JP2024042911A - Obstacle monitoring system - Google Patents

Abstract

[Problem] To provide an obstacle monitoring system that responds to information about obstacles that may lead to accidents in a farm field, and that detects obstacles and prevents abnormalities by stopping the work vehicle, as well as continuing work depending on the situation, and responds to safety confirmation. [Solution] When a work site sensor 500 confirms the intrusion of an obstacle into work site A and an obstacle sensor 130 of a work vehicle 10 detects an obstacle, a control device 135 mounted on the work vehicle 10 stops the work vehicle 10, and when the work site sensor 500 confirms the intrusion of an obstacle into work site A but the obstacle sensor 130 of the work vehicle 10 does not detect an obstacle, the speed of the work vehicle 10 is reduced, and a cloud server 700 transmits a notification of a change in the work process to a terminal 140. [Selected Figure] Figure 1

Description

The present invention relates to an obstacle monitoring system for managing the work of various work vehicles such as agricultural machines and civil engineering machines.

There is an agricultural work support system in which work progress information such as work unstarted information, work in progress information, and work completion information can be acquired for each field, and work progress information can be updated during work (for example, see Patent Document 1). .

Japanese Patent Application Publication No. 2020-064663

Such conventional agricultural work support systems acquire general information related to the progress of work and the status of working equipment, and update the work information. It does not correspond to obstacle information.

The present invention has been made in view of the above, and aims to respond to information on obstacles that exist in a field that can lead to accidents, and also to avoid abnormalities such as detecting obstacles and stopping work vehicles. In addition to this, the purpose is to provide an obstacle monitoring system that supports safety confirmation, such as continuing work depending on the situation.

The invention according to claim 1 detects intrusion into and exit from workplaces A, B, and C using an obstacle sensor 130 and a control device 135 mounted on a work vehicle 10, and an external mobile terminal 140. In an obstacle monitoring system including a workplace sensor 500 and a cloud server 700,
The workplace sensor 500 monitors the intrusion and withdrawal of obstacles 800 into the workplaces A, B, and C, and upon confirming the intrusion of the obstacle 800, transmits intrusion information to the cloud server 700,
The obstacle sensor 130 of the work vehicle 10 transmits information on the presence or absence of an obstacle 800 from the control device 135 mounted on the work vehicle 10 to the external mobile terminal 140 and the cloud server 700.
When the workplace sensor 500 confirms that the obstacle 800 has entered the workplaces A, B, and C, and the obstacle sensor 130 of the work vehicle 10 detects the obstacle 800, the control device 135 mounted on the work vehicle 10 stops the work vehicle 10, sends a work process stop message to the cloud server 700, the cloud server 700 sends a work process stop message to the terminal 140,
If the workplace sensor 500 confirms that an obstacle 800 has entered the workplaces A, B, and C, but the obstacle sensor 130 of the work vehicle 10 does not detect the obstacle 800, the vehicle speed of the work vehicle 10 is reduced and the vehicle speed is The obstacle monitoring system changes the work process time based on the decrease in the work process time and sends a notification of the work process change to the cloud server 700, which in turn sends the work process change notification to the terminal 140.

According to the invention described in claim 1, information on obstacles 800 existing in the workplaces A, B, and C can be integrated into the cloud server 700 and used for modifying the ongoing work plan.

If an obstacle 800 enters the work area A, B, or C, it is a situation that requires attention and the worker (supervisor) is immediately notified. However, if the obstacle sensor 130 of the work vehicle 10 does not detect it, the work Since there is no obstacle 800 in the vicinity of the vehicle 10, the work speed is reduced to prevent a large delay in the work. By correctly and immediately analyzing the information on the obstacle 800 in this way, accidents can be prevented, work plans can be revised, and the operation of the autonomously running work vehicle 10 can be brought close to the level of manned operation. be able to.

In the invention according to claim 2, after the workplace sensor 500 confirms that the obstacle 800 has entered the workplaces A, B, and C, it confirms that the obstacle 800 has left the workplaces A, B, and C, and then the work vehicle 10 When the obstacle sensor 130 changes from detecting the obstacle 800 to not detecting the obstacle 800, the stopped work vehicle 10 is started to operate at the set work speed, and the work speed is set based on the time during which the work is stopped. changes the work process time, sends a notification of the work process change to the cloud server 700, and the cloud server 700 sends a notification of the work process change to the terminal 140,
After the workplace sensor 500 confirms that the obstacle 800 has entered the workplaces A, B, and C, it confirms that the obstacle 800 has left the workplaces A, B, and C, and the obstacle sensor 130 of the work vehicle 10 detects the obstacle. If 800 is not detected, the reduced work speed is returned to the set work speed, the work process time is changed, and a notification of the work process change is sent to the cloud server 700, and the cloud server 700 notifies the work process change. 2. The obstacle monitoring system according to claim 1, wherein the obstacle monitoring system transmits the information to the terminal 140.

According to the invention set forth in claim 2, even if the obstacle 800 is an animal, it is unlikely that the animal will stay in the field for a long time, and if it is confirmed that the animal has left the work area A, B, or C, the work can be restarted, If the work speed has been reduced, the same response as manned monitoring can be taken by restoring the work speed to the original speed.

The invention according to claim 3 is such that the obstacle sensor 130 of the work vehicle 10 suddenly loses information within the detection range of the obstacle sensor 130 from the detection state of the obstacle 800, and the size of the obstacle 800 exceeds a predetermined size. If the obstacle 800 is large or is approaching the work vehicle 10 at a relative speed, the work vehicle 10 is stopped and the moving obstacle abnormality information is sent to the cloud server 700, and the cloud server 700 transmits the moving obstacle abnormality information. The obstacle monitoring system according to claim 1, wherein the obstacle monitoring system transmits the information to the terminal 140.

According to the third aspect of the invention, it is possible to take action when the obstacle 800 is determined to be a large animal or a human. For example, accidents can occur in any of the following cases, such as accidents involving obstacles, personal injury, theft, property damage, pranks, and dealing with scammers. If a serious accident occurs, the data can be secured as final data.

The invention described in claim 4 is an obstacle monitoring system described in any one of claims 1 to 3, in which an FMIS (Farm Management Information System, hereinafter referred to as FMIS) is a system that centrally manages data detected by each sensor of a work vehicle 10, data processed by a personal computer 610 by adding work data and farm management information data accumulated in past work from a cloud server 700, and the data processed by the personal computer 610. The cloud server 700 communicates with each terminal 135, 140, 610, and the cloud server 700 immediately collates FMIS data, manages the position information of the work vehicle 10, obstacle 800, and each work site A, B, C, performs mapping processing, and transmits the mapping processing information to each terminal 135, 140, 610.

According to the invention set forth in claim 4, by managing the position information of the work vehicle 10 and the obstacle 800 using a mapping diagram, it is possible to develop information management for work in other work places A, B, and C.

Additionally, sensor data such as fuel, oil temperature, battery amount, speed, gear range, wheel rotation speed of the work vehicle 10, detection of obstacles, etc. from the work vehicle 10 is immediately acquired, which may lead to crime or accidents. Alternatively, by comparing the accumulated data from the external mobile terminal 140, it can be used as analysis data in the event of an accident or the like.

In addition, by making it possible to communicate with FMIS, a system that centrally manages processed existing data and real-time detection data, it is possible to immediately integrate obstacles 800 into existing mapping data, making it possible to improve autonomous driving. Even with the work vehicle 10, changes in the work process (work time) can be made in real time at a remote location.

In addition, if there are workers in workplaces A, B, and C, they can view this data-integrated mapping data on the external mobile terminal 140, so if there is a change in the work process, they can check it with the cloud server 700 and immediately On-site confirmation of work schedule changes is possible.

1 is a configuration diagram schematically showing an obstacle monitoring system according to an embodiment of the present invention. It is a block diagram showing an outline of the obstacle monitoring system same as the above. FIG. 2 is a block diagram showing an outline of the obstacle monitoring system. (A) and (B) are plan views for explaining the operation of the above system in a field. It is a plan view of the same field. It is a figure which shows the field related information table and work related information table of the same obstacle monitoring system. It is a block diagram regarding the variable work map of the system same as the above. This is a map data display screen of the same system as above. FIG. 2 is a control flow diagram of the obstacle monitoring system. It is a control flow diagram of the same obstacle monitoring system as above.

Hereinafter, based on the drawings, as a preferred embodiment of the present invention, an obstacle monitoring system will be described when a tractor 1 equipped with a rotary tiller 2, which is a working machine, performs tilling work in fields A, B, and C as working areas. I will explain in detail. Note that the constituent elements in the embodiments described below include those that can be easily replaced by those skilled in the art, or those that are substantially the same, that is, those that are within the so-called equivalent range. Furthermore, the present invention is not limited to the embodiments, and can be implemented with various modifications without departing from the gist of the present invention.

1 and 2 are schematic diagrams of an obstacle monitoring system, and FIG. 3 is a block diagram schematically showing the obstacle monitoring system.

The obstacle monitoring system includes, for example, a work vehicle 10, a GNSS control device 120 as a position information acquisition device that acquires position information indicating the position of the work vehicle 10, an obstacle sensor 130 mounted on the work vehicle 10, and a work vehicle 10. A control device 135 mounted on the vehicle 10 and an external mobile terminal 140 such as a tablet terminal as an information processing device that can be brought into the work vehicle 10 enter and leave fields A, B, and C. It includes an in-field fixed sensor 500 as a workplace sensor that detects (coming out of fields A, B, C), a personal computer 610 as an information processing terminal provided at a ground base 600, and a cloud server 700.

The GNSS control device 120 is equipped with a receiving antenna 122 provided on the traveling vehicle body 1 and a GNSS antenna 121 provided on the external mobile terminal 140, and receives radio waves from a positioning satellite 123 using the GNSS antenna 121 and receiving antenna 122. By acquiring GNSS coordinates at predetermined time intervals, the GNSS control device 120 can acquire position information on the earth at predetermined intervals.

Then, the position information acquired by the GNSS control device 120, the field-related information regarding fields A, B, and C, and the work-related information for each position are mutually combined with the field map information indicating the locations of fields A, B, and C. A table recorded in association is generated as independent information for each field A, B, and C.

The obstacle sensor 130 is a sensor that detects general obstacles and is provided at the front, left and right sides, and rear of the work vehicle 10. It detects obstacles in all directions around the work vehicle 10 and outputs obstacle detection data to the control device 135.

The control device 135 mounted on the work vehicle 10 is provided with a processing device including a CPU, a storage device such as a ROM, a RAM, and an HDD, a monitor 136, and an input/output device.

The control device 135 is also connected to an ECU, which is an engine control device, an automatic driving selection switch, various sensors, an electric motor, various actuators such as hydraulic cylinders, and the like, as well as to a GNSS control device 120 and an automatic steering device.

The various sensors connected to the control device 135 include, for example, a water depth sensor that detects the water depth of fields A, B, and C; a soil depth sensor that detects the soil depth of fields A, B, and C; A fertility sensor that detects the fertilizer concentration of B and C, a weight sensor such as a load cell that detects the weight of harvested paddy, etc., and the weight of seedlings, and a rotation sensor that detects the rotation speed of the rear wheels. There are various sensors, such as a tilt sensor that detects the tilt of the traveling vehicle body 1, a working clutch sensor, and a temperature sensor.

Various actuators include, for example, various cylinders such as a lifting cylinder that raises and lowers the working device 2, motors that open and close water gates provided at water doors that serve as water supply and drainage ports to fields A, B, and C, water depth sensors, etc. There are various types of motors, such as electric motors such as motors that move engines, and electric motors such as throttle motors that adjust the amount of intake air in an engine.

The automatic steering device is controlled by the control device 135 based on the position information acquired by the GNSS control device 120, and can automatically operate the steering wheel provided on the traveling vehicle body 1 to automatically drive the traveling vehicle body 1. can. The automatic steering device includes a steering motor that applies an arbitrary rotational force to rotate a steering wheel, and a steering wheel potentiometer that detects the rotation angle of the steering wheel.

The external mobile terminal 140 communicates data with the cloud server 700 using FMIS via a communication network.

The in-field fixed sensors 500 are monitoring equipment using imaging means provided at diagonal positions of each of the fields A, B, and C, and as shown in FIGS. Then, each person at a diagonal position of the field A monitors the boundary line AL direction of the field, so that obstacles 800 such as animals, people, and other working machines can enter the field A and leave the field A (field A Detection of the occurrence of Note that the image captured by the imaging means is analyzed using dots to detect whether the obstacle 800 has entered the field A or has left the field A (or exited the field A).

Then, the information that the obstacle 800 detected by the fixed sensor 500 in the field enters or leaves the fields A, B, and C is sent to the cloud server 700 and sh in the FMIS via the communication network. Data intercommunication in format or XML.

The personal computer 610 is equipped with a processing device including a CPU, a storage device such as ROM, RAM, and HDD, a monitor 610a, and an input/output device, and exchanges data in shp format or XML with the cloud server 700 via FMIS via a communication network. communicate with each other.

As shown in FIGS. 5 and 6, the storage device stores information related to the fields in association with field map information indicating the locations of fields A, B, and C to which field representative points A1, B1, and C1 are individually assigned. information, work-related information, and work vehicle position information are stored as independent information for each of the plurality of fields A, B, and C. Note that the fields D to I in FIG. 5 are also recorded in the same way.

As shown in Figure 6, field-related information includes field area information to field representative point position for each field A, B, and C, and work-related information includes work machine type information for each field A, B, and C. Machine information is recorded.

Here, with reference to Figures 7 and 8, we will explain the information transmission between the cloud server 700, the personal computer 610, the external mobile terminal 140, and the control device 135 mounted on the work vehicle 10 regarding the variable work map of the field-related information, which is the work data.

As shown in FIG. 7, a personal computer 610 communicates data with a cloud server 700 in FMIS via a communication network in shp format or XML.

The cloud server 700 communicates data with the external mobile terminal 140 in shp format or XML via a communication network.

The external mobile terminal 140 communicates data with the control device 135 mounted on the work vehicle 10 using Bluetooth (registered trademark) in shp format or XML.

The personal computer 610, the external mobile terminal 140, and the control device 135 installed in the work vehicle 10 can also share information via USB.

Then, as shown in FIG. 8, the personal computer 610 displays the amount of fertilizer applied to field B in the previous year in five levels from setting value 1 to setting value 5 on the field map information (map data display).

The work vehicle 10 automatically performs plowing work by autonomously traveling along the driving route information of the field-related information while calculating the position information using the GNSS control device 120 in the field B. The positional information of point A, which is the starting point, and point B, which is the ending point, is sent to the personal computer 610 via the cloud server 700.

Then, the personal computer 610 compares the sent points A and B of the working vehicle 10 with the points A and B of the driving route information, and if they match, the automatic driving displayed on the monitor 610a is started. Turn on OK.

The worker (supervisor) confirms that the automatic travel enabled light is on and confirms that the field where he is currently working is Field B, so he presses OK.

Then, the field-related information and work-related information related to the field map information are integrated into a variable work map, which is displayed on the monitor 610a.The worker (supervisor) confirms this and presses OK, and then the personal computer 610 From there, data is exchanged between the cloud server 700, the external mobile terminal 140, and the control device 135 mounted on the work vehicle 10 in shp format or XML to share the variable work map.

Then, the external mobile terminal 140 and the control device 135 installed in the work vehicle 10 read the variable work map and display it on the monitors 142 and 136, respectively, and the work vehicle 10 autonomously travels along the driving route information and automatically Do tillage work.

At this time, the worker adjusts the working conditions, such as the tillage depth, according to the amount of fertilizer applied last year, while checking the position of the own vehicle on the variable work map displayed on the monitors 142 and 136.

In addition, although the example in which the variable work map is integrated by the personal computer 610 is shown above, it may be integrated by the external mobile terminal 140 or the control device 135 mounted on the work vehicle 10, and shared with other cloud servers 700, etc. Also good.

An optimal example is for the worker on board the work vehicle 10 to look at the monitor 136 using the control device 135 mounted on the work vehicle 10 and perform map linkage (the work shown in FIG. 8), which provides the best work efficiency.

Then, FMIS is a system that centrally manages the data processed by the personal computer 610 by adding work data and farm management information data accumulated in past work from the cloud server 700 and the data detected from each sensor of the work vehicle 10. The cloud server 700 can communicate with each of the terminals 135, 140, and 610.

In addition, the cloud server 700 immediately collates the FMIS data, manages the position information of the work vehicle 10, obstacles 800, and each field A, B, and C, performs mapping processing, and transfers the mapping processing information to each terminal 135. , 140, 610.

The work vehicle 10 is equipped with a traveling vehicle body 1 that can travel in fields A, B, and C and a work device 2. For example, if the work vehicle 10 is a tractor 1, a rotary tilling device 2 is used as the work device 2. If it is a seedling transplanter, it is a seedling planting device, and if it is a fertilizer, it is a fertilizing device. Further, if the work vehicle 10 is a combine harvester, for example, the reaping section, the threshing section, etc. are the working devices. The above-mentioned example is an example, and there is no particular limitation as long as it is a working device for performing agricultural work in fields A, B, and C.

The traveling vehicle body 1 is equipped with an engine as a power source and a power transmission device that transmits the power of the engine to drive wheels and a working device 2, and can freely travel on a farm road R and inside fields A, B, and C. . Note that a heat engine such as a diesel engine or a gasoline engine is used as the engine.

The external mobile terminal 140 is a type of computer similar in structure to the personal computer 610 described above, and includes a control section, a storage section connected to each of these, a display section for displaying information, and performing various input operations. It includes a monitor 142, which is a touch panel with an integrated operation part, and a GNSS antenna 121.

The storage unit stores field-related information, work-related information, and work vehicle position information in association with field map information indicating the locations of fields A, B, and C to which field representative points A1, B1, and C1 are respectively assigned. It is stored as independent information for each of a plurality of fields A, B, and C.

In the obstacle monitoring system with the above configuration, the field-related information, work-related information, and the position information of the work vehicle 10 can be managed in a centralized manner for each of multiple fields A, B, and C that can be visually identified by map information. Therefore, the cloud server 700 can associate each piece of information with each other and display it on the screen of the monitor 142 of the external mobile terminal 140, for example, making it easy to check visually. In addition, the necessary information that associates the field-related information, work-related information, and the position information of the work vehicle 10 can also be shared by a personal computer 610 that is separate from the fields A, B, and C, making it easy to plan agricultural work, etc.

Since the obstacle monitoring system has the above configuration, farm work can be performed by sequentially uploading field-related information, work-related information, and position information to the cloud server 700 via the external mobile terminals 140 present in fields A, B, and C. Plans and work route information can also be created by the control device 135 and personal computer 610 mounted on the work vehicle 10 using cloud computing. In this way, according to the obstacle monitoring system according to the present embodiment, agricultural work support can be expected from a more diversified perspective.

Further, in this embodiment, using such necessary information, as shown in FIG. 1, work route information indicating a work route 300 for automatically driving the work vehicle 10 can be easily generated. The work route information generated in this way is detailed enough to match the work content and the conditions of fields A, B, and C.

Note that the cloud server 700 shares information by mutually communicating farm management information data in shp format or XML with the farm management server 900 of another farm organization using FMIS via a communication network.

Next, details of the obstacle monitoring system will be described based on the control flow diagrams of FIGS. 9 and 10 and FIG. 6. Note that field A will be explained as a representative.

First, we will explain the overall flow of the obstacle monitoring system based on the control flow diagram in Figure 9.

If the in-field fixed sensor 500 does not detect the intrusion of the obstacle 800 into the field A, continuous monitoring is performed.

When the in-field fixed sensor 500 detects the intrusion of the obstacle 800 into the farm field A, it notifies the cloud server 700 of a moving obstacle detection abnormality that the obstacle 800 has invaded (sends information that the obstacle 800 has invaded). .

If the obstacle sensor 130 of the work vehicle 10 detects an obstacle 800, the work vehicle 10 makes an emergency stop and notifies the cloud server 700 that the work vehicle 10 has made an emergency stop and that work has been discontinued.

If the obstacle sensor 130 of the work vehicle 10 does not detect the obstacle 800, the control device 135 reduces the speed of the work vehicle 10 to continue the work.

Then, the cloud server 700 is notified that the work vehicle speed has been changed to low-speed operation and that the work process has been changed (change of work time in field A), and the work continues.

When all the work steps in the field A are completed, the obstacle monitoring system in the field A is ended.

If all the work steps in the field A have not been completed and the in-field fixed sensor 500 has not detected the obstruction 800 that has entered the field A to leave the field A, the work vehicle 10 The routine returns to determine whether or not the obstacle sensor 130 has detected the obstacle 800.

If all the work steps in the field A have not been completed and the in-field fixed sensor 500 detects that the obstacle 800 that has entered the field A has left the field A, the obstruction of the work vehicle 10 Check whether the sensor 130 detects the obstacle 800.

If the obstacle sensor 130 of the work vehicle 10 does not detect the obstacle 800, it is checked whether the work vehicle 10 is stopped, and if the work vehicle 10 is stopped, the work vehicle 10 is restarted. It is activated to resume work, and the cloud server 700 is notified of the restart of operation of the work vehicle 10 and of changes in the work process (changes in work hours in field A).

If the work vehicle 10 is not stopped, the speed of the work vehicle 10 is returned from a low speed to a standard speed, and the cloud server 700 is notified of the change in the work vehicle 10's standard speed operation and the change in the work process (change in the work time in field A).

When all work processes in field A have been completed, the obstacle monitoring system in field A is terminated, the work vehicle 10 is moved to the next field D to perform work in field D, and the system flow returns to the start point and the obstacle monitoring system in field D is started.

In addition, if the obstacle sensor 130 of the work vehicle 10 detects an obstacle 800, work continues; if all work processes in field A have not been completed, the process returns to the routine for checking whether the in-field fixed sensor 500 has detected the exit (escape) of the obstacle 800 that entered field A from field A; if all work processes in field A have been completed, the obstacle monitoring system in field A is terminated.

Next, a case where the obstacle 800 collides with or touches the work vehicle 10 will be described based on the control flow diagram of FIG. 10.

When an obstacle 800 collides with a work vehicle 10, it means, for example, that the obstacle 800 is an animal, a person, or another work vehicle 10 that is approaching the work vehicle 10 and collides with it or slides under the vehicle.

The case where the obstacle 800 comes into contact with the work vehicle 10 is, for example, a state where the obstacle 800 is a person who is approaching the work vehicle 10 and operating the work vehicle 10 for the purpose of stealing.

If the in-field fixed sensor 500 does not detect the intrusion of the obstacle 800 into the field A, continuous monitoring is performed.

When the in-field fixed sensor 500 detects the intrusion of an obstacle 800 into field A, it notifies the cloud server 700 of the moving obstacle detection anomaly that the obstacle 800 has intruded (sends information that the obstacle 800 has intruded).

When the obstacle sensor 130 of the work vehicle 10 detects the obstacle 800, the work vehicle 10 is stopped urgently, and the cloud server 700 is notified that the work vehicle 10 has stopped urgently and that the work is stopped.

If the obstacle sensor 130 of the work vehicle 10 does not detect the obstacle 800, the control device 135 reduces the speed of the work vehicle 10 to continue the work.

Then, if the obstacle sensor 130 of the work vehicle 10 detects an obstacle 800 and it suddenly disappears within the detection range of the obstacle sensor 130, if the obstacle sensor 130 of the work vehicle 10 detects an obstacle 800 and the size of the obstacle 800 is larger than a predetermined value, or if the obstacle sensor 130 of the work vehicle 10 detects an obstacle 800 and it is approaching the work vehicle 10, the work vehicle 10 is brought to an emergency stop and moving obstacle abnormality information is reported to the cloud server 700.

The cloud server 700 receives the moving obstacle abnormality information and communicates the moving obstacle abnormality information to each terminal.

The worker (supervisor) confirms the moving obstacle abnormality information and goes to the work vehicle 10 in the corresponding field A to take action.

In addition, when the in-field fixed sensor 500 confirms that the obstacle 800 has entered the fields A, B, and C, the detection degree (detection time, detection range) of the obstacle sensor 130 in the entire fields A, B, and C is determined. raise.

Then, when the fixed sensor confirms that the obstacle 800 has retreated from fields A, B, and C, the detection degree (detection time, detection range) of the obstacle sensor 130 throughout fields A, B, and C is returned to standard.

Further, the cloud server 700 predicts the destination based on the movement information of the obstacle 800.

Further, the cloud server 700 averages the work progress of each field by preferentially allocating the work vehicles 10 to the fields A, B, and C where the work is delayed.

In addition, the obstacle sensor 130 detects the obstacle, the imaging means mounted on the work vehicle 10 detects the obstacle, the tilt of the work vehicle 10 above a certain level is detected based on the data of the ultrasonic sonar mounted on the work vehicle 10, and the work vehicle If any two or more combinations of detecting a tilt of the work vehicle 10 above a certain level are established based on the data of the gyro sensor that determines the attitude of the work vehicle 10 mounted on the work vehicle 10, Control device 135 reduces or stops the vehicle speed.

The cloud server 700 also combines and processes complex data into a common platform (software). Since it can use multiple data formats with different extensions, it can create processed data that is compatible with multiple software programs.

By linking data through FMIS and using cloud data, it can be used for seedling cultivation and as map data.

Further, the control device 135 mounted on the work vehicle 10 acquires raw data from the equipment and inputs and outputs this as USB data. The work vehicle 10 is subject to vibrations and the like, and communication may be obscured by the driver, so the USB data method is effective.

Further, the work vehicle 10 is configured so that data can be exchanged using a CSV file in a unified format regardless of the model, such as a tractor, combine harvester, rice transplanter, ride management machine, etc.

Furthermore, the field data includes the field name, field area, field representative point, work mode, implement information, A-B information for automatic driving, and field area information.

In addition, farm management system information, information on the external mobile terminal 140 in the field, and information on the control device 135 mounted on the work vehicle 10 are collated using the FMIS, and the field information is shared and recorded.

In addition, as a method for confirming a field, if two or more of the field name, field area, or field representative point are the same, it is recognized as the same field and shared recording is performed.

In summary, the obstacle monitoring system includes an obstacle sensor 130 mounted on the work vehicle 10, a control device 135 mounted on the work vehicle 10, and an external mobile phone such as a tablet terminal as an information processing device that can be brought into the work vehicle 10. A terminal 140, an in-field fixed sensor 500 that detects intrusion into or exit from fields A, B, and C, a personal computer 610 as an information processing terminal provided at a ground base 600, and a cloud server. It is equipped with 700.

Then, the in-field fixed sensor 500 monitors the entry and exit (entry/exit) of obstacles 800 into the fields A, B, and C, and sends intrusion information to the cloud server 700 as soon as the intrusion of the obstacle 800 is confirmed. do.

Obstacle sensor 130 of work vehicle 10 transmits information on the presence or absence of obstacle 800 from control device 135 mounted on work vehicle 10 to external mobile terminal 140 and cloud server 700.

When the in-field fixed sensor 500 confirms that the obstacle 800 has entered the fields A, B, and C, and the obstacle sensor 130 of the work vehicle 10 detects the obstacle 800, the control mounted on the work vehicle 10 The device 135 stops the work vehicle 10 and sends a work process stoppage to the cloud server 700, which sends a work process stoppage to each terminal 140,610.

If the in-field fixed sensor 500 confirms that an obstacle 800 has entered the fields A, B, or C, but the obstacle sensor 130 of the work vehicle 10 does not detect the obstacle 800, the vehicle speed of the work vehicle 10 is reduced. , changes the work process time based on the decrease in vehicle speed, sends a notification of the work process change to the cloud server 700, and the cloud server 700 sends a notification of the work process change to each terminal 140, 610. Information on the obstacles 800 existing in B and C can be integrated into the cloud server 700 and used to modify the work plan currently in progress.

If an obstacle 800 enters into fields A, B, or C, it is a situation that requires attention and the worker (supervisor) is immediately contacted. However, if the obstacle sensor 130 of the work vehicle 10 does not detect it, the work is stopped. Since there is no obstacle 800 in the vicinity of the vehicle 10, the work speed is reduced to prevent a large delay in the work. By correctly and immediately analyzing the information on the obstacle 800 in this way, accidents can be prevented, work plans can be revised, and the operation of the autonomously running work vehicle 10 can be brought close to the level of manned operation. be able to.

Further, after the in-field fixed sensor 500 confirms that the obstacle 800 has entered the fields A, B, and C, it confirms that the obstacle 800 has left the fields A, B, and C, and the obstacle sensor of the work vehicle 10 130 changes from detecting the obstacle 800 to not detecting it, the stopped work vehicle 10 is started to operate at the set work speed, and the work process time is determined based on the time during which the work is stopped. is changed and a notification of the change in the work process is sent to the cloud server 700, and the cloud server 700 sends a notification of the change in the work process to each terminal 140,610.

After the in-field fixed sensor 500 confirms that an obstacle 800 has entered fields A, B, and C, it confirms that the obstacle 800 has left fields A, B, and C. If the obstacle sensor 130 of the work vehicle 10 does not detect the obstacle 800, the reduced work speed is returned to the set work speed, the work process time is changed, and a notification of the change in work process is sent to the cloud server 700, and the cloud server 700 sends a notification of the change in work process to each terminal 140, 610.

Therefore, even if the obstacle 800 is an animal, it is unlikely that it will stay in the field for a long time, and if it is confirmed that it has left the fields A, B, and C, you can restart the work or reduce the work speed. , by returning the work speed to the original speed, it is possible to respond in the same way as manned monitoring.

Further, the obstacle sensor 130 of the work vehicle 10 suddenly loses information within the detection range of the obstacle sensor 130 from the detection state of the obstacle 800, the size of the obstacle 800 exceeds a predetermined size, or the obstacle 800 is approaching the work vehicle 10 at a relative speed, the work vehicle 10 is stopped and the moving obstacle abnormality information is sent to the cloud server 700, and the cloud server 700 transmits the moving obstacle abnormality information to each terminal 140, 610. Send.

Therefore, if the obstacle 800 is determined to be a large animal or a human, appropriate action can be taken. For example, any of the following could result in an accident: an accident involving an obstacle, personal injury, theft, property damage, pranks, or responding to a hit-and-run driver. When the vehicle stops, information about that time is sent out, and if it is a serious accident, it can be saved as final data.

In addition, FMIS is a system that centrally manages data processed by the personal computer 610 by adding work data and farm management information data accumulated from past work from the cloud server 700 and data detected from each sensor of the work vehicle 10. The cloud server 700 can communicate with each terminal 140, 610.

Then, the cloud server 700 immediately collates the FMIS data, manages the position information of the work vehicle 10, obstacles 800, and each field A, B, and C, performs mapping processing, and transfers the mapping processing information to each terminal 140. , 610.

Therefore, by managing the position information of the work vehicle 10 and the obstacle 800 using a mapping diagram, it is possible to develop information management for work in other fields A, B, and C.

Additionally, sensor data such as fuel, oil temperature, battery amount, speed, gear range, wheel rotation speed of the work vehicle 10, detection of obstacles, etc. from the work vehicle 10 is immediately acquired, which may lead to crime or accidents. Alternatively, by comparing the accumulated data from the external mobile terminal 140, it can be used as analysis data in the event of an accident or the like.

In addition, by making it possible to communicate with FMIS, a system that centrally manages processed existing data and real-time detection data, it is possible to immediately integrate obstacles 800 into existing mapping data, making it possible to improve autonomous driving. Even with the work vehicle 10, changes in the work process (work time) can be made in real time at a remote location.

In addition, if there are workers in fields A, B, and C, they can view this data-integrated mapping data on the external mobile terminal 140, so if there is a change in the work process, they can check it with the cloud server 700 and immediately On-site confirmation of work schedule changes is possible.

10 Work vehicle 130 Obstacle sensor 135 Control device 140 External mobile terminal 500 Work place sensor (fixed sensor in the field)
610 Personal computer 700 Cloud server A, B, C Workshop (field)

Claims (4)

The obstacle sensor (130) and control device (135) mounted on the work vehicle (10), the external mobile terminal (140), and the intrusion into and from the work place (A, B, C) In an obstacle monitoring system equipped with a workplace sensor (500) that detects the departure of a worker, and a cloud server (700),
The workplace sensor (500) monitors whether an obstacle (800) enters or leaves the workplace (A, B, C), and when it confirms the intrusion of an obstacle (800), sends the intrusion information to the cloud server (700). send,
The obstacle sensor (130) of the work vehicle (10) sends information about the presence or absence of an obstacle (800) from the control device (135) mounted on the work vehicle (10) to the external mobile terminal (140) and the cloud server (700). send,
The workplace sensor (500) has confirmed that the obstacle (800) has entered the workplace (A, B, C), and the obstacle sensor (130) of the work vehicle (10) has detected the obstacle (800). In this case, the control device (135) mounted on the work vehicle (10) stops the work vehicle (10) and sends the work process stoppage to the cloud server (700), and the cloud server (700) sends the work process stoppage to the terminal. (140),
When the workplace sensor (500) confirms that an obstacle (800) has entered the workplace (A, B, C), but the obstacle sensor (130) of the work vehicle (10) does not detect the obstacle (800). reduces the vehicle speed of the work vehicle (10), changes the work process time based on the decrease in vehicle speed, sends a notification of the work process change to the cloud server (700), and the cloud server (700) changes the work process process. An obstacle monitoring system characterized by transmitting a notification to a terminal (140). After the workplace sensor (500) confirms that the obstacle (800) has entered the workplace (A, B, C), it confirms that the obstacle (800) has left the workplace (A, B, C), and then resumes work. When the obstacle sensor (130) of the vehicle (10) changes from detecting the obstacle (800) to not detecting the obstacle (800), the stopped work vehicle (10) starts operating and performs the set work. change the work process time based on the work stoppage time, send a notification of the work process change to the cloud server (700), and the cloud server (700) sends a notification of the work process change to the terminal (140). send,
After the workplace sensor (500) confirms that the obstacle (800) has entered the workplace (A, B, C), it confirms that the obstacle (800) has left the workplace (A, B, C), and then resumes work. If the obstacle sensor (130) of the vehicle (10) does not detect the obstacle (800), the reduced work speed is returned to the set work speed, the work process time is changed, and a notification of the work process change is sent. The obstacle monitoring system according to claim 1, characterized in that the information is transmitted to a cloud server (700), and the cloud server (700) transmits a notification of the work route change to the terminal (140). The obstacle monitoring system according to claim 1, characterized in that if the obstacle sensor (130) of the work vehicle (10) detects an obstacle (800) and the information suddenly disappears within the detection range of the obstacle sensor (130), the size of the obstacle (800) exceeds a predetermined dimension, or the obstacle (800) approaches the work vehicle (10) at a relative speed, the work vehicle (10) is stopped and moving obstacle abnormality information is transmitted to the cloud server (700), and the cloud server (700) transmits the moving obstacle abnormality information to the terminal (140). An obstacle monitoring system according to any one of claims 1 to 3, characterized in that the FMIS is a system that adds work data and farm management information data accumulated in past work from the cloud server (700) and processed data by a personal computer (610) and centrally manages data detected by each sensor of the work vehicle (10). The cloud server (700) communicates with each terminal (135, 140, 610), and the cloud server (700) instantly collates FMIS data, manages position information of the work vehicle (10), obstacles (800), and each work site (A, B, C), performs mapping processing, and transmits mapping processing information to each terminal (135, 140, 610).