JP2018169826A - Working vehicle for agricultural use - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a working vehicle for agricultural use capable of effectively utilizing slip information accumulated in the past.SOLUTION: A tractor 1 includes a body 2 capable of traveling. The tractor 1 receives past situation data, which includes information on past slip ratios associated with positions, from an external management server 90 through communication. The tractor 1 can display a geographical distribution of the past slip ratios in a farm field, which is an object of work of the tractor 1, on a monitor 40 capable of being manipulated in order to instruct the tractor 1.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a configuration that utilizes information related to a slip rate during traveling in an agricultural work vehicle including a travelable vehicle body.

  2. Description of the Related Art Conventionally, agricultural machines having a configuration capable of acquiring a slip rate when performing work on a field for data analysis and the like are known. This type of technology is disclosed in Patent Documents 1 and 2, for example.

  The measurement system of Patent Document 1 detects the number of rotations of a wheel such as a tractor with a tachometer, and gives the number of pulses detected with the tachometer based on the timing of receiving a signal of a satellite system mounted on the tractor. It is disclosed that the slip rate is measured by integrating the vehicle speed information and the wheel rotation information. Further, Patent Document 1 describes that a slip map that visualizes the degree of travel inhibition can be created based on the slip rate and the like.

  A crawler tractor as a working vehicle described in Patent Document 2 calculates a slip rate of a crawler travel unit based on GPS position data and a crawler rotation sensor value, and sequentially stores the slip rate in association with position data. To do. The stored slip ratio is converted into display data by a predetermined mapping process and displayed on the liquid crystal monitor. Japanese Patent Application Laid-Open No. H10-228688 describes that automatic traveling control using a slip ratio enables early convergence to a target locus and prevention of hunting.

JP 2005-315768 A JP 2003-303021 A

  However, although the configurations of Patent Documents 1 and 2 can create a slip map, they do not specifically disclose how to use the map for work on a farm field. Therefore, even if the field is the same, for example, if the operator changes or the agricultural machine changes, it becomes difficult to utilize a slip map created in the past.

  Further, Patent Document 2 describes automatic travel control. However, since the control is performed on the spot based on the detected slip rate, it must be post hoc control, and effective use of information. From this point of view, there was room for improvement.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide an agricultural work vehicle capable of effectively utilizing slip information accumulated in the past.

Means and effects for solving the problems

  The problems to be solved by the present invention are as described above. Next, means for solving the problems and the effects thereof will be described.

  According to an aspect of the present invention, an agricultural work vehicle having the following configuration is provided. That is, this agricultural work vehicle includes a machine body that can travel. The agricultural work vehicle receives past slip rate information, which is information on the past slip rate associated with the position, from an external management device by communication. Also, the agricultural work vehicle can display the geographical distribution of the past slip ratio in the work target area of the agricultural work vehicle on the instruction unit capable of performing an instruction to the agricultural work vehicle based on the past slip ratio information. It is.

  Thereby, the information of the slip rate collected by the management apparatus in the past can be used effectively, and an appropriate work can be performed by the agricultural work vehicle.

  The agricultural work vehicle preferably has the following configuration. That is, the agricultural work vehicle includes a position acquisition unit that can acquire the position of the machine body. Automatic control is performed by a slip countermeasure request signal output when the aircraft approaches a point where the past slip rate is high.

  As a result, when the aircraft approaches a point where a large slip is expected, some measures can be automatically taken in advance.

  The agricultural work vehicle may be configured such that the management apparatus outputs the slip countermeasure request signal.

  Thereby, the recording etc. which output the slip countermeasure request signal can be centrally managed by the management device.

  In the agricultural work vehicle, the slip countermeasure request signal can be configured to be output by a control unit included in the aircraft.

  Thereby, it is possible to quickly cope with the slip of the aircraft.

  In the agricultural work vehicle, it is preferable that the control unit is capable of automatically traveling the aircraft along a predetermined route.

  Thereby, automatic traveling can be performed while effectively avoiding slipping of the airframe.

  The agricultural work vehicle preferably has the following configuration. That is, the agricultural work vehicle includes a control unit that can automatically run the machine along a predetermined route. The slip countermeasure request signal is output by a remote control device capable of giving an instruction regarding automatic traveling from outside the aircraft.

  Thereby, control regarding coping with automatic driving | running | working and a slip can be smoothly performed in a remote control device.

  In the agricultural work vehicle, the slip countermeasure request signal is preferably a signal for decelerating the traveling speed of the aircraft.

  Thereby, the slip of an airframe can be reduced appropriately.

  The farm work vehicle may have the following configuration. That is, this agricultural work vehicle includes a work machine control unit capable of controlling to hold a right and left inclined posture of a work machine mounted on the machine body. The slip countermeasure request signal is a signal that weakens the control sensitivity of the left-right inclined posture of the work implement.

  Thereby, even if a slip arises in an airframe, the wave of the work by a work machine can be controlled.

  The farm work vehicle may have the following configuration. That is, this agricultural work vehicle includes a work machine control unit capable of controlling the tilling depth of the tilling work machine mounted on the machine body. The slip countermeasure request signal is a signal for decreasing the tillage depth.

  Thereby, since the resistance which generate | occur | produces in a working machine can be reduced, generation | occurrence | production of a slip can be suppressed favorably.

  The agricultural work vehicle is preferably configured to acquire the slip rate of the airframe and transmit the position information of the airframe and the slip rate to an external management device by communication.

  As a result, even if the slip rate changes for some reason, the information on the slip rate after the change can be easily collected on the management device side.

The side view which shows the working machine with which the tractor which concerns on 1st Embodiment of this invention is mounted | worn. The top view which shows the various operation apparatuses arrange | positioned around the seat of a tractor. The block diagram which shows the main electrical structures of a tractor. The block diagram which shows the electric constitution of a management server. The figure which shows a mode that the slip map was displayed on the monitor apparatus. The figure which shows the example of the message displayed on a monitor apparatus. The block diagram which shows the electric constitution of the tractor of 2nd Embodiment. The block diagram which shows the electric constitution of the tractor which concerns on the modification of 2nd Embodiment. The block diagram which shows the electric constitution of the tractor of 3rd Embodiment.

  Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a side view showing a tractor 1 and a work implement 3 attached thereto according to an embodiment of the present invention. FIG. 2 is a plan view showing various operation devices arranged around the seat 13 of the tractor 1.

  A tractor 1 as an agricultural work vehicle shown in FIG. Various kinds of work machines 3 such as a rotary, a loader, a plow, a box scraper and the like are attached to the machine body 2 as necessary, and various works can be performed while the machine body 2 is running. In FIG. 1, an example in which a rotary cultivator (cultivating work machine) is used as the work machine 3 is shown. In the following description, “left” and “right” simply mean left and right in the direction in which the tractor 1 moves forward.

  As shown in FIG. 1, the airframe 2 has a front portion supported by a pair of left and right front wheels 7 and a rear portion supported by a pair of left and right rear wheels 8. A bonnet 9 is disposed at the front of the machine body 2, and an engine 10 and the like are disposed inside the bonnet 9.

  A cabin 11 for a user to board is disposed behind the hood 9. Inside the cabin 11, a steering handle 12 for a user to steer and a seat 13 on which the user can sit are provided.

  A positioning antenna 6 is disposed on the upper surface of the roof portion 5 provided in the cabin 11. The positioning antenna 6 can receive radio waves from positioning satellites that constitute a satellite positioning system (GNSS). The position of the tractor 1 can be acquired by performing a known positioning calculation based on this radio wave. Although not shown, the airframe 2 is provided with an inertial measurement device including three gyro sensors (angular velocity sensors) and three acceleration sensors. The accuracy of the positioning result of the tractor 1 is enhanced by supplementarily using the angular velocity and acceleration of the airframe 2 detected by the inertial measurement device.

  A communication antenna 15 is disposed at an appropriate position of the machine body 2 (in the present embodiment, inside the dashboard cover). The communication antenna 15 is configured as a mobile phone antenna for mobile communication (wireless communication), and can transmit and receive data wirelessly with a mobile phone base station (not shown) connected to the Internet, which is a type of WAN. . Thereby, the tractor 1 can transmit / receive information to / from a server connected to the Internet.

  A chassis 20 of the tractor 1 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 transmission case 22 accommodates, for example, a movable swash plate type hydraulic continuously variable transmission. The transmission continuously transmits the rotation of the output shaft of the engine 10 to the front axle 23 and the rear axle 24. be able to. The front axle 23 can be driven by transmitting the power input from the mission case 22 to the front wheels 7. The rear axle 24 can be driven by transmitting the power input from the mission case 22 to the rear wheel 8.

  At the rear of the mission case 22, a lower link 25 is arranged in a pair of left and right, and one top link 26 is arranged. Further, a PTO shaft 27 is disposed so as to protrude from the rear part of the mission case 22. The work machine 3 is connected to the lower link 25 and the top link 26 and is driven by the PTO shaft 27.

  At the rear part of the transmission case 22, a pair of left and right lift arms 28 and a lift cylinder 29 configured as a hydraulic cylinder are provided. The front end of one of the left and right lift arms 28 is connected to one lower link 25 via a link member 30, and the front end of the other lift arm 28 is connected to the other lower link 25 via a rolling cylinder 31. ing. With this configuration, by driving the lift cylinder 29, the height at which the work machine 3 is supported by the machine body 2 can be changed.

  The rolling cylinder 31 is configured as a hydraulic cylinder, and is arranged so as to connect the right lift arm 28 and the right lower link 25 of the pair of left and right. With this configuration, by driving the rolling cylinder 31, it is possible to change the tilting posture in the left-right direction in which the work machine 3 is supported with respect to the machine body 2.

  Various operation devices for performing various operations on the tractor 1 are provided inside the cabin 11. As the operation device, a monitor device (instruction unit) 40, an accelerator lever 41, a reverser lever 42, a main transmission lever 43, a PTO switch 44, a work implement up / down switch 45, a work implement up / down dial 46, and an inclination angle setting shown in FIG. Examples of the dial 47 and the auxiliary transmission lever 49 may be given. These operating devices are arranged in the vicinity of the seat 13 or in the vicinity of the steering handle 12.

  The monitor device 40 is provided with a display, and various information regarding the tractor 1 can be displayed on the display. The monitor device 40 is provided with input members such as buttons and dials, and various instructions can be input to the tractor 1 by the user operating the input members.

  The accelerator lever 41 can instruct the output rotational speed of the engine 10. The reverser lever 42 can instruct the tractor 1 to move forward, reverse, and stop. The main transmission lever 43 can instruct continuously the speed at which the tractor 1 travels in the direction instructed by the reverser lever 42.

  The auxiliary transmission lever 49 can instruct switching of the gear position of the traveling auxiliary transmission gear mechanism arranged in the mission case 22.

  The PTO switch 44 can instruct the transmission / cutoff of power to the PTO shaft 27 described above.

  The work machine up / down switch 45 can instruct to switch the height of the work machine 3 attached to the machine body 2 between the raised position and the lowered position.

  The work machine up / down dial 46 can indefinitely indicate the height of the work machine 3 when the work machine 3 is lowered by the work machine up / down switch 45.

  The tilt angle setting dial 47 is configured in a dial shape, and can instruct the left and right tilt angles of the work implement 3 in a stepless manner within a predetermined range of right-down-horizontal-up-right.

  Next, the electrical configuration of the tractor 1 will be described. FIG. 3 is a block diagram showing the main electrical configuration of the tractor 1.

  As shown in FIG. 3, the tractor 1 includes a position information acquisition unit (position acquisition unit) 61 and a communication unit 62.

  The position information acquisition unit 61 is electrically connected to the positioning antenna 6. The position information acquisition unit 61 acquires the position of the airframe 2 as, for example, latitude and longitude information from the positioning signal based on the radio wave received by the positioning antenna 6.

  In the present embodiment, the position information acquiring unit 61 performs positioning using a known GNSS-RTK method after receiving a positioning signal from a reference station (not shown) by an appropriate method. However, instead of this, for example, positioning using a differential GNSS or single positioning may be performed.

  The communication unit 62 is electrically connected to the communication antenna 15. The communication unit 62 can perform data transmission / reception via the Internet by performing modulation processing or demodulation processing by an appropriate method.

  A vehicle speed sensor 65 is provided on the body 2 of the tractor 1. The vehicle speed sensor 65 is disposed at an appropriate position of the body 2, for example, the axle of the front wheel 7. The vehicle speed sensor 65 is configured to generate a pulse corresponding to the rotation of the axle, for example.

  In addition, the tractor 1 includes a vehicle speed controller 71 and a work machine controller (work machine control unit) 72 as controllers for controlling each unit included in the tractor 1.

  The vehicle speed controller 71 controls the vehicle speed of the tractor 1. Specifically, the vehicle speed controller 71 changes the speed ratio by changing the angle of the swash plate in the movable swash plate type continuously variable transmission device disposed in the transmission case 22 by an actuator (not shown), and the desired vehicle speed. Can be realized.

  The work machine controller 72 controls the height and the left / right inclined posture of the work machine 3 attached to the tractor 1. Specifically, the work machine controller 72 can change the height of the work machine 3 between the raised position and the lowered position by driving the lift cylinder 29. Further, the work machine controller 72 can change the left-right inclined posture of the work machine 3 by driving the rolling cylinder 31.

  As shown in FIG. 3, the tractor 1 includes a control unit 4 for controlling the operation of the machine body 2 and the operation of the work machine 3. The control unit 4 is electrically connected to the position information acquisition unit 61, the communication unit 62, the monitor device 40, the vehicle speed sensor 65, the vehicle speed controller 71, the work machine controller 72, and the like.

  The control unit 4 includes a field registration unit 51, a field ID storage unit 52, a slip rate calculation unit 53, a slip situation data creation unit 54, a caution situation data creation unit 55, a situation data transmission unit 56, and a past situation. The data acquisition part 57, the map data creation part 58, the position transmission part 59, and the slip countermeasure control part 60 are provided.

  Specifically, the control unit 4 is configured as a known computer and includes a CPU, a ROM, a RAM, an I / O, and the like (not shown). The CPU can read various programs from the ROM and execute them. Various programs and data are stored in the ROM. And by cooperation of said hardware and software, the control part 4 is made into the agricultural field registration part 51, the agricultural field ID memory | storage part 52, the slip ratio calculation part 53, the slip condition data preparation part 54, the attention condition data preparation part 55, the condition. The data transmission unit 56, the past situation data acquisition unit 57, the map data creation unit 58, the position transmission unit 59, the slip countermeasure control unit 60, and the like can be operated.

  The field registration unit 51 can register field data indicating the position and shape of the field that is the work target area of the tractor 1. The position and shape of the farm field can be acquired by, for example, operating the monitor device 40 and designating polygonal vertices that form the contour of the farm field. Further, the position and shape of the farm field are the transition of the position of the machine body 2 obtained from the position information acquisition unit 61 at this time by causing the machine body 2 to travel along the contour of the farm field by the user driving the tractor 1. It is also possible to obtain using

  When a new registration of field data is instructed by the user, the field registration unit 51 transmits the field data to a management server (management device) 90 that manages field information and the like via the Internet. When receiving the field data, the management server 90 creates identification information (field ID) for uniquely identifying the field, and stores the received field data together with the field ID in the database. The created field ID is transmitted from the management server 90 to the tractor 1 side via the Internet. The farm field registration unit 51 stores the farm field data together with the received farm field ID in an appropriate storage unit.

  The farm field ID storage unit 52 stores a farm field ID indicating the farm field selected by the user as the farm field to be operated from among the farm fields registered by the farm field registration unit 51. In addition, selection of an agricultural field can be performed when a user operates the monitor apparatus 40. FIG.

  The slip ratio calculation unit 53 is based on the speed obtained by the vehicle speed sensor 65 detecting the rotation of the axle (the outer peripheral speed of the wheel) and the change in the position obtained by the position information acquisition unit 61 when the tractor 1 is traveling. Based on the obtained vehicle speed, the slip ratio is calculated according to a known formula.

  The slip condition data creation unit 54 creates slip condition data to be transmitted to the management server 90. The slip state data is automatically created when the user selects the field to be worked and causes the tractor 1 to travel. The slip condition data is obtained by the slip ratio calculation unit 53 as the field ID indicating the field in which the tractor 1 is traveling, the position of the tractor 1 obtained by the position information acquisition unit 61, and the slip ratio of the tractor 1 at the position. The calculated result and the date and time when the slip ratio is acquired are included.

  The attention situation data creation unit 55 creates attention situation data to be transmitted to the management server 90. The attention situation data is created by operating the monitor device 40 by a user who has noticed a special situation to be recorded when the user selects a field to be worked and is running the tractor 1. The caution status data includes the field ID indicating the field in which the tractor 1 is traveling, the position of the tractor 1 obtained by the position information acquisition unit 61, the content input by the user as the caution, and the date on which the caution was acquired. And time. The content of attention may be a character string input by the user, or may be a predetermined code for indicating a situation to be noted.

  The situation data transmission unit 56 transmits the slip situation data created by the slip situation data creation unit and the attention situation data created by the attention situation data creation unit to the management server 90.

  The past situation data acquisition unit 57 requests the management server 90 for past situation data including past slip ratio data (past slip ratio information) and past attention situation data, and receives past situation data from the management server 90. Obtain by receiving.

  The map data creation unit 58 creates map data to be displayed on the monitor device 40 based on the past situation data acquired by the past situation data acquisition unit 57.

  The position transmission unit 59 transmits the position of the machine body 2 obtained by the position information acquisition unit 61 to the management server 90 in real time while the machine body 2 is traveling in the field.

  The slip countermeasure control unit 60 is configured to automatically decelerate when receiving a deceleration request signal as a slip countermeasure request signal from the management server 90 in a situation where the machine body 2 is traveling and working in the field. The transmission is controlled via the vehicle speed controller 71.

  Next, the management server 90 will be described in detail with reference to FIG.

  The management server 90 is a computer connected to the Internet, and can send and receive information to and from many agricultural work vehicles including the tractor 1. The management server 90 includes a field information registration unit 91, a slip situation reception unit 92, a caution situation reception unit 93, a past situation data creation unit 94, a past situation data transmission unit 95, a monitoring vehicle position acquisition unit 96, A handling request transmission unit 97.

  The farm field information registration unit 91 receives farm field data from the tractor 1 when a farm field registration operation is performed in the tractor 1. Then, the farm field information registration unit 91 stores the obtained farm field data together with the created farm field ID in a database constructed in the management server 90. The created field ID is transmitted to the tractor 1 via the Internet.

  The slip condition receiving unit 92 acquires the slip condition data transmitted from the tractor 1 by receiving it via the Internet. The acquired slip condition data is accumulated in a database.

  The attention status receiving unit 93 acquires the attention status data transmitted from the tractor 1 by receiving it via the Internet. The acquired attention situation data is accumulated in the database in the same manner as the slip situation data.

  In response to a situation data request made by designating the field ID from the tractor 1 to the management server 90, the past situation data creation unit 94 is based on slip situation data and attention situation data previously stored in the database for the field. The past situation data to be transmitted to the tractor 1 is created. The past situation data may be simply configured as a set of slip condition data or attention situation data, or may be configured as data describing slip ratio or presence / absence of attention for each mesh obtained by dividing the field into a matrix, for example. good.

  The past situation data transmission unit 95 transmits the past situation data created by the past situation data creation unit 94 to the tractor 1 that has requested the situation data.

  The monitoring vehicle position acquisition unit 96 acquires the position information of the tractor 1 that is the monitoring target by receiving it via the Internet.

  When it is detected that the tractor 1 to be monitored is approaching a point where a high slip rate is recorded in the past, the countermeasure request transmission unit 97 sends a slip countermeasure request signal to the tractor 1. A certain deceleration request signal is transmitted.

  Next, collection of data such as a slip ratio, generation of a slip map, and automatic control based on the slip map will be described in order.

  When working with the tractor 1 for the first time on the farm field, the user operates the monitor device 40 to designate the position and shape of the farm field, and performs farm field registration work. The field data is transmitted from the tractor 1 to the management server 90, and the field ID for identifying the field is created by the management server 90.

  Next, the user operates the monitor device 40 to select the previously registered field as the field to be worked. Thereby, the field ID indicating the field is stored in the field ID storage unit 52. The user actually runs the machine body 2 and performs work using the work machine 3.

  At this time, the vehicle speed controller 71 controls the above-described continuously variable transmission so as to realize the vehicle speed instructed by the main transmission lever 43 shown in FIG.

  The work machine controller 72 supports the work machine 3 on the machine body 2 so that when the work machine elevating switch 45 is instructed to lower the work machine 3, the work machine 3 reaches the height designated by the work machine up / down dial 46. Control the height.

  Furthermore, in a state in which the work machine 3 is lowered, the work machine controller 72 includes an unillustrated inclination sensor and angular velocity sensor provided on the machine body 2 so as to maintain the inclination angle designated by the inclination angle setting dial 47. Based on the detected value, the right / left inclined posture of the work machine 3 with respect to the machine body 2 is controlled.

  In the course of this work, every time a predetermined time elapses, the position information acquisition unit 61 in FIG. 3 obtains the position of the tractor 1 and the slip rate calculation unit 53 calculates the slip rate. Then, the slip condition data creation unit 54 creates slip condition data including the position of the tractor 1 and the slip ratio of the tractor 1 at the position.

  Further, it is assumed that the user notices that there is a mud in front of the tractor 1 while working. In this case, the user operates the monitor device 40 to instruct the start of recording of stuffy attention. Then, the attention situation data creation unit 55 creates attention situation data including the position of the tractor 1 obtained by the position information acquisition unit 61 and the content of attention (slackness). The creation of the caution situation data is repeated each time a predetermined time elapses until the user gives an instruction to end the recording of the stuffy caution.

  When the work on the field is completed, the user operates the monitor device 40 to instruct transmission of status data. Then, the situation data transmission unit 56 transmits the slip situation data and the attention situation data created for the field to the management server 90 via the Internet. At this time, the information transmitted to the management server 90 by the situation data transmission unit 56 stores the field ID indicating the target field for which the slip situation data and the attention situation data are created (that is, the field ID storage unit 52 stores the field ID). Field ID).

  When the slip status receiving unit 92 of the management server 90 receives the slip status data, the slip status receiving unit 92 stores the slip status data in the database in association with the field ID indicating the target field. Similarly, when the attention status reception unit 93 receives the attention status data, the attention status reception unit 93 stores the attention status data in the database in association with the field ID indicating the target field.

  In the next season, when the same work is performed on the same field, the user operates the monitor device 40 of the tractor 1 to select a registered field. Thereby, the past situation data acquisition unit 57 specifies the farm field ID corresponding to the selected farm field, and requests past situation data from the management server 90.

  Upon receiving a request from the tractor 1 side, the past situation data creation unit 94 of the management server 90 searches the database based on the designated field ID, and uses the slip situation data and the attention situation data registered in the past for the field. Based on this, past situation data is created. The past situation data transmission unit 95 transmits the past situation data created by the past situation data creation unit 94 to the tractor 1 side.

  The map data creation unit 58 of the tractor 1 is a map showing the slip rate and the geographical distribution of situations to be noted based on the past slip situation data and the attention situation data acquired by the past situation data acquisition unit 57 as described above. Create data.

  As this map data, for example, as shown in FIG. 5, areas including points where a large slip rate has been detected in the past are displayed in different colors, and points where attention has been input in the past are plotted with special marks. It can be considered as image data. For convenience of explanation in the drawings, the color difference is expressed by hatching in FIG. By confirming the map data displayed on the monitor device 40, the user can perform the work after fully paying attention to a point where slipping is likely to occur.

  FIG. 5 shows an example in which map data is displayed on the monitor device 40, and an icon 85 indicating the tractor 1 is displayed so as to overlap the map data. The position where the icon 85 is displayed is based on the position information obtained by the position information acquisition unit 61. As a result, the user can intuitively understand whether there is a place where the tractor 1 is likely to slip or a place where attention should be paid by looking at the screen.

  When the user travels the machine body 2 and performs work by the work machine 3, the position transmission unit 59 in FIG. 3 transmits the position of the tractor 1 obtained by the position information acquisition unit 61 to the management server 90 at predetermined time intervals. To do. The monitored vehicle position acquisition unit 96 of the management server 90 acquires the position of the tractor 1.

  Then, the countermeasure request transmission unit 97 of the management server 90 shown in FIG. 4 determines that the position of the tractor 1 acquired by the monitoring vehicle position acquisition unit 96 based on the past slip status data accumulated in the database is the slip rate in the past. It is determined whether or not the point where the high is detected is approaching. When the tractor 1 is approaching such a point with a high slip rate, the countermeasure request transmission unit 97 transmits a deceleration request signal (slip countermeasure request signal) to the tractor 1.

  The slip countermeasure control unit 60 of the tractor 1 shown in FIG. 3 controls the vehicle speed controller 71 according to the deceleration request signal, and immediately reduces the traveling speed of the airframe 2. As a result, since the vehicle approaches the point where the slip ratio is high in the past while decelerating, the slip of the airframe 2 can be effectively avoided.

  When the automatic deceleration control is performed as described above, a message is displayed on the display of the monitor device 40 as shown in FIG. As a result, the user can be encouraged to perform careful work in the future. However, the user can be alerted by using a lamp or a buzzer instead of displaying a message on the screen as described above.

  Further, the countermeasure request transmission unit 97 in FIG. 4 transmits, as a slip countermeasure request signal, a request for weakening the control sensitivity of the control for maintaining the left-right tilted posture when the work implement 3 is lowered instead of the deceleration of the traveling speed. You can also In this case, even if slip occurs in the machine body 2, the undulation of work by the work machine 3 can be suppressed.

  Furthermore, the countermeasure request transmission unit 97 can also transmit a request for reducing the tilling depth of the rotary tiller as the work machine 3 as a slip countermeasure request signal. In this case, since the load generated on the working machine 3 side is reduced, the occurrence of slip can be reduced.

  Also in the work of this season, the slip situation data creation unit 54 creates slip situation data, and the attention situation data creation unit 55 creates attention situation data according to the user's operation. However, when automatic control for dealing with the slip is performed, it is preferable that the fact is recorded in the created data. The situation data transmission unit 56 transmits the slip situation data and the caution situation data to the management server 90 via the Internet, and the management server 90 stores the new slip situation data and the caution situation data in the database. Accordingly, it is possible to perform slip map display and slip countermeasure control in accordance with the latest situation.

  As described above, the tractor 1 of the present embodiment includes the vehicle body 2 that can travel. Further, the tractor 1 receives past situation data including information on past slip ratios associated with the position from the external management server 90 by communication. Further, the tractor 1 can display the geographical distribution of the past slip rate in the field that is the work target of the tractor 1 based on the past situation data on the monitor device 40 capable of performing an instruction to the tractor 1. is there.

  Accordingly, it is possible to perform appropriate work by the tractor 1 by effectively utilizing the slip rate information collected in the past by the management server 90.

  Further, the tractor 1 of the present embodiment includes a position information acquisition unit 61 that can acquire the position of the airframe 2. In this tractor 1, automatic control is performed by a slip countermeasure request signal output when the airframe 2 approaches a point where the past slip rate is high.

  Thereby, when the body 2 approaches a point where a large slip is expected, some countermeasure can be automatically performed in advance.

  Moreover, in the tractor 1 of this embodiment, the management server 90 outputs a slip countermeasure request signal.

  Thereby, the record etc. which output the slip countermeasure request signal can be centrally managed by the management server 90.

  Further, in the tractor 1 of the present embodiment, the slip countermeasure request signal is a signal for decelerating the traveling speed of the airframe 2.

  Thereby, the slip of the body 2 can be reduced appropriately.

  However, in the tractor 1 having the configuration including the work machine controller 72 capable of maintaining the right and left inclined posture of the work machine 3 attached to the machine body 2, the slip countermeasure request signal is the control sensitivity of the left and right inclined posture of the work machine 3. It is also possible to use a signal that weakens the signal.

  In this case, even if slip occurs in the machine body 2, the undulation of work by the work machine 3 can be suppressed.

  Further, in the tractor 1 including the work machine controller 72 that can control the tilling depth of the rotary tiller as the work machine 3 attached to the machine body 2, the slip countermeasure request signal indicates the tilling depth of the work machine 3. It can also be a signal to make shallow.

  In this case, since the resistance generated in the work machine 3 can be reduced, the occurrence of slip can be satisfactorily suppressed.

  Further, the tractor 1 of the present embodiment is configured to be able to acquire the slip rate of the airframe 2 and transmit the position information and the slip rate of the airframe 2 to the external management server 90 by communication.

  As a result, even when the slip rate changes for some reason, the slip rate information after the change can be easily collected on the management server 90 side.

  Next, a second embodiment will be described. FIG. 7 is a block diagram showing an electrical configuration of the tractor 1 of the second embodiment. In the description of the present embodiment, the same or similar members as those of the above-described embodiment may be denoted by the same reference numerals in the drawings, and description thereof may be omitted.

  The tractor 1 of the second embodiment shown in FIG. 7 is different from the first embodiment (FIG. 3) in that the countermeasure request output signal provided by the control unit 4 is not the management server 90 but the slip countermeasure request signal. Is different. In the second embodiment, since the management server 90 does not monitor the position of the tractor 1, the position transmission unit 59 described in the first embodiment is not provided. Although not shown, in the management server 90, the monitored vehicle position acquisition unit 96 and the countermeasure request transmission unit 97 are omitted.

  Furthermore, as shown in FIG. 8, which is a modified example, the control unit 4 of the tractor 1 includes an automatic travel control unit 68, and the aircraft can be automatically traveled (autonomous travel) along a predetermined route. It may be configured to be. The automatic travel control unit 68 automatically moves the machine body 2 along a predetermined route by operating the monitor device 40 based on the position of the tractor 1 acquired by the position information acquisition unit 61. 3 is configured to be able to perform an automatic operation according to 3. In this configuration, automatic traveling can be performed while effectively avoiding slipping of the airframe 2.

  As described above, in the tractor 1 of the present embodiment, the slip countermeasure request signal is output by the control unit 4 included in the airframe 2.

  Thereby, it is possible to quickly cope with the slip of the airframe 2.

  In the configuration of FIG. 8, the control unit 4 can automatically run the airframe 2 along a predetermined route.

  Thereby, automatic traveling can be performed while effectively avoiding slipping of the airframe 2.

  Next, a third embodiment will be described. FIG. 9 is a block diagram showing an electrical configuration of the tractor 1 of the third embodiment. In the description of the present embodiment, the same or similar members as those of the above-described embodiment may be denoted by the same reference numerals in the drawings, and description thereof may be omitted.

  The tractor 1 according to the third embodiment shown in FIG. 9 has a communication terminal (instruction unit, remote control device) 80 carried by the user to start or stop the automatic traveling in a state where the user does not board the tractor 1. It is configured to be instructed from the outside.

  The communication terminal 80 includes an antenna 81 for performing wireless communication with the tractor 1. The body 2 of the tractor 1 is provided with an antenna 82 for wireless communication with the communication terminal 80. The communication terminal 80 and the tractor 1 are connected by a wireless LAN and can transmit and receive information.

  Furthermore, the communication terminal 80 includes a communication antenna 83 separately from the antenna 81 that performs wireless communication with the tractor 1. The communication terminal 80 includes a communication unit 84 that is electrically connected to the communication antenna 83. The communication unit 84 has substantially the same function as the communication unit 62 (FIG. 3) of the first embodiment, performs modulation processing or demodulation processing by an appropriate method, and transmits data via the Internet. Can send and receive.

  With this configuration, the tractor 1 can connect to the Internet using the communication terminal 80 connected by the wireless LAN as a relay point. Therefore, the airframe 2 of the tractor 1 of the present embodiment is not provided with a communication antenna and a communication unit for connecting to the Internet.

  The communication terminal 80 is configured as a tablet computer including a display and a touch panel, and can give various instructions to the tractor 1.

  For example, the user instructs the tractor 1 to record the fact that the place is muddy by displaying a shape of the field on the display and then specifying the specific point. 55 can create attention situation data.

  Further, the communication terminal 80 can acquire the past situation data acquired by the past situation data acquisition unit 57, and can display a slip map as shown in FIG.

  Further, when the tractor 1 is automatically traveling by the automatic traveling control unit 68, the communication terminal 80 acquires the position of the tractor 1 acquired by the position information acquiring unit 61 in real time. Then, when the position of the tractor 1 is approaching a point where a high slip rate has been detected in the past, the countermeasure request output unit 86 included in the communication terminal 80, for example, sends a deceleration request signal to the tractor as described above. 1 to send.

  Also with this configuration, automatic traveling can be performed while appropriately avoiding slipping of the airframe 2.

  As described above, the tractor 1 of the present embodiment includes the control unit 4 that can automatically travel the airframe 2 along a predetermined route. Then, the slip countermeasure request signal is output by the communication terminal 80 capable of giving an instruction regarding automatic travel from the outside of the machine body 2.

  Thereby, the control regarding coping with automatic driving | running | working and a slip can be smoothly performed in the communication terminal 80. FIG.

  The preferred embodiments and modifications of the present invention have been described above, but the above configuration can be modified as follows, for example.

  The slip status data may include information such as the traveling speed of the tractor 1 and the type of work implement attached to the tractor 1.

  By operating the monitor device 40 by the user, the display of the slip map as shown in FIG. 5 and the display of another screen may be switched. For example, it is conceivable that the display of the slip map and the display of the yield map can be switched alternately.

  In the third embodiment (FIG. 9), an agricultural field registration unit 51, an agricultural field ID storage unit 52, a slip rate calculation unit 53, a slip situation data creation unit 54, an attention situation data creation unit 55, a situation data transmission unit 56, and past situation data. Some or all of the acquisition unit 57, the map data creation unit 58, and the automatic travel control unit 68 may be provided on the communication terminal 80 side instead of the body 2 of the tractor 1. Moreover, in 3rd Embodiment, the communication antenna and communication part for connecting to the internet may be provided in the body 2 side of the tractor 1. FIG.

  The communication unit 62 included in the tractor 1 or the communication unit 84 included in the communication terminal 80 may be configured to be connectable to an external management apparatus via the Internet instead of wirelessly.

  The work vehicle that acquires the slip rate and transmits it to the management server 90 and the work vehicle that acquires the past slip rate and the like from the management server 90 may be different.

  The present invention can also be applied to agricultural work vehicles other than the tractor 1, such as rice transplanters and combines.

1 Tractor (agricultural work vehicle)
2 Airframe 3 Working Machine 4 Control Unit 40 Monitor Device (Instruction Unit)
61 Position information acquisition unit (position acquisition unit)
80 Communication terminal (instruction unit, remote control device)
90 Management server (management device)

Claims (10)

Equipped with a machine that can travel,
Receiving past slip rate information, which is past slip rate information associated with the position, from an external management device by communication,
Based on the past slip rate information, the geographical distribution of the past slip rate in the work target area of the agricultural work vehicle can be displayed on an instruction unit capable of performing an instruction to the agricultural work vehicle. Agricultural work vehicle. The agricultural work vehicle according to claim 1,
A position acquisition unit capable of acquiring the position of the aircraft,
An agricultural work vehicle, wherein automatic control is performed by a slip countermeasure request signal output when the aircraft approaches a point where a past slip rate is high. The agricultural work vehicle according to claim 2,
The agricultural work vehicle, wherein the management apparatus outputs the slip countermeasure request signal. The agricultural work vehicle according to claim 2,
The agricultural work vehicle, wherein the slip countermeasure request signal is output by a control unit included in the aircraft. The agricultural work vehicle according to claim 4,
The agricultural work vehicle, wherein the control unit is capable of automatically driving the machine along a predetermined route. The agricultural work vehicle according to claim 2,
A control unit capable of automatically traveling the aircraft along a predetermined route;
The agricultural work vehicle according to claim 1, wherein the slip countermeasure request signal is output by a remote control device capable of giving an instruction regarding automatic traveling from outside the machine body. Agricultural work vehicle according to any one of claims 2 to 6,
The agricultural work vehicle, wherein the slip countermeasure request signal is a signal for decelerating a traveling speed of the airframe. Agricultural work vehicle according to any one of claims 2 to 6,
A work machine control unit capable of controlling to hold the right and left tilt posture of the work machine mounted on the machine body;
The agricultural work vehicle, wherein the slip countermeasure request signal is a signal that weakens control sensitivity of a left-right inclined posture of the work implement. Agricultural work vehicle according to any one of claims 2 to 6,
A working machine control unit capable of controlling the tilling depth of the tilling work machine mounted on the machine body;
The agricultural work vehicle, wherein the slip countermeasure request signal is a signal for decreasing the tillage depth. Agricultural work vehicle according to any one of claims 1 to 9,
An agricultural work vehicle configured to acquire a slip rate of the airframe and transmit the position information of the airframe and the slip rate to an external management device by communication.

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