JP2018186789A - Operation support system of farm machine, and operation support method of farm machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To control a farm machine based on biological information of an operator at a farm working time by the farm machine.SOLUTION: An operation support system of a farm machine includes a biological detection device for detecting biological information of an operator operating the farm machine, a position detection device for detecting a machine position of the farm machine, a field information acquisition part for acquiring field information related to a field, and a control device for controlling the farm machine based on biological information detected by the biological detection device, on the machine position detected by the position detection device, and on the field information.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an operation support system for an agricultural machine and an operation support method for an agricultural machine.

  Conventionally, there is a system shown in Patent Document 1 as a system for managing farm work. The system of Patent Literature 1 includes work content storage means for storing work contents to be performed on a farm field, work plan storage means for storing a work plan in which farm work and a farm work period are related, and a portable terminal assigned to the worker. The mobile terminal requests the work content storage means for work content directed to the worker assigned to the mobile terminal, and obtains the work plan from the work plan storage means, and the work content acquired by the acquisition means And / or display means for displaying the work plan.

Japanese Patent Laying-Open No. 2015-049872

The agricultural support system of Patent Literature 1 has a configuration in which an operator can reliably perform appropriate agricultural work. However, it is not considered to control the agricultural machine based on the biological information of the worker.
Therefore, in view of the above problems, the present invention provides an operation support system for an agricultural machine and an operation support method for an agricultural machine that can control the agricultural machine based on the biological information of the worker during agricultural work by the agricultural machine. Objective.

The technical means of the present invention for solving this technical problem is characterized by the following points.
An operation support system for an agricultural machine includes a biological detection device that detects biological information of an operator who operates the agricultural machine, a position detection device that detects a mechanical position of the agricultural machine, and an agricultural field information acquisition unit that acquires agricultural field information about the agricultural field And a control device that controls the agricultural machine based on the biological information detected by the biological detection device, the machine position detected by the position detection device, and the field information.

The control device includes: a first calculation unit that calculates a distance difference between the field boundary and the machine position based on the machine position and the field information; and the agriculture based on the biological information and the distance difference. A first control unit that controls the machine.
The first control unit stops the agricultural machine when the distance difference is equal to or less than a threshold and the biological information indicates that the worker is not awake or is in poor physical condition.

The first control unit controls the control device of the agricultural machine when the distance difference is equal to or less than a threshold value and the biological information indicates that the worker is not awake or is in poor health. .
Agricultural machine operation support system includes a biological detection device that detects biological information of an operator who operates an agricultural machine, a position detection device that detects a mechanical position of the agricultural machine, and a route acquisition that acquires a planned travel route of the agricultural machine And a control device that controls the agricultural machine based on the biological information detected by the biological detection device, the machine position detected by the position detection device, and the travel route.

The control device calculates a travel position of the agricultural machine with respect to the planned travel route based on the machine position and the field information, and the agricultural machine based on the biological information and the travel position. And a second control unit for controlling.
The second control unit stops the agricultural machine when the traveling position indicates at least the turning position of the planned traveling route and the biological information indicates that the worker is not awake or is in poor physical condition.

The second control unit controls the control device of the agricultural machine when the traveling position indicates at least a turning position of a planned traveling route and the biological information indicates that the worker is not awake or is in poor physical condition. To do.
The control device includes a third control unit that controls traveling of the agricultural machine based on the planned traveling route, and the second control unit has priority over traveling by the third control unit. To stop.

  An operation support method for an agricultural machine includes a step of detecting biological information of an operator who operates the agricultural machine, a step of detecting a machine position of the agricultural machine, a step of acquiring field information relating to an agricultural field, and the biological information and machine Controlling the agricultural machine based on the position and the field information.

  ADVANTAGE OF THE INVENTION According to this invention, an agricultural machine can be controlled based on an operator's biometric information at the time of agricultural work by an agricultural machine.

It is a figure which shows the operation assistance system of the agricultural machine in 1st Embodiment. It is a figure which shows the relationship between a machine position and biometric information. It is a figure which shows the relationship between the boundary W1 of an agricultural field, the machine position Pn, and the distance difference Ln. It is a figure which shows the flowchart which shows the operation assistance of the tractor in 1st Embodiment. It is a figure which shows the modification of the flowchart which shows the operation assistance of the tractor in 1st Embodiment. It is a figure which shows the operation assistance system of the agricultural machine in 2nd Embodiment. It is a figure which shows an example of driving schedule route R1 of a tractor. It is a figure which shows the flowchart which shows the operation assistance of the tractor in 2nd Embodiment. It is a figure which shows the modification of the flowchart which shows the operation assistance of the tractor in 2nd Embodiment. It is a figure which shows the operation assistance system of the agricultural machine in 3rd Embodiment. It is a figure which shows the flowchart which shows the operation assistance of the tractor in 3rd Embodiment. It is the whole figure which connected the tillage device to the tractor.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[First Embodiment]
FIG. 1 shows an operation support system for agricultural machines in the first embodiment. The operation support system for the agricultural machine is a system that can support the operation (maneuvering) of the agricultural machine 1. The agricultural machine 1 is a tractor, a combine, a rice transplanter, or the like.

First, a tractor that is one of agricultural machines will be described as an example. As a matter of course, the agricultural machine 1 is not limited to a tractor.
As shown in FIG. 10, the tractor 1 includes a vehicle (vehicle body) 3 having a traveling device 7, a prime mover 4, and a transmission 5. The traveling device 7 is a device having a front wheel and a rear wheel. The traveling device 7 may be a crawler type device. The prime mover 4 is a diesel engine, an electric motor, or the like, and in this embodiment is constituted by a diesel engine. The transmission 5 can switch the propulsive force of the traveling device 7 and can switch the traveling device 7 forward and backward. The transmission 5 includes a travel clutch that can transmit power from the prime mover 4 and a travel drive shaft that can transmit power from the travel clutch. The traveling clutch can be switched between a connected state in which power from the prime mover 4 is transmitted to the traveling drive shaft and a disconnected state in which power from the prime mover 4 is not transmitted to the traveling drive shaft. The traveling clutch is a hydraulic clutch that is switched between a connected state and a disconnected state by pressure oil or the like from a solenoid valve. That is, when the traveling clutch is constituted by a hydraulic clutch, an electric signal (control signal) such as a current is output from the control device 20d described later to the electromagnetic valve to switch the electromagnetic valve to at least two positions. The traveling clutch switches between a connected state and a disconnected state. The traveling clutch may be an electromagnetic clutch that is switched between a connected state and a disconnected state by an electrical signal.

  Further, the transmission 5 has a PTO clutch capable of transmitting power from the prime mover 4 and a PTO shaft capable of transmitting power from the PTO clutch. The PTO clutch can be switched between a connected state in which the power from the prime mover 4 is transmitted to the PTO shaft and a disconnected state in which the power from the prime mover 4 is not transmitted to the PTO shaft. The traveling clutch is a hydraulic clutch that is switched between a connected state and a disconnected state by pressure oil or the like from a solenoid valve. That is, when the PTO clutch is constituted by a hydraulic clutch, an electric signal (control signal) such as a current is output from the control device 20d described later to the electromagnetic valve, and the electromagnetic valve is switched to at least two positions. The PTO clutch switches between a connected state and a disconnected state. The PTO clutch may be an electromagnetic clutch that is switched between a connected state and a disconnected state by an electrical signal.

  Further, a connecting portion 8 constituted by a three-point link mechanism or the like is provided at the rear portion of the vehicle body 3. The working device 2 can be attached to and detached from the connecting portion 8. By connecting the working device 2 to the connecting portion 8, the working device 2 can be pulled by the vehicle body 3. The working device 2 includes a tilling device for plowing, a fertilizer spraying device for spraying fertilizer, an agrochemical spraying device for spraying agricultural chemicals, and a harvesting device for harvesting. In addition, in FIG. 10, the example which attached the tillage apparatus as the working apparatus 2 is shown.

  The tillage device 2 is attached to the machine body 2a connected to the connection part 8, a drive shaft 2b provided at the front of the machine body 2a, a rotary shaft 2c rotatably supported by the machine body 2a, and the rotary shaft 2c. And a work tool 2d. The drive shaft 2b is connected to a PTO shaft that is driven by the power of the prime mover 4 and the like, and the power of the PTO shaft is transmitted. The rotating shaft 2c is rotated by the power from the PTO shaft transmitted to the driving shaft 2b. The work tool 2d is, for example, a tilling claw for plowing a farm field. That is, the tilling device 2 tills the field while being pulled by the tractor 1.

  The tractor 1 includes a driver's seat 10 provided on the vehicle body 3 and a control device 11. The driver's seat 10 and the control device 11 are disposed in a cabin 12 provided in the vehicle body 3. The control device 11 is a part installed around the driver's seat 10, and a machine (operator) seated on the driver's seat 10 is equipped with a machine, device, instrument, member, etc. (for example, a working device). 2, a vehicle body 3, a prime mover 4, a traveling device 7, a working device, and the like). The steering device 11 includes a steering device including at least a steering.

As shown in FIG. 1, the tractor 1 is equipped with a plurality of devices 20. The plurality of devices 20 are connected by an in-vehicle network N1 such as CAN, LIN, or FlexRay. The device 20 is a device constituting the tractor 1 and includes, for example, a state detection device 20a, a switch device 20b, a display device 20c, and a control device 20d.
The state detection device 20a is a detection device that detects the state (machine state) of the tractor 1. The state detection device 20a includes an accelerator pedal sensor, a shift lever detection sensor, a crank position sensor, a fuel sensor, a water temperature sensor, an engine rotation sensor, a steering angle sensor, an oil temperature sensor, an axle rotation sensor, and the like. The switch device 20b is a device that performs switching, and is an ignition switch, a parking brake switch, a PTO switch, or the like. The display device 20c is a device that displays various items related to the tractor 1, and is a liquid crystal display device configured with liquid crystal or the like.

  The control device 20d includes a first control device 20d1 and a second control device 20d2. The first control device 20d1 is a device that controls the entire tractor 1. The first control device 20d1 includes a detection value detected by the state detection device 20a [e.g., an operation amount of the accelerator pedal detected by the accelerator pedal sensor, a shift lever position when the shift lever is detected detected by the shift lever detection sensor, (Speed), engine speed detected by the engine rotation sensor, oil temperature detected by the oil temperature sensor, crank position detected by the crank position sensor, and the like. The first control device 20d1 outputs a control command to the second control device 20d2 and controls the transmission device 5 based on the shift lever position so that the engine has a predetermined rotational speed based on the operation amount of the accelerator pedal. (Shift control). The first control device 20d1 controls the raising / lowering of the connecting portion 8 based on an input from the operation member (elevating control).

  The second control device 20d2 is a device that mainly controls the engine 4. The second controller 20d2 controls an injector, a common rail, a supply pump, and the like based on inputs such as an accelerator pedal operation amount, a crank position, and a cam position. In the engine control in the second control device 20d2, for example, the fuel injection amount, the injection timing, and the fuel injection rate are set in the control of the injector, and the fuel injection pressure is set in the control of the supply pump and the common rail.

The tractor 1 includes a communication device 21, a position detection device 22, and a living body detection device 23. The communication device 21, the position detection device 22, and the living body detection device 23 are connected to the in-vehicle network N1.
The communication device 21 is a device that outputs data (information) of the tractor 1 to the outside of the tractor 1 and takes in external data into the tractor 1. The communication device 21 performs wireless communication using, for example, IEEE 802.11 series of communication standards such as Wi-Fi (Wireless Fidelity, registered trademark), or wirelessly using a mobile phone communication network, a data communication network, a mobile phone communication network, or the like. A device that performs communication. The communication device 21 has an agricultural field information acquisition unit 21a. The farm field information acquisition unit 21a is composed of electrical / electronic components provided in the communication device 21, programs installed in the communication device 21 and the like. The agricultural field information acquisition unit 21a acquires agricultural field information related to the agricultural field. When acquiring the farm field information, for example, the farm field information acquisition unit 21a requests the communication device 21 to connect to a support device 26 such as a server, and the communication device 21 uses the support for the farm field information stored in the support device 26. Obtained from the device 26 by wireless or the like. In this embodiment, the communication device 21 is provided with the agricultural field information acquisition unit 21a, and the agricultural field information acquisition unit 21a acquires the agricultural field information stored in the support device 26. You may provide in apparatus 20, such as control apparatus 20d1. For example, an input interface that can be connected to the first control device 20d1 is provided, and when the storage medium is connected to the input interface, the farm field information acquisition unit 21a transmits the farm field information stored in the storage medium via the input interface. May be taken into the first control device 20d1. The field information acquired by the field acquisition unit 21 a is stored in the storage device 27 provided in the tractor 1.

The field information is data (electronic data) indicating the field, and includes a representative position (latitude and longitude) indicating the field, a position (latitude and longitude) indicating the boundary of the field, and the like. The field information may be image data of the field or other data indicating the field.
The position detection device 22 is a detection device that can detect the position of the tractor 1, for example, a device that detects a position (latitude, longitude) based on a satellite signal (radio wave) of the positioning satellite 25. That is, the position detection device 22 detects the position of the vehicle body 3 using a satellite positioning system (Global Positioning System, Galileo, GLONASS, etc.). The position detection device 22 is attached to the top plate of the cabin 12, for example. The position detection device 22 may be attached to other than the cabin 12, and may be provided in the work device 2, for example. Hereinafter, for convenience of explanation, the position (latitude, longitude) detected by the position detection device 22 is referred to as “machine position”. The machine position detected by the position detection device 22 is stored in the storage device 27.

  The living body detection device 23 is a device that detects the biological information of the worker. The living body detection device 23 is, for example, a sensor or an electrode that measures biological information such as a worker's heartbeat, breathing, sleep, body temperature, sweating, body movement (body movement), electromyogram (muscle movement), and the like. . The living body detection device 23 is a wearable device attached to an operator or a non-wearable device provided around the driver's seat 10. When the living body detection device 23 is a wearable device, the living body information detected by the living body detection device 23 is transmitted to the communication device 21 via the wireless device stored in the living body detection device 23. When the living body detection device 23 is a non-wearable device, the living body detection device 23 is connected to the in-vehicle network N1, and the biological information detected by the living body detection device 23 is transmitted to the in-vehicle network N1. The living body detection device 23 may be an imaging device such as a camera that captures an image of the worker sitting on the driver's seat 10. The biological information detected by the biological detection device 23 is stored in the storage device 27.

As described above, since the tractor 1 includes the position detection device 22 and the biological detection device 23, the mechanical position detected by the position detection device 22 and the biological detection device 23 are detected as shown in FIG. The biometric information thus obtained can be obtained in association with it. Therefore, it is possible to grasp the biological information of the worker when the tractor 1 is traveling.
Now, the first control device 20d1 controls the tractor 1 based on the field information, the machine position detected by the position detection device 22, and the biological information detected by the biological detection device 23. Specifically, as shown in FIG. 3, the boundary of the field F1 indicated by the field information is “W1”, and the machine position detected by the position detection device 22 is “Pn (n = 1, 2, 3)”. In this case, the first control device 20d1 controls the tractor 1 based on the distance difference Ln between the boundary W1 and the machine position Pn and the biological information detected by the biological detection device 23. For convenience of explanation, in FIG. 3, a planned travel route R <b> 1 that an operator plans to travel by operating the tractor 1 is indicated by a broken line.

Next, the first control device 20d1 will be described in detail.
The first control device 20d1 includes a first calculation unit 31 and a first control unit 32. The first calculation unit 31 and the first control unit 32 are configured by electrical / electronic components provided in the first control device 20d1, programs installed in the first control device 20d1, and the like. The first calculation unit 31 calculates a distance difference Ln between the boundary W1 of the farm field F1 and the machine position Pn based on the machine position Pn and the farm field information. The first control unit 32 controls the agricultural machine based on the biological information and the distance difference Ln.

FIG. 4A is a diagram showing a flowchart showing the operation support of the tractor 1.
As shown to FIG. 4A, before starting the tractor 1 (before driving | running | working), the agricultural field information by the agricultural field information acquisition part 21a is acquired (S1). After starting the prime mover 4 of the tractor 1, biological information is detected by the biological detection device 23 (S2), and the mechanical position Pn is detected by the position detection device 22 (S3).

  Further, after starting the prime mover 4 of the tractor 1, the first control unit 32 determines whether or not the worker is in an abnormal state (abnormal state) based on the detected biological information (S4). For example, the first control unit 32 determines whether the worker is awake from body movement (body movement), electromyogram (muscle movement), etc. included in the biological information, and the worker is awake. In such a case, the operator determines that there is no abnormal state (S4, No). In addition, the first control unit 32 determines whether the worker is in poor physical condition from heartbeat, breathing, body temperature, sweating, and the like. If the worker is not in poor physical condition, the first control unit 32 determines that the worker is not in an abnormal state ( S4, No). The first control unit 32 determines that the worker is in an abnormal state when the biological information indicates that the worker is not awake or indicates that the worker is in poor physical condition (S4). , Yes). Note that the determination of the worker's awakening and the worker's poor physical condition based on the biological information is not limited to the above-described example.

  When the worker is in an abnormal state (S4, Yes), the first calculation unit 31 is based on the machine position Pn detected by the position detection device 22, and the boundary between the machine position Pn and the field F1 included in the field information. A distance difference Ln is calculated for W1 (S5). Specifically, the first calculation unit 31 calculates a distance difference Ln, which is the shortest linear distance between the machine position Pn and the boundary W1, from the latitude and longitude indicating the machine position Pn and the latitude and longitude indicating the boundary W1 of the field F1. Ask.

After calculating the distance difference Ln (after S5), the first control unit 32 of the first control device 20d1 determines whether or not the distance difference Ln is equal to or less than the threshold value M1 (S6). The threshold value M1 is a value for determining whether or not the tractor 1 is located near the boundary W1 of the field F1, that is, whether or not the tractor 1 is located near the shore of the field F1, for example, The threshold value M1 is set to be equal to or less than the maximum width W2 of the tractor 1. In other words, the threshold value M1 determines whether or not the tractor 1 is traveling in a position closest to the shore of the field F1 in the field F1. For example, as shown in FIG. 3, when a machine position P _3, the tractor 1 near the boundary W1 of the field F1, the distance difference L3 is a threshold M1 or less.

  When the distance difference Ln is less than or equal to the threshold value M1 (S6, Yes), that is, the first control unit 32 indicates that the distance difference Ln is less than or equal to the threshold value M1 and the biological information is not awake or the physical condition is poor. If this is the case, the traveling of the tractor 1 is stopped (S7). The first control unit 32 ignores the operation amount of the accelerator pedal and the shift lever position (shift stage) even when the travel is commanded by the operation amount of the accelerator pedal and the shift lever position (shift stage), for example, The traveling device 7 is stopped by outputting an electric signal (control signal) to the traveling clutch and switching the traveling clutch from the connected state to the disconnected state. Alternatively, the first control unit 32 automatically activates the braking device and stops the traveling device 7 even when the brake pedal is not operated. Alternatively, the first control unit 32 automatically stops the driving of the prime mover 4. Further, the first control unit 32 automatically stops the tilling device (working device) 2 by outputting an electric signal (control signal) to the PTO clutch and switching the PTO clutch from the connected state to the disconnected state.

FIG. 4B is a diagram showing a first modification of the flowchart showing the operation support of the tractor. S1 to S6 shown in FIG. 4B are the same as FIG. 4A.
As shown in FIG. 4B, when the distance difference Ln is equal to or less than the threshold value M1 (S6, Yes), the first control unit 32 controls the steering device 11 of the tractor 1 (S8). For example, when the worker is not awake, the first control unit 32 automatically outputs a sound or the like from the display device 20c that is one of the control devices 11 to urge the worker to wake up. When the operator is in poor health, the first control unit 32 automatically operates the headlight switch of the control device 11 and is in poor health due to the lighting of the headlamp by the headlight switch. To the workers around the tractor 1 and the like.

  The agricultural machine support system includes the control device 20d that controls the agricultural machine 1 based on the biological information detected by the biological detection device 23, the machine position detected by the position detection device 22, and the farm field information. ing. Therefore, the situation of the worker at the time of farm work can be grasped by the living body detection device 23 based on the biological information, and the farm work can be performed while controlling the agricultural machine 1 according to the situation of the worker.

  The control device 20d includes a first calculation unit 31 and a first control unit 32. First, the first calculation unit 31 can grasp the distance difference between the agricultural machine 1 and the field boundary, that is, how far the agricultural machine 1 is performing farming while traveling from the shore of the field. The first control unit 32 can appropriately control the agricultural machine 1 while looking at the distance (distance difference) between the agricultural machine 1 and the shore of the field and the situation of the worker.

  For example, the first control unit 32 stops the agricultural machine 1 when the distance difference is equal to or less than the threshold value and the biological information indicates that the worker is not awake or is in poor physical condition. That is, in a situation where the agricultural machine 1 is running or working at a position close to the shore of the farm field, when the worker is not awake and sleepy or is in poor physical condition, the agricultural machine 1 is running. And work can be stopped automatically.

Moreover, the 1st control part 32 controls the control apparatus of the agricultural machine 1, when distance difference is below a threshold value and biometric information has shown that the worker is not awake or is in poor physical condition. . For example, when the worker is not awakened, the control device is controlled to generate sound, thereby prompting the worker to be awakened, or the control device is controlled to light the headlamp of the agricultural machine 1 By doing so, it is possible to prevent the agricultural machine from approaching the shore of the field by notifying the operator of the abnormality to the surroundings or by turning the agricultural machine by controlling the control device.
[Second Embodiment]
FIG. 5 shows an operation support system for agricultural machines in the second embodiment. The operation support system for an agricultural machine according to the second embodiment is a system that controls the tractor 1 based on a predetermined planned travel route instead of the field position shown in the first embodiment. A configuration different from the first embodiment will be described.

As shown in FIG. 5, the first control device 20d1 includes a route acquisition unit 21b that acquires a scheduled travel route. The route acquisition unit 21b includes an electric / electronic component provided in the communication device 21, a program incorporated in the communication device 21, and the like.
FIG. 6 shows an example of the planned traveling route R1 of the tractor. The travel planned route R1 will be described. The scheduled travel route R1 is set by the display device 20c mounted on the tractor 1 or the support device 26 such as a portable terminal.

  First, in order to set the planned travel route R1, the farm field F1 where the tractor 1 performs work is displayed on the display unit of the support device 26. The planned travel route R1 of the tractor 1 is input to the field F1 displayed on the display unit of the support device 26. For example, in the farm field F1, the travel start position PS1, the travel end position PE1, and the travel planned route R1 from the travel start position PS1 to the travel end position PE1 are set using the interface of the support device 26 or the like. The planned travel route R1 shown in FIG. 6 includes a rectilinear portion R2 for moving the tractor 1 straight and a turning portion R3 for turning the tractor 1. In the setting of the planned travel route R1, in the field F1 displayed on the display unit, the travel start position PS1, the travel end position PE1, the straight travel unit R2, and the turning unit R3 are associated with positions (latitude, longitude), and at least By determining the positions corresponding to the travel start position PS1, the travel end position PE1, the straight traveling portion R2, and the turning portion R3 on the display unit of the support device 26, the planned travel route R1 can be set. The positions corresponding to the travel start position PS1, the travel end position PE1, the straight traveling portion R2, and the turning portion R3 are stored in the support device 26 as travel information. In the setting of the planned travel route R1, the route may be divided into predetermined sections, and whether each section is forward or backward may be assigned. The setting of the scheduled travel route R1 shown in FIG. 6 is an example and is not limited as a matter of course.

  The route acquisition unit 21b requests the support device 26 through the communication device 21 for the planned travel route R1, that is, travel information. In response to a request from the route acquisition unit 21b, the support device 26 transmits travel information stored in the support device 26 from the support device 26 to the communication device 21 by wireless or the like. The route acquisition unit 21b acquires the travel information when the communication device 21 receives the travel information, and stores the acquired travel information in the storage device 27. In this embodiment, the planned travel route R1 is acquired via the communication device 21, but when the planned travel route R1 is set on the display device 20c or the like, the planned travel route R1 is displayed on the display device 20c. May be obtained upon request.

  As shown in FIG. 5, the first control device 20 d 1 controls the tractor 1 based on the planned travel route R 1, the machine position detected by the position detection device 22, and the biological information detected by the biological detection device 23. To do. Specifically, the first control device 20 d 1 includes a second calculation unit 35 and a second control unit 36. The second calculation unit 35 and the second control unit 36 are configured by electrical / electronic components provided in the first control device 20d1, programs installed in the first control device 20d1, and the like.

  The second calculator 35 calculates the travel position of the tractor 1 with respect to the planned travel route R1 based on the machine position Pn and the planned travel route R1. The travel position is a position indicating where the current tractor 1 is located on the route with respect to the planned travel route R1. For example, when the machine position Pn is substantially the same as the travel start position PS1, the travel position is the travel start position PS1, and when the machine position Pn is substantially the same as the travel end position PE1, the travel position is the travel. It is the end position PE1. Further, when the machine position Pn is substantially coincident with the rectilinear portion R2 of the planned travel route R1, the travel position is the rectilinear portion R1, and the machine position Pn is substantially coincident with the turning portion R3 of the planned travel route R1. If it is, the traveling position is the turning portion R3. The second control unit 35 controls the tractor based on the biological information and the travel position.

  FIG. 7A shows a flowchart showing tractor operation support in the second embodiment. As shown in FIG. 7A, the planned travel route R1 (travel information) by the route acquisition unit 21b is acquired before the tractor 1 is started (before travel) (S10). After starting the prime mover 4 of the tractor 1, biological information is detected by the biological detection device 23 (S11), and the mechanical position Pn is detected by the position detection device 22 (S12).

Further, after starting the prime mover 4 of the tractor 1, the second control unit 36 determines whether or not the worker is in an abnormal state (abnormal state) based on the biological information detected by the biological detection device 23. (S13). Here, the determination of the abnormal state in the second control unit 36 is the same as that in the first control unit 31, and thus the description thereof is omitted.
When the operator is in an abnormal state (S13, Yes), the second calculation unit 35 travels the tractor 1 with respect to the planned travel route R1 based on the machine position Pn detected by the position detection device 22 and the planned travel route R1. The position is calculated (S14). For example, the second calculation unit 35 compares the current machine position Pn with the planned travel route R1, and determines the travel position on the planned travel route R1. When the current machine position Pn is at a position corresponding to the straight traveling portion R2 of the planned traveling route R1, the second calculation unit 35 determines that the traveling position is a straight traveling position. Further, when the current machine position Pn is at a position corresponding to the turning portion R3 of the planned traveling route R1, the second calculation unit 35 determines that the traveling position is a turning position.

After calculating the travel position by the second calculation unit 35 (after S14), the second control unit 36 of the first control device 20d1 determines whether or not the current travel position is a turning position (S15). That is, the second control unit 36 determines whether or not the tractor 1 is approaching the place where it turns.
When the traveling position of the tractor 1 is the turning position (S15, Yes), the second control unit 36 indicates that the traveling position indicates at least the turning position of the planned traveling route R1, and the biological information is awakened by the operator. If not, or if the physical condition is poor, the tractor is stopped (S16). That is, like the first control unit 31, the second control unit 36 operates the accelerator pedal operation amount and the shift lever position even when traveling is instructed by the operation amount and shift lever position (shift stage) of the accelerator pedal. For example, the travel device 7 is stopped by switching the travel clutch from the connected state to the disconnected state, disregarding the (shift speed). Alternatively, the second control unit 36 automatically activates the braking device and stops the traveling device 7 even when the brake pedal is not operated. Alternatively, the second control unit 36 automatically stops the driving of the prime mover 4. In addition, the second control unit 36 automatically stops the tilling device (working device) 2 by switching the PTO clutch from the connected state to the disconnected state, for example.

FIG. 7B shows a modified example of the flowchart showing the operation support of the tractor in the second embodiment. S10 to S15 shown in FIG. 7B are the same as FIG. 7B.
As shown in FIG. 7B, when the traveling position of the tractor 1 is the turning position (S15, Yes), the second control unit 36 controls the steering device 11 of the tractor 1 (S17). For example, when the worker is not awake, the second control unit 36 automatically outputs a sound or the like from the display device 20c to urge the worker to awaken. When the operator is in poor physical condition, the second control unit 36 automatically operates a headlight switch or the like of the control device 11 and is in poor physical condition by lighting the headlamp with the headlight switch. Notify that.

  According to the support system for the agricultural machine 1 described above, the control device 20d that controls the agricultural machine based on the biological information detected by the biological detection device 23, the machine position detected by the position detection device 22, and the planned travel route R1. It has. For example, when the planned travel route R1 of the agricultural machine 1 is determined regardless of whether it is manual or automatic, the agricultural machine 1 depends on the machine position (travel position) with respect to the planned travel route R1 and the situation of the worker (biological information). 1 can be controlled.

The control device 20d includes a second calculation unit 35 and a second control unit 36. Therefore, the machine position (traveling position) of the agricultural machine 1 with respect to the scheduled traveling route R1 can be grasped by the second computing unit 35. And the 2nd control part 36 can control the agricultural machine 1 appropriately, seeing the driving | running | working position with respect to driving | running | working planned route R1, and a worker's condition.
For example, the second control unit 36 stops the agricultural machine when the traveling position indicates at least the turning position of the planned traveling route R1 and the biological information indicates that the worker is not awake or is in poor physical condition. That is, when the agricultural machine 1 travels on the turning position determined by the planned travel route R1, when the worker is not awake and sleepy or is in poor physical condition, the traveling or work of the agricultural machine 1 is performed. Can be automatically stopped.

The second control unit 36 controls the steering device of the agricultural machine 1 when the travel position indicates at least the turning position of the planned travel route and the biological information indicates that the worker is not awake or is in poor physical condition.
For example, in a situation where the agricultural machine 1 travels on the turning position determined by the planned travel route R1, when the worker is not awake, the control device is controlled to generate a sound. By encouraging awakening, controlling the steering device and turning on the headlamp of the agricultural machine 1 to notify the operator of abnormalities to the surroundings, or by controlling the steering device and turning the agricultural machine, The agricultural machine can be prevented from approaching the edge of the field.
[Third Embodiment]
FIG. 8 shows an operation support system for agricultural machines in the third embodiment. The operation support system for an agricultural machine according to the third embodiment is a system that automatically travels the tractor 1 based on a planned travel route. A configuration different from the first embodiment or the second embodiment will be described.

  The first control device 20d1 has a third control unit 38. The third control unit 38 includes an electric / electronic component provided in the first control device 20d1, a program incorporated in the first control device 20d1, and the like. The third control unit 38 is a device that controls the automatic traveling of the tractor 1 based on the planned traveling route R1. Based on various information detected by the position detection device 22, the third control unit 38 controls a steering device or the like that can change the direction of the vehicle body 2 to perform automatic traveling.

  The third control unit 38 refers to the position (target position) indicated by the travel information when performing the automatic travel of the tractor 1, and indicates the position (detected position) detected by the position detection device 22 and the travel information. The steering device is controlled so that the set position (target position) matches. For example, when the target position matches the detected position and the tractor 1 is traveling on the straight traveling portion R2 indicated by the planned traveling route R1, the third control unit 38 determines the steering angle by the steering device. Is maintained at zero. When the target position matches the detected position and the tractor 1 is traveling on the turning portion R3 indicated by the planned travel route R1, the third control unit 38 determines the steering angle by the steering device. Is made to coincide with the angle indicated by the turning portion R3. In addition, when there is a predetermined deviation or more between the detection position and the target position, the third control unit 38 controls the steering device so that the deviation is eliminated so that they coincide with each other. Then, the traveling position of the tractor 1 is corrected. When the third control unit 38 is shown to advance and reverse on the planned travel route R1, the third control unit 38 controls the transmission 4 to advance the tractor 1 or , Switch back.

FIG. 9 shows a flowchart showing the operation support of the tractor in the third embodiment. In FIG. 9, during the automatic traveling of the tractor 1, the description will be made assuming that biological information and machine position information are acquired.
As shown in FIG. 9, the planned travel route R1 (travel information) by the route acquisition unit 21b is acquired before the tractor 1 automatically travels (S20). After the automatic traveling of the tractor 1 is started by the third control unit 38 (S21), the second control unit 36 is based on the biological information detected by the biological detection device 23 during the automatic traveling control by the third control unit 38. Then, it is determined whether or not the worker is in an abnormal state (abnormal state) (S22). The determination of the abnormal state in the second control unit 36 is the same as that in the first control unit 31.

  When the operator is in an abnormal state (S22, Yes), the second calculation unit 35 travels the tractor 1 with respect to the planned travel route R1 based on the machine position Pn detected by the position detection device 22 and the planned travel route R1. The position is calculated (S23). After the calculation of the travel position by the second calculation unit 35 (after S23), the second control unit 36 determines whether or not the current travel position is a turning position (S24). When the traveling position of the tractor 1 is the turning position (S24, Yes), the second control unit 36 indicates that the traveling position indicates at least the turning position of the planned traveling route R1, and the biological information is awakened by the operator. If not, or if the physical condition is poor, the tractor is stopped (S25). For example, the second control unit 36 stops the tractor 1 with priority over traveling by the third control unit 38. The second control unit 36 stops the automatic travel control by the third control unit 38, and executes the stop of the travel device 7 or the stop of the work device 2 in the same manner as the first control unit 31.

  The control device 20d has a third control unit 38 that controls the traveling of the agricultural machine 1 based on the planned traveling route R1, and the second control unit 36 has priority over the traveling by the third control unit 38. Stop 1 Therefore, the control of the second control unit 36 is prioritized over the automatic travel control by the third control unit 38. For this reason, even if the agricultural machine 1 is running automatically, the agricultural machine 1 can be stopped when an abnormality of the worker is detected.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

1 Agricultural machinery (tractor)
DESCRIPTION OF SYMBOLS 11 Control apparatus 20d Control apparatus 21a Agricultural field information acquisition part 21b Route acquisition part 22 Position detection apparatus 23 Living body detection apparatus 31 1st calculating part 32 1st control part 35 2nd calculating part 36 2nd control part 38 3rd control part Ln Distance Difference Pn Machine position R1 Planned route

Claims (10)

A biological detection device for detecting biological information of an operator who operates the agricultural machine;
A position detection device for detecting the machine position of the agricultural machine;
An agricultural field information acquisition unit for acquiring agricultural field information about the agricultural field;
A control device for controlling the agricultural machine based on the biological information detected by the biological detection device, the machine position detected by the position detection device, and the field information;
An operation support system for agricultural machinery.   The control device includes: a first calculation unit that calculates a distance difference between the field boundary and the machine position based on the machine position and the field information; and the agriculture based on the biological information and the distance difference. The agricultural machinery operation support system according to claim 1, further comprising: a first control unit that controls the machine.   The said 1st control part stops the said agricultural machine, when the said distance difference is below a threshold value, and the said biometric information has shown that the worker is not awake or is in poor physical condition. Operation support system for agricultural machinery described in 1.   The first control unit controls the control device of the agricultural machine when the distance difference is equal to or less than a threshold value and the biological information indicates that the worker is not awake or is in poor health. The operation support system for agricultural machines according to claim 2. A biological detection device for detecting biological information of an operator who operates the agricultural machine;
A position detection device for detecting the machine position of the agricultural machine;
A route acquisition unit for acquiring a planned travel route of the agricultural machine;
A control device for controlling the agricultural machine based on the biological information detected by the biological detection device, the machine position detected by the position detection device, and the travel route;
An operation support system for agricultural machinery.   The control device calculates a travel position of the agricultural machine with respect to the planned travel route based on the machine position and the field information, and the agricultural machine based on the biological information and the travel position. The operation support system of the agricultural machine according to claim 5 provided with the 2nd control part which controls.   The said 2nd control part stops the said agricultural machine, when the said driving | running | working position shows the turning position of at least a driving | running | working planned route, and the said biometric information is that the worker is not awake or is in poor physical condition. The operation support system for agricultural machines according to 6.   The second control unit controls the control device of the agricultural machine when the traveling position indicates at least a turning position of a planned traveling route and the biological information indicates that the worker is not awake or is in poor physical condition. An operation support system for an agricultural machine according to claim 6. The control device includes a third control unit that controls traveling of the agricultural machine based on the planned traveling route,
The operation support system for an agricultural machine according to any one of claims 6 to 8, wherein the second control unit stops the agricultural machine in preference to traveling by the third control unit. Detecting biological information of an operator operating the agricultural machine;
Detecting the machine position of the agricultural machine;
Obtaining field information about the field;
Controlling the agricultural machine based on the biological information, machine position and field information;
A method for supporting the operation of agricultural machinery.

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