiment. It is a side view of the tractor which is an agricultural work vehicle in the autonomous running system of FIG. It is a top view of the tractor. It is a functional block diagram of the tractor. It is a timing chart which shows the authentication operation | movement for the start of autonomous driving | running | working. It is a timing chart which shows the communication operation | movement during autonomous driving | running | working. It is a timing chart which shows the communication operation | movement when abnormality generate | occur | produces during autonomous driving | running | working. It is explanatory drawing which shows the communication state at the time of autonomous driving | running | working of a tractor. It is explanatory drawing which shows the positional information on the tractor in an agricultural field. It is explanatory drawing which shows the relationship between the positional information on the tractor in an agricultural field, standard time, and this machine time. It is a figure which shows the structure of the basic work log | history information memorize | stored in a server. It is a figure which shows the structure of the additional work log | history information memorize | stored in a remote control device. It is a timing chart which shows collation operation | movement of the work history in a server. It is explanatory drawing which shows the collation operation | movement of the work history in a server. It is a figure which shows the structure of the work history information after the synthesis | combination memorize | stored in a server. It is a whole side view of an unmanned tractor and a manned tractor. It is the whole side view of a plurality of unmanned tractors monitored with one remote control device.

<Autonomous driving system>
DESCRIPTION OF EMBODIMENTS Embodiments embodying the present invention will be described below with reference to the drawings. First, an autonomous traveling system that autonomously travels a tractor that is an example of an agricultural vehicle according to the present invention will be described below with reference to FIGS. In the following description, a tractor that performs autonomous traveling and autonomous work may be referred to as an “unmanned tractor” or a “robot tractor”, and a tractor that travels and operates by direct operation by an operator may be referred to as a “manned tractor”. .

  In this embodiment, the difference between the unmanned tractor and the manned tractor is whether or not the operator directly operates, and the configuration as the tractor is common to unmanned and manned. That is, even an unmanned tractor can be operated (boarded) by an operator and operated directly (in other words, it can be used as a manned tractor). Moreover, even if it is a manned tractor, an operator can get off and can perform autonomous driving | running | working and autonomous work (in other words, it can be used as an unmanned tractor).

  Furthermore, the autonomous traveling is a configuration in which the tractor 1 is provided for traveling by the autonomous traveling control device 51 or the like included in the tractor shown in FIG. 4, and the tractor 1 travels along a predetermined route. Means that. Further, in this specification, the autonomous work means that the configuration that the tractor 1 is equipped with for work is controlled by the autonomous traveling control device 51 and the like, and the tractor 1 performs work along a predetermined route.

  As shown in FIG. 1, in the autonomous traveling system of the present embodiment, the remote operation device 70 operated by the operator performs wireless communication with the tractor 1 in the field (work area) H <b> 1, thereby The autonomous traveling of the tractor 1 that acquires position information (positioning information) by communication is controlled. The unmanned tractor 1 communicates with the server 100 installed in the management center C1 through a communication network N1 such as a telephone line network, and the driving information of the tractor 1 is transmitted to the server 100 together with position information (positioning information) and time information. Sent to. The server 100 accumulates driving information of the unmanned tractor 1 together with position information and time information, and stores it as work history information.

  A reference station (portable reference station) 60 is installed in the vicinity of the farm field H1, and the reference station 60 includes position information serving as a reference point that is an installation position, and a signal from the positioning satellite 63 (hereinafter referred to as “satellite signal”). Is directly received by the positioning antenna 61, and a signal from the positioning satellite 63 (hereinafter referred to as "vehicle signal") received by the unmanned tractor 1 by the wireless communication antenna 64 is indirectly received.

  The reference station 60 uses the reference station communication device 62 to calculate position correction information from the satellite signal and the vehicle signal by the RTK positioning method or the like, and transmits the position correction information to the tractor 1 through the wireless communication antenna 64. The tractor 1 corrects the satellite positioning information measured by the positioning antenna 6 (see FIG. 2) by using the correction information transmitted from the reference station 60, and the current position information of the tractor 1 (for example, latitude information / longitude information). )

  In the field H1, the remote control device 70 performs wireless communication with the tractor 1 without communication connection to the communication network N1, receives the driving information of the tractor 1 together with position information and time information, and serves as work history information. Remember. The operator operates the remote operation device 70 while visually confirming the situation in the field H1 and the state of the tractor 1, thereby starting the autonomous traveling and the tractor 1 connected to the remote operation device 70 in communication. Stop can be instructed.

  In the operator's office O1, the remote control device 70 is connected to an access point 90 such as a router connected to the communication network N1 via an ONU (Optical Network Unit) or a modem. The remote operation device 70 can communicate with the server 100 via the communication network N1 by establishing communication connection with the access point 90 in the office O1. Then, the remote control device 70 becomes communicable with the server 100. The work history information of the tractor 1 already stored is transmitted to the server 100.

  When the server 100 receives the work history information from the remote control device 70 (hereinafter referred to as “additional work history information”), the server 100 has already received and stored the work history information (hereinafter referred to as “basic work history”). Information)). Then, the server 100 collates the basic work history information and the additional work history information to generate updated work history information in which the additional work history information is added to the basic work history information, and the name of the operator who operated the tractor 1 It is memorized with the model etc.

  The external terminal device (service tool) 80 is a terminal device owned by a service person of the sales company or manufacturing company of the tractor 1, and can communicate with the tractor 1 by being wired to the tractor 1. When the tractor 1 connected to the external terminal device 80 communicates with the server 100 via the communication network N1, for example, software (firmware) update in a control device or the like in the tractor 1 or failure diagnosis of the tractor 1 can be performed. Executed.

<Tractor>
Next, the tractor 1 will be described below with reference to FIGS. As shown in FIG.2 and FIG.3, the tractor 1 is equipped with the body 2 which autonomously travels the agricultural field H1. The machine body 2 is provided with a work machine 3 detachably. The work machine 3 is used for farm work. Examples of the work machine 3 include various work machines such as a tillage machine, a plow, a fertilizer machine, a mowing machine, and a seeding machine. A desired work machine 3 is selected from these as required, and the machine body 2 Can be attached to. The machine body 2 is configured to be able to change the height and posture of the mounted work machine 3. The airframe 2 which is the airframe of the tractor 1 has a front portion supported by a pair of left and right front wheels 7 and 7 and a rear portion supported by a pair of left and right rear wheels 8 and 8. The front wheels 7 and 7 and the rear wheels 8 and 8 constitute a traveling part.

  A bonnet 9 is disposed at the front of the machine body 2. The bonnet 9 accommodates an engine 10 that is a drive source of the tractor 1. The engine 10 can be configured by, for example, a diesel engine, but is not limited thereto, and may be configured by, for example, a gasoline engine. Further, as the drive source, an electric motor may be used in addition to or instead of the engine.

  Behind the bonnet 9 is a cabin 11 on which an operator boardes. Inside the cabin 11, there are mainly provided a steering handle 12 for the operator to steer, a seat 13 for the operator to sit on, and various operating devices for performing various operations. Yes. However, the agricultural work vehicle is not limited to the one with the cabin 11 and may be one without the cabin 11.

  Although illustration is omitted, examples of the operation device include a monitor device, a throttle lever, a main transmission lever, a lift lever, a PTO switch, a PTO transmission lever, and a plurality of hydraulic transmission levers. These operating devices are arranged in the vicinity of the seat 13 or in the vicinity of the steering handle 12.

  The monitor device is configured to display various information of the tractor 1. The throttle lever is for setting the rotational speed of the engine 10. The main transmission lever is used to change the transmission ratio of the transmission case 22. The raising / lowering lever is for raising / lowering the height of the working machine 3 mounted on the machine body 2 within a predetermined range. The PTO switch is used to intermittently transmit power to a PTO shaft (power extraction shaft) protruding outward from the rear end side of the mission case 22. That is, when the PTO switch is in the ON state, power is transmitted to the PTO shaft and the PTO shaft rotates to drive the work machine 3, while when the PTO switch is in the OFF state, the power to the PTO shaft is cut off. The PTO shaft does not rotate and the work machine 3 stops. The PTO shift lever is used to change the power input to the work machine 3, and specifically, is used to change the rotation speed of the PTO shaft. The hydraulic shift lever is for switching the hydraulic external take-off valve.

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

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

  As shown in FIG. 4, the tractor 1 is an engine control device that can communicate with each other via a vehicle bus line 18 as a control unit for controlling the operation (forward, reverse, stop, turn, etc.) of the airframe 2. 15, a machine control device 16 and a work machine control device 17 are provided. An output side of the engine control device 15 is electrically connected to a common rail device 41 as a fuel injection device provided in the engine 5. On the other hand, the input side of the engine control device 15 is electrically connected to a rotational speed sensor 31 that detects the rotational speed of the engine 5.

  The output side of the machine control device 16 includes a transmission 42 including a hydraulic transmission that shifts the power from the engine 5, and left and right braking devices that brake power transmission to the left and right rear wheels 8 in the rear axle 24. 26 or the like. On the other hand, the input side of the machine control device 16 is electrically connected to a vehicle speed sensor 32 that detects the rotational speed of the rear wheel 8, a tilt angle sensor 33 that detects the tilt angle and the tilt angular speed of the fuselage 2, and the like. In addition, the output side of the work implement control device 17 is electrically connected to the work implement lifting / lowering actuator 44, and the input side of the work implement control device 17 detects the posture or operation state of the work implement 3. And electrically connected.

  The tractor 1 includes a vehicle-mounted terminal device 19 connected to the vehicle bus line 18, and the vehicle-mounted terminal device 19 can be connected to the communication network N1 via a wireless telephone line or the like. That is, the tractor 1 can communicate with the server 100 of the management center C1 by connecting to the communication network N1 through the vehicle-mounted terminal device 19. Further, the tractor 1 is provided with a vehicle bus line 18 and an external terminal (not shown) that can be connected, and an external terminal device (service tool) 80 such as a computer operated by a serviceman is electrically connected to the vehicle bus line 18. It is configured to be connectable.

  The common rail device 41 injects fuel into each cylinder of the engine 10. In this case, the fuel injection valve of the injector for each cylinder of the engine 10 is controlled to open and close by the engine control device 15, so that high-pressure fuel pumped from the fuel tank to the common rail device 41 by the fuel supply pump is sent from each injector to the engine 10. The injection pressure, the injection timing, and the injection period (injection amount) of the fuel injected into each cylinder and supplied from each injector are controlled with high accuracy.

  Specifically, the transmission 42 is, for example, a movable swash plate type hydraulic continuously variable transmission, and is provided in the transmission case 22. By controlling the transmission 42 by the main unit control device 16 and adjusting the angle of the swash plate as appropriate, the transmission ratio of the transmission case 22 can be set to a desired transmission ratio.

  The lift actuator 44 operates, for example, a three-point link mechanism that connects the work machine 3 to the machine body 2 to move the work machine 3 to a retracted position (a position where farm work is not performed) or a work position (a position where farm work is performed). It raises or lowers to either. By controlling the elevating actuator 44 by the work machine control device 17 and appropriately moving the work machine 3 up and down, for example, farm work can be performed by the work machine 3 at a desired height in the field area.

  The tractor 1 including the control devices 15 to 17 as described above is configured such that the control devices 15 to 17 communicate with each other via the vehicle bus line 18 based on various operations of an operator boarded in the cabin 11. By controlling each part (the machine body 2, the work machine 3, etc.), the farm work can be executed while traveling in the farm field. In addition, the tractor 1 according to the embodiment can autonomously travel based on a predetermined control signal output from the remote operation device 70, for example, without an operator boarding.

  Specifically, as shown in FIG. 4, the tractor 1 is added with various configurations such as an autonomous traveling control device 51 for enabling autonomous traveling. Further, the tractor 1 is provided with various configurations such as a positioning antenna 6 necessary for acquiring position information of itself (the body) based on the positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and can autonomously travel on the field.

  Next, the structure with which the tractor 1 is provided for autonomous traveling will be described in detail. Specifically, as shown in FIGS. 2 to 4, the tractor 1 includes an autonomous traveling control device 51, a steering control device 52, a positioning survey device 53, a wireless communication router (low power data communication device) 54, and a steering actuator 43. A positioning antenna 6, a wireless communication antenna unit 48, and the like.

  The autonomous traveling control device 51 and the steering control device 52 are configured to be able to communicate with the engine control device 15, the machine control device 16, and the work implement control device 17 via the vehicle bus line 18. In addition, the autonomous traveling control device 51 is connected to each of the positioning surveying device 53 and the wireless communication router 54 via the autonomous traveling bus line 56 in the autonomous traveling communication system different from the steering communication system using the vehicle bus line 18. Mutual communication is possible.

  The steering actuator 43 is provided, for example, in the middle of the rotation shaft (steering shaft) of the steering handle 12 and adjusts the turning angle (steering angle) of the steering handle 12. When the tractor 1 travels (as an unmanned tractor) along a predetermined route, the steering control device 52 calculates an appropriate rotation angle of the steering handle 12 so that the tractor 1 travels along the route. The steering actuator 43 is controlled so that the steering handle 12 rotates at the rotation angle.

  Further, the steering control device 52 receives a detection signal of the rotation angle of the steering handle 12 from the steering angle sensor 35, and via the vehicle bus line 18, the engine control device 15, the machine control device 16, and the work implement control device 17. By communicating with each, steering according to the vehicle speed of the tractor 1 can be executed. Note that the steering actuator 43 does not adjust the turning angle of the steering handle 12, but may adjust the steering angle of the front wheel 7 of the tractor 1. In this case, the steering handle 12 even if turning is performed. Does not rotate.

  The positioning antenna 6 receives a signal from a positioning satellite constituting a positioning system such as a satellite positioning system (GNSS). The positioning antenna 6 is disposed on the upper surface of the roof 14 in the cabin 11. The signal received by the positioning antenna 6 is input to the positioning surveying device 53, and the positioning surveying device 53 calculates the position information of the tractor 1 (strictly, the positioning antenna 6) as, for example, latitude / longitude information. The position information calculated by the positioning surveying device 53 is acquired by the autonomous traveling control device 51 and used for controlling the tractor 1.

  The positioning surveying device 53 is electrically connected to the first wireless communication antenna 48a in the wireless communication antenna unit 48, and will be described later through a first wireless communication network (for example, a wireless communication network in the 920 MHz band) using specific low power wireless. Communicates with a reference station (portable reference station) 60 to be used. The wireless communication antenna unit 48 is disposed on the upper surface of the roof 14 in the cabin 11. The positioning surveying device 53 corrects the satellite positioning information of the tractor 1 (mobile station) by receiving correction information (positioning correction information) from the reference station 60 installed at the agricultural field proximity position via the first wireless communication antenna 48a. Then, the current position of the tractor 1 is obtained. For example, various positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real-time kinematic positioning) can be applied.

  In this embodiment, for example, RTK positioning is applied, and in addition to the positioning antenna 6 being provided in the tractor 1 on the mobile station side, a reference station 60 having a reference station positioning antenna 61 is provided. The reference station 60 is arranged at a position (reference point) that does not interfere with the traveling of the tractor 1, for example, around the farm field. The position information of the reference point that is the installation position of the reference station 60 is set in advance. The reference station 60 is provided with a reference station communication device 62 capable of communicating via a first wireless communication network established between the positioning surveying device 53 of the tractor 1 and a communication device using the first wireless communication antenna 48a.

  In RTK positioning, the carrier phase (satellite positioning information) from the positioning satellite 63 is measured by both the reference station 60 installed at the reference point and the positioning antenna 6 of the tractor 1 on the mobile station side for which position information is to be obtained. ing. The reference station 60 generates correction information including the measured satellite positioning information and the reference point position information every time the satellite positioning information is measured from the positioning satellite 63 or every time the set period elapses, and the reference station communication device 62 To the first wireless communication antenna 48 a of the tractor 1. The positioning surveying device 53 of the tractor 1 (corresponding to the mobile station) corrects the satellite positioning information measured by the positioning antenna 6 by using the correction information transmitted from the reference station 60, thereby obtaining the current position information ( For example, latitude information / longitude information) is obtained.

  In this embodiment, a high-accuracy satellite positioning system using the GNSS-RTK method is used. However, the present invention is not limited to this, and other positioning systems are used as long as high-accuracy position coordinates are obtained. May be. GNSS-RTK is a positioning method that has been corrected based on the information of a reference station whose position is known and improved in accuracy, and there are a plurality of methods depending on the distribution method of information from the reference station. Since the present invention does not depend on the GNSS-RTK system, details are omitted in this embodiment.

  Further, the positioning surveying device 53 can measure not only the position information of the tractor 1 (airframe 2) by satellite positioning, but also the front and rear, right and left tilt angle information by inertial surveying. The inclination angle information measured by the positioning surveying device 53 is acquired by the autonomous traveling control device 51 in a state associated with the position information (latitude / longitude information) and used for controlling the tractor 1. In addition, the positioning surveying device 53 can also measure the height position of the positioning antenna 6 with respect to the farm scene, and thus the vehicle height of the tractor 1 (airframe 2).

  The wireless communication antenna unit 48 is disposed on the top surface of the roof 14 of the cabin 11 of the tractor 1 and first and second wireless communication antennas 48a and 48b that are connected to communicate with the first and second wireless communication networks having different frequency bands. It has. The first wireless communication network is constructed by, for example, a specific low-power radio in the 920 MHz band having a high data transmission speed in order to communicate the positioning correction information by the reference station 60. The second wireless communication network is constructed by, for example, a 2.4 GHz band low-power data communication system in order to allow high-speed data communication such as image data to be performed at high speed. A part of the antennas 48 a and 48 b may be disposed in the cabin 11.

  The first wireless communication antenna 48 a is electrically connected to the positioning survey device 53, and the second wireless communication antenna 48 b is electrically connected to the wireless communication router 54. The wireless communication router 54 connected to the second wireless communication antenna 48b communicates with the remote control device 70 capable of displaying an image operated by an operator outside the tractor 1 through the second wireless communication network. The wireless communication router 54 receives the control signal from the remote operation device 70 and transmits it to the autonomous travel control device 51 via the autonomous travel bus line 56.

  The wireless communication router 54 receives a captured image of the camera 36 by performing wireless communication with the camera 36 that captures the front of the tractor 1 via the second wireless communication network. The camera 36 is attached to an upper position of the cabin 11 and photographs a state of a farm field such as the vicinity of the hood 6 in front of the cabin 11. In the present embodiment, the camera 36 is integrally attached to the wireless communication antenna unit 48, but may be attached to a plurality of locations such as a side position and a rear position of the roof 14 of the cabin 11.

  Specifically, the remote control device 70 is configured as a tablet personal computer including a touch panel. The operator can check the information displayed on the touch panel of the remote operation device 70 (for example, information on a field necessary for autonomous traveling). In addition, the operator operates the remote control device 70 to transmit a control signal for controlling the tractor 1 to the autonomous traveling control device 51 of the tractor 1. Note that the remote operation device 70 of the embodiment is not limited to a tablet personal computer, and may be configured by, for example, a notebook personal computer. Alternatively, a monitor device mounted on another tractor different from the tractor 1 can be a remote control device.

  The autonomous traveling control device 51 compares the traveling route generated by the remote operation device 70 with the position information of the tractor 1 and autonomously operates at a predetermined traveling speed while performing a predetermined operation on the tractor 1 along the traveling route. In order to run, the steering angle of the tractor 1, the target engine speed, the gear ratio, and the like are calculated and communicated with the control devices 15 to 17 and 52 through the vehicle bus line 18. Thereby, the tractor 1 can perform farm work by the work implement 3 while autonomously traveling along the travel route. In this way, the route in the field area (travel area) where the tractor 1 autonomously travels may be referred to as “travel route” in the following description. In the field area (running area), the area (work area) to be farmed by the work machine 3 of the tractor 1 is determined as an area excluding the headland and the margin from the entire field area. Are set based on these registered points and the work width of the tractor 1 when the registration work of the registered points is executed.

  The autonomous traveling control device 51 stops fuel injection in the common rail device 41 and communicates with the machine control device 16 by communication with the engine control device 15 when the operator performs a stop operation on the remote control device 70. By making the transmission 42 neutral by communication, a braking operation by a brake device 26 described later is applied. At this time, the autonomous traveling control device 52 controls the steering actuator 43 so that the handle 12 is set to the neutral position by communication with the steering control device 51, and directs the left and right front wheels 7, 7 in the straight traveling direction. It is good.

  The autonomous traveling control device 51 is in a communication state with the reference station 60 in the positioning surveying device 53 (communication state in the first communication network), and in a communication state with the remote control device 70 in the wireless communication router 54 (communication state in the second communication network). ) Confirm each via the autonomous bus line 56. When the autonomous traveling control device 51 confirms that the communication state in any of the first and second communication networks is cut off, the autonomous traveling control device 51 communicates with the engine control device 15 and the transmission control device 16 to thereby determine the autonomousness of the tractor 1. Stop driving. Note that the autonomous traveling control device 51 determines that the communication with the communication partner has been interrupted when the positioning surveying device 53 and the wireless communication router 54 have not received a signal from the communication partner for a predetermined period or longer. .

  Furthermore, the tractor 1 is provided with a pair of left and right brake devices 26 and 26 that brake the left and right rear wheels 8 and 8 by two systems of operation and automatic control of a brake pedal and a parking brake lever. That is, both the left and right brake devices 26, 26 are configured to brake both the left and right rear wheels 8, 8 by operating the brake pedal (or parking brake lever) in the braking direction. Further, when the turning angle of the handle 12 becomes equal to or larger than a predetermined angle, the brake device 26 for the rear wheel 8 on the inside of the turn automatically performs a braking operation according to a command from the machine control device 16 ( So-called auto brake).

  The reference station 60 includes a reference station wireless communication antenna 64 that distributes correction information, a reference station positioning antenna 61 that receives a signal from the positioning satellite 63, and a reference station communication device that is electrically connected to the wireless communication antenna 64 and the positioning antenna 61, respectively. 62. The reference station 60 is installed at a reference point for specifying the position of the tractor (work vehicle) 1 serving as a mobile station. The portable reference station 60 installed at the reference point sends a signal from the positioning satellite 63 received by the reference station positioning antenna 61 to the reference station communication device 62, and the reference station communication device 62 measures the satellite positioning information and the reference point position information. The correction information including etc. is generated. Then, the reference station 60 distributes the correction information generated by the reference station communication device 62 via the first wireless communication network. The reference station 60 may be configured to be disassembled into a plurality of members, and each disassembled member may be configured to have a size that can be accommodated in a predetermined case and transported.

<Basic processing operation in autonomous driving system>
Next, the basic processing operation in the autonomous traveling of the unmanned tractor 1 in the agricultural field H1 will be described below with reference to FIGS. As shown in FIGS. 5 to 8, when the key switch is turned on for the unmanned tractor 1 in the field H <b> 1, the control devices 15 to 17, 51, 52, the positioning survey device 53, and the wireless communication router 54 are powered on. At the same time, the engine 10 is driven to enter an idling state. At this time, the unmanned tractor 1 is stopped by the braking action of the left and right brake device 26. On the other hand, when the power of the remote control device 70 is turned on, a display constituted by a touch panel is displayed and the device side software is activated.

  The unmanned tractor 1 controls the communication operation of the wireless communication router 54 by the autonomous traveling control device 51, so that the wireless communication router 54 starts searching for the remote control device 70 that can communicate through the second wireless communication network. That is, the wireless communication router 54 generates a communication confirmation signal including a tractor ID (identifier) unique to the unmanned tractor 1 and transmits it from the second wireless communication antenna 48b. The remote operation device 70 stores in advance the tractor ID of the unmanned tractor 1 that can communicate with the autonomous traveling system. Then, when receiving the communication confirmation signal including the tractor ID, the remote operation device 70 authenticates the communication with the wireless communication router 54 of the unmanned tractor 1 when the received tractor ID matches the previously stored tractor ID. .

  After authenticating the communication with the unmanned tractor 1, the remote control device 70 generates a response signal to the communication confirmation signal and transmits it to the wireless communication router 54 of the unmanned tractor 1. The remote operation device 70 generates a response signal including a device ID (identifier) unique to the own device, and transmits the response signal to the wireless communication router 54 through the second wireless communication network. The unmanned tractor 1 stores in advance the device ID of the remote operation device 70 that can communicate with the autonomous traveling system in the autonomous traveling control device 51 or the wireless communication router 54. Therefore, when the unmanned tractor 1 receives the response signal at the wireless communication router 54 via the second wireless communication antenna 48b, the remote operation is performed when the device ID in the received response signal matches the device ID stored in advance. Communication with the device 70 is authenticated.

  As described above, when communication is established between the unmanned tractor 1 (wireless communication router 54) and the remote control device 70, the unmanned tractor 1 notifies the server 100 that the communication has been established. At this time, the unmanned tractor 1 transmits the tractor ID of the unmanned tractor 1 and the device ID of the remote control device 70 to the server 100 from the vehicle-mounted terminal device 19 via the communication network N1.

  Further, when the key switch of the unmanned tractor 1 is turned ON and the positioning surveying device 53 is turned on, the position information (unmanned tractor 1) is obtained by communicating with the positioning satellite 63 and the reference station 60 through the antennas 6 and 48a. (Latitude / longitude information). Then, after the above-described authentication process between the unmanned tractor 1 (wireless communication router 54) and the remote control device 70, the position information of the unmanned tractor 1 is transmitted to the server 100 together with the tractor ID and the device ID.

  When the server 100 confirms from the tractor ID and the device ID that the tractor 1 and the remote control device can be used in the autonomous traveling system, the server 100 authenticates the unmanned tractor 1 to enable communication between the unmanned tractor 1 and the server 100. . When the server 100 authenticates the unmanned tractor 1, the server 100 reads map information centered on the position information received from the unmanned tractor 1 and transmits the read map information to the unmanned tractor 1. At this time, the server 100 confirms the field (work area) assigned to the operator who operates the unmanned tractor 1 based on the tractor ID and the device ID, and maps the information on the field (work area) as the work target to the map information. And transmitted to the unmanned tractor 1.

  When the vehicle-mounted terminal device 19 receives the map information from the server 100, the unmanned tractor 1 gives the received map information to the wireless communication router 54 via the autonomous traveling control device 51, and the map information is sent from the wireless communication router 54. Transmit to the remote control device 70. The remote control device 70 that has received the map information displays a map including a field (work area) assigned to the operator on a display (not shown) based on the received map information.

  The operator operates a touch panel constituting a display (not shown) of the remote operation device 70, and designates a farm field (work area) that is a work target by the unmanned tractor 1 from the map displayed on the display. . In addition, the operator can use the unmanned tractor 1 to perform operations (cultivation work, sowing work, fertilization work, pricking work, upsetting work, etc.) on the remote control device 70 and the size of the work machine and the work machine. specify.

  The remote operation device 70 generates a work route (work route) through which the unmanned tractor 1 moves by calculation based on the designated field and work performed by the work machine, and displays the work route on a display (not shown). Thereafter, the remote operation device 70 generates a response signal for permitting autonomous traveling and receives the unmanned tractor 1 (wireless) when an operation for starting autonomous traveling is accepted after the generated work route is selected by the operator's operation. To the communication router 54). The response signal serving as the autonomous travel permission signal includes a field (work area), a work machine, and a work route designated by the operator.

  When the unmanned tractor 1 receives the response signal serving as the autonomous traveling permission signal by the wireless communication router 54, the autonomous traveling control device 51 passes through the engine control device 15, the machine control device 16, the work implement control device 17, and the steering control device 52. The control operation of each part is executed, and the autonomous traveling of the unmanned tractor 1 is started. At this time, the unmanned tractor 1 confirms the farm field (work area), the work machine, and the work route designated by the operator from the received response signal by the autonomous traveling control device 51. Then, the autonomous traveling control device 51 communicates with the engine control device 15, the machine control device 16, the work machine control device 17, and the steering control device 52, so that the machine body 2 along the work route set in the field. Is driven at the set value while moving at a set vehicle speed.

  When the unmanned tractor 1 starts autonomous traveling, the driving state of the machine body 2 and the work machine 3 (engine speed, vehicle speed of the machine body 2, engine load, tilt attitude of the machine body 2, tilt attitude of the work machine 3, The lift position, the braking operation of the left and right brake devices 26, the steering angle of the handle 10, the switching of the PTO switch, etc.) are transmitted to the server 100 together with the position information. The unmanned tractor 1 also transmits drive state information indicating the drive states of the machine body 2 and the work machine 3 to the remote control device 70 together with the position information and time information. The position information is latitude / longitude information calculated by the positioning surveying device 53 based on the information received from the positioning satellite 63 and the reference station 60, and the time information is the control devices 15 to 17, 52, unmanned tractor 1. 53 is information indicating the time counted in any one of 53.

  The unmanned tractor 1 traveling autonomously connects the vehicle-mounted terminal device 19 to the server 100 at every time T1, and transmits driving state information and position information indicating the driving state of the machine body 2 and the work machine 3 to the communication network. It transmits to the server 100 via the network N1. The server 100 associates the driving state information and the position information received every time T1 with the field ID (identifier) and the tractor ID indicating the designated field (working area) together with the reception time (or transmission time) according to the standard time. Remember. Note that the reception time (transmission time) in standard time is the time when the server 100 receives (transmits) the driving state information and the position information from the unmanned tractor 1, and if the field (working area) is in Japan, it is Japan. It may be a time according to standard time, or may be a time according to world standard time.

  In addition, the unmanned tractor 1 includes a drive confirmation information, a position information, and time information indicating the drive states of the machine body 2 and the work implement 3 together with a communication confirmation signal from the wireless communication router 54 every time T2 obtained by dividing the time T1 into n equal parts. Is transmitted to the remote control device 70 via the second wireless communication network. When receiving the communication confirmation signal from the unmanned tractor 1 (wireless communication router 54), the remote control device 70 returns a response signal serving as an autonomous travel permission signal to the unmanned tractor 1 (wireless communication router 54). Further, the remote operation device 70 stores the driving state information, position information, and time information received every time T2 in association with the field ID and the tractor ID indicating the designated field (working area). At this time, the number of items of driving state information stored in the remote operation device 70 may be larger than the number of items of driving state information stored in the server 100.

  In the wireless communication router 54, the unmanned tractor 1 confirms whether or not a response signal is returned from the remote operation device 70 in response to the communication confirmation signal transmitted every time T2, and returns a response signal from the remote operation device 70. When there is no more than a predetermined time or a predetermined number of times, autonomous running is stopped. That is, when the remote control device 70 is located outside the communicable range with the wireless communication router 54 due to the operator moving to a position away from the unmanned tractor 1, Communication is interrupted. At this time, the autonomous traveling control device 51 determines that the distance is difficult for the operator to monitor the unmanned tractor 1 and stops the autonomous traveling of the unmanned tractor 1. Moreover, if the unmanned tractor 1 stops autonomous running during work, it notifies the server 100 that autonomous running is stopped during work.

  Further, when the remote operation device 70 accepts an operation for stopping autonomous traveling, the remote operation device 70 cuts off communication with the unmanned tractor 1 (wireless communication router 54) and stops returning a response signal. Thereby, the unmanned tractor 1 stops the autonomous traveling by the autonomous traveling control device 51 in order to confirm that the wireless communication router 54 does not return a response signal to the communication confirmation signal. Therefore, when a person or an animal enters the field (working area) H1, or when the unmanned tractor 1 deviates from the work route, an operator who monitors the unmanned tractor 1 displays it on the display of the remote control device 70. The unmanned tractor 1 can be stopped by touching a stop button (not shown) to be operated, and the autonomous traveling system can be operated safely.

<Information collection system>
The autonomous traveling system of the present embodiment includes an information collecting system that receives and stores driving state information of the unmanned tractor 1 during which the server 100 and the remote control device 70 are autonomously traveling. Below, the information collection system in an autonomous running system is demonstrated with reference to FIGS. In the following description, as shown in FIGS. 9 and 10, the farm field (work area) H1 to be worked is the farm field HD to which the farm field ID (identifier) “HD” is assigned, and the latitude XD and the longitude YD are set. It is assumed that the time at which the unmanned tractor 1 is located is the time TMD at the time measured by the clock in the unmanned tractor 1 (hereinafter referred to as “the machine time”), and at the standard time is the time TD. In the following description, it is assumed that the tractor ID (identifier) of the unmanned tractor 1 is “A1” and the device ID (identifier) of the remote operation device 70 is “B1”.

  As shown in FIGS. 6 to 10, the unmanned tractor 1 autonomously traveling in the farm field HD acquires the driving status information acquired through the control devices 15 to 17 and 52 by the autonomous traveling control device 51 every time T2. At the same time, the positioning side quantity device 53 calculates position information (latitude / longitude information) of the unmanned tractor 1. The unmanned tractor 1 transmits the acquired driving situation information and position information to the server 100 from the vehicle-mounted terminal device 19 at every time T1, while the acquired driving situation information and position information at every time T2. The wireless communication router 54 transmits the time information based on the time measured by the clock in the unmanned tractor 1 to the remote control device 70.

  That is, the unmanned tractor 1 transmits the position information (latitude XDm1, longitude YDm1) measured at the machine time TMDm1 and the drive status information RDm1 acquired at the machine time TMDm1 to the server 100, while The position information (latitude XDm1, longitude YDm1) and drive status information RDm1 are transmitted to the remote control device 70 together with the machine time TMDm1. Thereafter, at the time TMDm2 (= TDm1 + T2) when the time T2 has elapsed from the time TMDm1, the unmanned tractor 1 acquires the position information (latitude XDm2, longitude YDm2) and the driving status information RDm. XDm2, longitude YDm2) and driving status information RDm are transmitted to the remote control device 70 together with the machine time TMDm2.

  The unmanned tractor 1 repeats the acquisition operation of the position information and the driving state information and the transmission operation to the remote control device 70 n times every time T2, and the machine time TMD (m + 1) after the time T1 has elapsed from the machine time TMDm1. ) 1 (= TDm1 + T1), the acquired position information (latitude XD (m + 1) 1, longitude YD (m + 1) 1) and drive status information RD (m + 1) 1 are transmitted to the server 100, and at the same time, this position information (latitude XD (m + 1) 1, longitude YD (m + 1) 1) and drive status information RD (m + 1) 1 are transmitted to the remote control device 70 together with the machine time TMD (m + 1) 1.

  When the server 100 receives the position information and the driving status information from the unmanned tractor 1 every time T1, the time information (NTP (Network Time Protocol) server) on the communication network N1 is added to the received positional information and driving status information. And the field ID “HD” of the field HD are added and stored in association with the tractor ID “A1” of the unmanned tractor 1 and the device ID “B1” of the remote control device 70. That is, as shown in FIG. 11, when the server 100 receives the position information (latitude XD (m1, longitude YDm1) and drive status information RDm1), it adds the standard time TDm1 acquired from the communication network N1 and the field ID “HD”. Then, it is stored as work history information (basic work history information) for the tractor ID “A1” and the device ID “B1”.

  On the other hand, when receiving the position information, the driving situation information, and the machine time (time information) from the unmanned tractor 1 every time T2, the remote control device 70 receives the position information, the driving situation information, and the machine time at the received field information. After the HD field ID “HD” is added, the tractor ID “A1” of the unmanned tractor 1 and the device ID “B1” of the remote control device 70 are stored in association with each other. That is, as shown in FIG. 12, when the server 100 receives the position information (latitude XDm1, longitude YDm1), drive status information RDm1, and machine time TMDm1, it adds the field ID “HD” and the tractor ID “HD”. It is stored as work history information (additional work history information) for A1 ”and device ID“ B1 ”.

  The unmanned tractor 1 communicates with the server 100 at every time T1 until the unmanned tractor 1 finishes the work, and at the same time communicates with the remote control device 70 at every time T2, so that the work history information including the position information and the driving status information is obtained from the server 100. And the remote operation device 70 respectively. In addition, the unmanned tractor 1 transmits the position information and the drive status information to the server 100 and the remote control even when traveling on the road S1 so as to move from one of the farm fields HA to HF to another farm HA to HF. To device 70. At this time, since the farm field ID is not assigned to the maze road S1, in the server 100 and the remote operation device 70, the position information and the drive status information are stored as the work history information without adding the farm field ID.

  As shown in FIGS. 13 and 14, when the operator completes the work by the unmanned tractor 1, the operator returns to the office O <b> 1 and connects the remote operation device 70 to the access point 90 by communication. As a result, the remote operation device 70 is communicably connected to the communication network N1 via the access point 90, so that it can communicate with the server 100 and requests the server 100 to update the device-side software. At this time, the remote operation device 70 transmits the device ID of its own device to the server 100, so that the server 100 confirms the update request from the remote operation device 70 and authenticates communication with the remote operation device 70. To do.

  When the communication between the server 100 and the remote operation device 70 is established, the remote operation device 70, together with the tractor ID “A1” of the unmanned tractor 1 that is authenticated when executing the autonomous traveling, the unmanned tractor with the tractor ID “A1”. The additional work history information for 1 is read. The additional work history information includes position information, driving status information, farm field ID, and time information (machine time) stored in association with the tractor ID “A1”. The remote operation device 70 transmits the read tractor ID “A1” and additional work history information to the server 100.

  The server 100 identifies the unmanned tractor 1 that is the target of the work history collation based on the tractor ID “A1” received from the remote operation device 70. Then, the server 100 uses the device ID “B1” received at the time of communication authentication and the basic work history information to be compared with the additional work history information received from the remote operation device 70 by using the tractor ID “A1” that identifies the unmanned tractor 1. Is read. Thereafter, the server 100 compares the read basic work history information with the received additional work history information, and detects a feature point that is a match between the basic work history information and the additional work history information.

  A method for detecting feature points that match in the basic work history information and the additional work history information will be briefly described. The basic work history information is configured by position information, drive status information, and a field ID for each time T1, while the additional work history information is configured by position information, drive status information, and a field ID for each time T2. Is done. Hereinafter, a plurality of detection methods will be exemplified as a method for detecting feature points of work history information.

  As a first example of the method for detecting feature points of work history information, first, the work start point or work end on the field H1 is confirmed by checking the presence or absence of the work history with respect to the basic work history information and the additional work history information. Detect points. And the positional information in the detected work start point or work end point is compared. That is, the positional information when the unmanned tractor 1 enters the agricultural field H1 from the mixed path S1 or the positional information when the unmanned tractor 1 enters the mixed path S1 from the agricultural field H1 is compared. At this time, if there is a difference in position information, the work history before and after the work start point or work end point in the additional work history information is confirmed, and the work start point or work end point that matches the position information in the basic work history information The work history in is detected as a feature point.

  As a second example of the method for detecting feature points of work history information, first, a work history in which the times of the basic work history information and the additional work history information coincide is read, and the position information and driving of the basic work history information and the additional work history information are read. Compare state information. At this time, if both the position information and the drive state information of the basic work history information and the additional work history information match, the position information and the drive based on the action history for each time T1 in the basic work history information and the additional work history information are further added. Check the status information match. If the position information and driving state information of the basic work history information and the additional work history information do not match in a plurality of work histories, the work history of the additional work history information is shifted every time T2, and the position information of the basic work history information and After searching for a work history that matches the driving state information, the work history changed every time T1 is compared again. Then, when it is confirmed that the position information and the driving state information coincide with each other with a plurality of work histories changed at each time T1, the work history whose coincidence is confirmed is detected as a feature point.

  As a third example of the method for detecting feature points of work history information, first, a work history in which the times of the basic work history information and the additional work history information coincide with each other is read, and the position information of the basic work history information (“basic history position information”) The position of the unmanned tractor 1 (referred to as “additional history position”) and the position of the unmanned tractor 1 (referred to as “additional history position information”) and the position information of the additional work history information (referred to as “additional history position information”). ) Is calculated. The vehicle speed of the unmanned tractor 1 is predicted based on the vehicle speed of the unmanned tractor 1 based on the work history of the basic work history information and the vehicle speed of the unmanned tractor 1 based on the additional work history information work history.

  Then, by dividing the distance between the basic history position and the additional history position by the predicted vehicle speed, a time difference (referred to as “predicted time difference”) in the work history read from each of the basic work history information and the additional work history information is predicted. . With respect to the additional work history information, a work history at a time shifted by a predicted time difference from the work history read for comparison is read and compared with the work history of the basic work history information. Then, when the work history of the additional work history information having the position information approaching the position information of the work history of the basic work history information is confirmed, the position information in the work history before and after the work history is changed to the work history of the basic work history information. Compared with the position information of the work history, a work history that matches the position information of the work history of the basic work history information is detected and used as a feature point.

  In the basic work history information and the additional work history information, when a work history that is a feature point that matches each of the driving state information, the position information, and the field ID is detected, the work history that is a feature point in the basic work history information is determined according to the standard time. The time Tx is extracted, and the machine time TMx is extracted from the work history that is a feature point in the additional work history information. When the time difference (Tx−TMx) between the basic work history information and the additional work history information is calculated, the time information (machine time) in the additional work history information is corrected by the calculated time difference (Tx−TMx).

  After correcting the time information in the additional work history information, the basic work history information and the corrected additional work history information are collated again to detect information that is missing from the basic work history information among the additional work history information. Then, the basic work history information and the additional work history information are synthesized by being incorporated into the basic work history information. That is, as shown in FIG. 15, the basic work history information and the additional work history information are interpolated between the work histories for each time T1 in the basic work history information and the work histories for each time T2 in the additional work history information. Is synthesized. If the number of items of driving state information in the additional work history information is larger than the number of items of driving state information in the basic work history information, the driving state information of items lacking in the basic work history information is interpolated from the additional work history information. Is done.

  When the server 100 stores the combined work history information and completes the combination of the work history information by collating the basic work history information and the additional work history information, a remote notification is sent to indicate completion of the work history information combining process. To device 70. At this time, the server 100 transmits a correction time indicating a time lag between the machine time and the standard time in the unmanned tractor 1 together with the completion notification to the remote control device 70. Then, when the server 100 transmits a completion notification to the remote operation device 70, the server 100 interrupts communication with the remote operation device 70.

  On the other hand, when the remote operation device 70 receives the completion notification from the server 100, the remote operation device 70 deletes the stored additional work history information, and then calculates a correction time representing the time difference between the machine time and the standard time in the unmanned tractor 1. It is displayed on a display (not shown). Thereby, the operator who operates the remote operation device 70 confirms the time lag of the time of the main unit in the unmanned tractor 1, for example, requests a serviceman and, based on the displayed correction time, the external terminal device ( The service time of the unmanned tractor 1 can be adjusted to the standard time using a service tool 80 or the like.

  The present invention is not limited to the above-described embodiment, and can be embodied in various forms. The configuration of each unit is not limited to the illustrated embodiment, and various modifications can be made without departing from the spirit of the present invention. That is, in the above-described embodiment, it is assumed that the single tractor 1 is operated in the field, but the multiple tractors 1 may be operated. At this time, for example, as shown in FIG. 16, a part of the farm work is performed by the unmanned tractor 1 in the field, and the remaining farm work is performed by the manned tractor 1A. By performing cooperative work of farm work, follow-up work, accompanying work, etc. by unmanned tractor 1 and manned tractor 1A, farm work can be shared in a single farm field. Further, in the cooperative work described above, the unmanned tractor 1 may perform the farm work in a certain farm field, and at the same time, the manned tractor 1A may perform the farm work in another farm field. Further, as shown in FIG. 17, any of the cooperative work, the follow-up work, and the accompanying work may be executed by a plurality of unmanned tractors 1, 1A, 1B.

1 Tractor (work vehicle)
DESCRIPTION OF SYMBOLS 15 Engine control apparatus 16 This machine control apparatus 17 Work implement control apparatus 18 Vehicle bus line 19 Vehicle-mounted terminal apparatus 48 Wireless communication antenna unit 48a First wireless communication antenna 48b Second wireless communication antenna 51 Autonomous traveling control apparatus 52 Steering control apparatus 53 Positioning side quantity device 54 Wireless communication router 56 Autonomous traveling bus line 60 Reference station 63 Positioning satellite 70 Remote control device 80 External terminal device 90 Access point 100 Server C1 Management center H1 Farm field (work area)
N1 communication network O1 office

Claims (5)

An information collection system for an agricultural work vehicle comprising: a server for storing the driving state of the agricultural work vehicle as basic history information by communication with the agricultural work vehicle; and a remote control device capable of communicating with the agricultural work vehicle in a work area of the agricultural work vehicle. There,
The remote control device stores the driving state of the farm vehicle as additional history information;
The farm vehicle information collection system, wherein when the remote control device and the server are connected for communication, the server synthesizes and stores the basic history information with the additional history information. Each of the basic history information and the additional history information includes time information,
The server compares the basic history information with the additional history information, detects matching feature points, calculates a time difference based on time information at the feature points of the basic history information and the additional history information, and 2. The farm vehicle information collection system according to claim 1, wherein the basic history information and the time information of the additional history information are matched to synthesize the basic history information and the additional history information.   The farmwork vehicle information collection system according to claim 2, wherein the feature point is drive state information representing a drive state of the farmwork vehicle.   3. The farm work vehicle according to claim 2, wherein each of the basic history information and the additional history information includes position information of the farm work vehicle, and the feature point is position information of the farm work vehicle. Information collection system. The basic history information and the additional history information each include an identifier assigned to the work area,
The server detects a work start point or a work end point in the work area by the farm vehicle based on an identifier of the work area with respect to the basic history information and the additional history information, and the work start point Alternatively, the work collection point information collection system according to claim 1, wherein the work end point is set as the feature point.

Images