JP6718838B2 - Driving support system for agricultural vehicles - Google Patents

Description

The present invention relates to a driving support system for an agricultural work vehicle that provides driving support information to an operator.

In recent years, in order to efficiently and simply perform farm work in a field, a field data collection system has been proposed in which work content by an agricultural machine in the field is converted into data and the work content is collected by a collecting device installed in the farm machine ( See Patent Document 1). A production management system that uses a work plan registered in a work area on a remote server has been proposed (see Patent Document 2). Further, there has been proposed a field work machine including a driving assistance unit that sets a work route with high work efficiency in the field and executes automatic travel along the set work route (see Patent Document 3). A video display system has been proposed in which a video of a working state of a skilled person is recorded together with advice and the like, and an operating technique of the skilled person can be easily grasped during reproduction (see Patent Document 4).

JP, 2013-210692, A JP, 2016-076123, A JP, 2015-112071, A JP, 2013-172193, A

By the way, the systems of Patent Documents 1, 2 and 4 do not collect control data for controlling the traveling part or the working part of the agricultural work vehicle, and are therefore not sufficient for use in driving support of the agricultural work vehicle. Further, although the driving support unit of Patent Document 3 calculates the work route based on the information of the farm field and the farm work machine, it is ideal data that is not data based on actual work, and therefore is greatly different from the work route by the expert. May be different.

The present invention has been made in view of the above situation, and an object thereof is to provide a driving support system for an agricultural work vehicle that enables driving similar to that of a skilled worker.

The present invention relates to driving an agricultural work vehicle including a server that stores the drive state of the agricultural work vehicle as work history information through communication with the agricultural work vehicle, and a terminal device that can communicate with the agricultural work vehicle in a work area of the agricultural work vehicle. In the support system, the server stores the work history information in association with a work area identifier and a worker identifier, and when the terminal device receives the work history information from the server, the worker identifier is stored. Based on the work history for each worker , the farm work vehicle, when the operation to the farm work vehicle is different from the driving support content by the work history, performs an erroneous operation determination, and notifies the correction operation through the terminal device. is that to.

In the driving support system, the work history information may be stored in association with an agricultural work vehicle identifier that specifies the agricultural work vehicle and a working machine identifier that specifies a work machine attached to the agricultural work vehicle.

In the driving support system, the work history information may be given to the farm work vehicle, whereby the setting parameters for the farm work vehicle and the working machine may be set based on the work history information.

In the driving support system, the server stores skill level information indicating a skill level of a worker in association with the worker identifier, and transmits the skill level information together with the work history information to the terminal device, The terminal device may display the skill level of the worker together with the work history.

In the driving support system, the server may transmit the work history information of a plurality of workers, and the terminal device may display work histories of a plurality of workers together with the skill level. ..

In the driving support system, the work history information may include at least one of an intrusion route into the work area and a work route in the work area.

According to the present invention, the server that stores the drive state of the agricultural work vehicle as the work history information by communicating with the agricultural work vehicle stores the work history information in association with the work area identifier and the worker identifier, and the work of the agricultural work vehicle is performed. When the terminal device capable of communicating with the agricultural work vehicle in the area receives the work history information from the server, the work history for each worker is displayed based on the worker identifier, so that the work is performed according to the work history of the expert. As a result, driving similar to that of a skilled person becomes possible.

It is a whole figure showing composition of a driving support system in an embodiment. It is a side view of the tractor which is an agricultural work vehicle in the drive assistance system of FIG. It is a top view of the same tractor. It is a functional block diagram of the same tractor. 7 is a timing chart showing an authentication operation for starting guide travel. It is a figure which shows the selection screen of the work area in a terminal device. It is a figure which shows the selection screen of the working machine in a terminal device. It is a figure which shows the selection screen of the work history for a guide in a terminal device. It is a flowchart which shows the driving assistance operation|movement in a tractor. 7 is a timing chart showing a communication operation during guide travel. It is explanatory drawing which shows the relationship of each element in driving assistance information. It is a figure which shows the structure of driving assistance information.

<Driving support system>
Embodiments embodying the present invention will be described below with reference to the drawings. First, a driving support system that supports driving of a tractor, which is an example of an agricultural work vehicle according to the present invention, will be described below with reference to FIGS. 1 to 4.

As shown in FIG. 1, in the driving support system of the present embodiment, a terminal device 70 operated by an operator who rides on the tractor 1 executes wireless communication with the tractor 1 in the field (working area) H1. The tractor 1 recognizes the position (latitude/longitude) of its own device by receiving the signal from the positioning satellite 63. The tractor 1 communicates with the server 100 installed in the management center C1 through the communication network N1 such as a telephone line network, and the driving information of the tractor 1 is sent to the server 100 together with the position information (positioning information) and the time information. Send. The server 100 accumulates the drive information of the tractor 1 together with the position information and the time information, and stores it as work history information.

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

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

In the field H1, the terminal device 70 performs wireless communication with the tractor 1 without communication connection to the communication network N1, receives drive information of the tractor 1 together with position information and time information, and stores it as work history information. To do. The terminal device 70 is composed of a portable terminal device such as a tablet terminal, a personal computer, or a smartphone, and is communicatively connected to the tractor 1 wirelessly or by wire. In this embodiment, a tablet terminal equipped with a touch panel is used as the terminal device 70.

In the operator's office O1, the terminal device 70 is communicatively connected to an access point 90 such as a router communicatively connected to the communication network N1 via an ONU (Optical Network Unit) or a modem. The terminal device 70 can communicate with the server 100 via the communication network N1 by communicatively connecting to the access point 90 in the office O1. Then, the terminal device 70 enters a state in which it can communicate with the server 100. The work history information of the tractor 1 already stored is transmitted to the server 100.

When the server 100 receives the work history information (hereinafter, referred to as “additional work history information”) from the terminal device 70, the work history information already received and stored from the tractor 1 (hereinafter, “basic work history information”). ")) is read. Then, the server 100 collates the basic work history information with the additional work history information to generate updated work history information in which the additional work history information is added to the basic work history information, and the name of the operated operator or the tractor 1 is generated. Memorize with the model of.

<Tractor>
Next, the tractor 1 will be described below with reference to FIGS. As shown in FIGS. 2 and 3, the tractor 1 includes a machine body 2 that supports driving of the field H1. A working machine 3 is detachably provided on the machine body 2. The working machine 3 is used for agricultural work. Examples of the working machine 3 include various working machines such as a tiller, a plow, a fertilizer applicator, a mower, and a seeder. Among them, a desired working machine 3 is selected according to need, and the machine body 2 is selected. Can be attached to. The machine body 2 is configured to be able to change the height and the posture of the work machine 3 attached. A body 2 which is a body of the tractor 1 has a front portion supported by a pair of left and right front wheels 7 and 7, and a rear portion thereof supported by a pair of left and right rear wheels 8 and 8. The front wheels 7, 7 and the rear wheels 8, 8 form a traveling unit.

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

Behind the bonnet 9, a cabin 11 on which an operator is aboard is arranged. Inside the cabin 11, there are mainly provided a steering handle 12 for the steering operation by an operator, a seat 13 on which the operator can sit, and various operating devices for performing various operations. There is. However, the agricultural work vehicle is not limited to the vehicle with the cabin 11, and may not include the cabin 11.

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

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

As shown in FIG. 1, a chassis 20 that constitutes the skeleton of the machine body 2 is provided below the machine body 2. The chassis 20 includes a body frame 21, a mission case 22, a front axle 23, a rear axle 24, and the like.

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

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

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

The tractor 1 also includes a vehicle-mounted terminal device 19 connected to the vehicle bus line 18, and the vehicle-mounted terminal device 19 can be connected to the communication network N1 via a wireless telephone line or the like. That is, the tractor 1 can communicate with the server 100 of the management center C1 by communicatively connecting to the communication network N1 with the vehicle-mounted terminal device 19.

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

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

The elevating actuator 44 operates the three-point link mechanism connecting the working machine 3 to the machine body 2 to move the working machine 3 to a retracted position (a position where farm work is not performed) or a work position (a position where farm work is performed). It raises or lowers to either. By controlling the elevating actuator 44 by the work implement control device 17 and appropriately raising and lowering the work implement 3, for example, the work implement 3 can perform agricultural work at a desired height in the field area.

In the tractor 1 including the control devices 15 to 17 as described above, the control devices 15 to 17 communicate with each other via the vehicle bus line 18 based on various operations of the operator who gets in the cabin 11, and By controlling each part (the machine body 2, the working machine 3, etc.), the farm work can be executed while traveling in the field. In addition, the tractor 1 of the embodiment can support the driving operation of the operator based on the work history (driving support information) of the expert selected by the operator at the terminal device 70.

Specifically, as shown in FIG. 4, the tractor 1 is added with various configurations such as a driving assistance control device 51 for enabling driving assistance. Furthermore, the tractor 1 is equipped with various configurations such as a positioning antenna 6 necessary for acquiring position information of itself (the body of the tractor) based on the positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and support driving on the field H1.

Next, the configuration of the tractor 1 for driving assistance will be described in detail. Specifically, as shown in FIGS. 2 to 4, the tractor 1 includes a driving assistance control device 51, a steering control device 52, a positioning surveying device 53, a wireless communication router (small power data communication device) 54, and a steering actuator 43. , A positioning antenna 6, a wireless communication antenna unit 48, and the like.

The driving support control device 51 and the steering control device 52 are configured to be able to mutually communicate with the engine control device 15, the machine control device 16, and the work implement control device 17 via the vehicle bus line 18. Further, the driving assistance control device 51 is connected to each of the positioning surveying device 53 and the wireless communication router 54 via the driving assistance bus line 56 in the driving assistance communication system which is a system different from the steering communication system by the vehicle bus line 18. Mutual communication is possible.

The steering actuator 43 is provided, for example, in the middle of the rotating shaft (steering shaft) of the steering handle 12 and adjusts the turning angle (steering angle) of the steering handle 12. When the tractor 1 travels on the route defined by the driving support information, the steering control device 52 calculates an appropriate turning angle of the steering handle 12 so that the tractor 1 travels along the route, and calculates the calculated rotation angle. The steering actuator 43 is controlled so that the steering handle 12 rotates at a moving angle. Further, the steering control device 52 receives a detection signal of the rotation angle of the steering wheel 12 from the steering angle sensor 35, and also, via the vehicle bus line 18, the engine control device 15, the machine control device 16, and the work machine control device 17. By communicating with each, steering according to the vehicle speed of the tractor 1 can be executed.

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

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

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

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

In this embodiment, a high-accuracy satellite positioning system using the GNSS-RTK method is used, but the present invention is not limited to this, and another positioning system is used as long as high-accuracy position coordinates can be obtained. May be. The GNSS-RTK is a positioning method in which the accuracy is corrected and increased based on the information of a reference station whose position is known, and there are a plurality of methods depending on the method of distributing information from the reference station. Since the present invention does not depend on the GNSS-RTK system, details thereof will be omitted in this embodiment.

Further, the positioning surveying device 53 is capable of measuring not only the position information of the tractor 1 (machine body 2) by satellite positioning but also the tilt angle information of front, rear, left and right by inertial measurement. The tilt angle information measured by the positioning surveying device 53 is acquired by the driving support control device 51 in a state of being associated with the position information (latitude/longitude information), and is used for controlling the tractor 1. Note that the positioning surveying device 53 can also measure the height position of the positioning antenna 6 with respect to the field scene, and thus the vehicle height of the tractor 1 (machine 2).

The wireless communication antenna unit 48 is arranged on the upper surface of the roof 14 of the cabin 11 of the tractor 1, and is connected to the first and second wireless communication networks having different frequency bands so as to communicate with the first and second wireless communication antennas 48a and 48b. Equipped with. The first wireless communication network is constructed by, for example, a specific low-power wireless in the 920 MHz band having a high data transmission rate in order to communicate the positioning correction information by the reference station 60. The second wireless communication network is constructed by, for example, a low power data communication system in the 2.4 GHz band in order to perform high speed communication of data having a large data volume such as image data.

The first wireless communication antenna 48a is electrically connected to the positioning surveying device 53, and the second wireless communication antenna 48b is electrically connected to the wireless communication router 54. The wireless communication router 54 connected to the second wireless communication antenna 48b communicates with the image displayable terminal device 70 operated by an operator outside the tractor 1 through the second wireless communication network. The wireless communication router 54 receives the driving support signal from the terminal device 70 and transmits it to the driving support control device 51 via the driving support bus line 56.

The terminal device 70 is specifically configured as a tablet-type personal computer including a touch panel. The operator can refer to and confirm the information displayed on the touch panel of the terminal device 70 (for example, information on the field required when performing driving assistance). Further, the operator operates the terminal device 70 to select the driving assistance information for realizing the driving assistance operation in the tractor 1 and transmits it to the driving assistance control device 51 of the tractor 1.

The driving assistance control device 51 compares the work route generated by the terminal device 70 with the position information of the tractor 1, and causes the tractor 1 to travel at a predetermined traveling speed while performing a predetermined work along the work route. For this purpose, the steering angle of the tractor 1, the target engine speed, the gear ratio, etc. are calculated and communicated with the respective control devices 15 to 17, 52 through the vehicle bus line 18. In the tractor 1, the operation guide information is transmitted from the wireless communication router 54 to the terminal device 70 so that the tractor 1 can perform the traveling operation along the work route based on the selected driving support information and the optimum agricultural work operation by the work machine 3. The terminal device 70 notifies the operator of necessary operations by voice or image display.

In the present embodiment, the operation guide is notified by the terminal device 70, but it may be notified by a monitor device or a buzzer provided in the tractor 1, and the steering actuator 43 is driven by the steering control device 52. Then, the steering handle 12 may be rotated at an appropriate steering angle.

The route in the field region (traveling region) that the tractor 1 supports for driving may be referred to as a “work route” in the following description. In the field area (travel area), the area (work area) that is the target of the agricultural work by the work machine 3 of the tractor 1 is defined as the area excluding the headland and the margin allowance from the entire field area. Is set based on these registration points and the work width of the tractor 1 when the registration work of the registration points is executed.

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

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

<Processing operation in driving support system>
Next, with reference to FIGS. 4 to 12, a processing operation for driving assistance of the tractor 1 in the field H1 will be described below. As shown in FIGS. 4 to 12, when the key switch is turned on for the tractor 1 in the field H1, the control devices 15 to 17, 51, 52, the positioning surveying device 53, and the wireless communication router 54 are powered on. At the same time, the engine 10 is driven to enter the idling state. At this time, the tractor 1 is in a stopped state due to the braking action of the left and right brake devices 26. On the other hand, when the power of the terminal device 70 is turned on, the display 146 including a touch panel is displayed and the device-side software is activated.

The tractor 1 controls the communication operation of the wireless communication router 54 by the driving support control device 51, so that the wireless communication router 54 starts the search for the terminal device 70 that can communicate through the second wireless communication network. That is, the wireless communication router 54 transmits the tractor ID (identifier) unique to the tractor 1 and transmits it from the second wireless communication antenna 48b. The terminal device 70 stores in advance the tractor ID of the tractor 1 that can communicate with the driving support system. Then, when the terminal device 70 receives the communication confirmation signal including the tractor ID, if the received tractor ID matches the prestored tractor ID, the terminal device 70 authenticates the communication with the wireless communication router 54 of the tractor 1.

After authenticating the communication with the tractor 1, the terminal device 70 transmits the device ID (identifier) unique to the device itself to the wireless communication router 54 through the second wireless communication network. Although the device ID is described as being transmitted from the terminal device 70, the operator ID assigned to the operator who operates the terminal device 70 may be used instead of the device ID. The tractor 1 stores the device ID of the terminal device 70 capable of communicating with the driving support system in the driving support control device 51 or the wireless communication router 54 in advance. Therefore, when the wireless communication router 54 receives the response signal via the second wireless communication antenna 48b, the tractor 1 determines the terminal device 70 when the device ID in the received response signal and the previously stored device ID match. Authenticate communication with.

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

When the key switch of the tractor 1 is turned on and the positioning surveying device 53 is turned on, the positioning information of the tractor 1 (latitude/latitude/latitude/latitude/latitude/latitude/latitude/latitude Longitude information) is calculated. Then, after the authentication processing between the tractor 1 (wireless communication router 54) and the terminal device 70 described above, the position information of the tractor 1 is transmitted to the server 100 together with the tractor ID and the device ID.

When the server 100 confirms from the tractor ID and the device ID that the tractor 1 and the terminal device 70 can be used in the driving support system, the server 100 authenticates the tractor 1 so that the tractor 1 and the server 100 can communicate with each other. When the server 100 authenticates the tractor 1, the server 100 reads the map information centered on the position information received from the tractor 1, and transmits the read map information to the terminal device 70 via the tractor 1.

The server 100 confirms the field (work area) assigned to the operator who operates the tractor 1 from the tractor ID and the device ID, and adds information on the field (work area) to be worked to the map information. Then, it is transmitted to the terminal device 70. That is, the server 100 reads the map information including the fields HA to HH (see FIG. 6) around the current position of the tractor 1 based on the position information received from the tractor 1. Then, the server 100 confirms that the fields to be worked by the operator, which are confirmed by the device ID, are the fields HC, HD, HG, and HH, and notifies the terminal device 70 together with the map information.

At this time, when the vehicle-mounted terminal device 19 receives the map information from the server 100, the tractor 1 gives the received map information to the wireless communication router 54 via the driving support control device 51 to send the map information to the wireless communication router. 54 to the terminal device 70. Then, as shown in FIG. 6, the terminal device 70 having received the map information, based on the received map information, the target fields (work areas) HC, HD, HG, HH and the target fields HA. , HB, HF are displayed on the display 146.

The operator operates a touch panel that constitutes the display 146 of the terminal device 70, or the like, and specifies a field (work area) to be worked by the tractor 1 on the map displayed on the display 146. When the operator selects a field (working area), the terminal device 70 designates work (cultivating work, seeding work, fertilizing work, scraping work, ridge work, etc.) by the tractor 1, as shown in FIG. 7. A screen for requesting the operator is displayed on the display 146. The operator operates the touch panel of the terminal device 70 displayed on the screen as shown in FIG. 7 to perform work by the tractor 1 (cultivating work, sowing work, fertilizing work, scraping work, ridge work, etc.). The working machine 3 and the size of the working machine 3 are designated. The operator also operates the terminal device 70 to specify the crop to be worked.

The terminal device 70 transmits the designated field H1, the working machine 3, and the crop to the server 100 via the tractor 1. In this embodiment, as shown in FIGS. 6 and 7, the field HD and the rotary cultivator are selected for the field H1 and the working machine 3. The server 100 receives the field ID (identifier) assigned to the field HD from the terminal device 70 to confirm the field HD specified by the field ID, and at the same time, the work machine assigned to the work machine 3. By receiving the ID (identifier), the model ZZ-ZZZ and size of the work machine 3 specified by the work machine ID are confirmed. Also, the server 100 confirms the model YY-YYY and the size of the tractor 1 from the tractor ID that has already been received from the tractor 1.

When the server 100 checks the designated field HD and the model ZZ-ZZZ of the working machine 3 and recognizes that the model is YY-YYY of the tractor 1, the server 100 of the working machine 3 and the model YY-YYY of the tractor 1 are recognized. The tractor 1 is used to search the history (work history information) of agricultural work performed on the field HD using the work machine 3 of the model ZZ-ZZZ. When the server 100 extracts the work history information specified by the field HD, the model YY-YYY of the tractor 1, and the model ZZ-ZZZ of the work machine 3, the server 100 sorts the work history information. The server 100 adds the skill level of each operator, work time (average work time), fuel consumption (average fuel consumption amount), and work history download count (frequency of use) to the work history information sorted for each operator. , To the terminal device 70 via the tractor 1. The work history information includes, for example, time and position information indicating the approach route to the field HD and the work route in the field HD, the engine speed and load factor, the selection of the auxiliary transmission gear, the traveling speed of the main transmission, It includes PTO speed setting and depth setting of rotary tiller, turning speed, work equipment turning up timing, automatic brake setting, back raising, working equipment setting height and the like.

When the terminal device 70 receives the work history information from the server 100, the terminal device 70 generates an approach route and a work route (work route) to the field HD where the tractor 1 moves by calculation based on the work history information. Then, as shown in FIG. 8, the terminal device 70 displays the work route, skill level, work time, fuel consumption, and the number of downloads for each operator on the display 146. These pieces of information can enrich the information for the operator to select the work history.

The operator operates a touch panel that configures the display 146 of the terminal device 70 or the like to specify one of the work histories of the plurality of operators displayed on the display 146. The terminal device 70 transmits the designated work history information to the tractor 1 as driving support information. In this embodiment, as the driving support information (work history information), as shown in FIG. 8, the driving support information of the skill level J2 is selected.

As shown in FIG. 9, when the driving assistance control device 51 of the tractor 1 receives the driving assistance information from the terminal device 70 (STEP 1), the driving assistance information is stored in a storage device (not shown) (STEP 2). The driving support control device 51 performs the setting of the rotary tiller (working machine) based on the received driving support information (STEP 3). At this time, the driving support control device 51 communicates with the control devices 15 to 17 to execute various settings for the tractor 1 and the work machine 3 based on the driving support information. That is, the tractor 1 and the work such as the up-and-down position of the working machine 3, the tilt angle in the horizontal control of the working machine 3, the depth of tillage by the working machine 3, the linear vehicle speed and the turning vehicle speed of the machine body 2, and the rotation speed upper limit value of the engine 10. The setting parameters for the machine 3 are set based on the driving support information.

In the driving support information, for example, as shown in FIGS. 11 and 12, the work route generated by the terminal device 70, the approach route to the farm HD, and the time and position information (latitude, latitude) indicating the work route in the farm HD. Longitude), engine speed and load factor, selection of sub transmission gear, main transmission speed, PTO gear setting and depth setting of rotary tiller, turning speed, work equipment turning up timing, automatic brake setting, back Includes lift, work implement set height, etc. The work route in the field HD may be generated by the driving support control device 51.

As shown in FIGS. 9 and 10, when the driving assistance control device 51 of the tractor 1 starts the driving assistance (STEP 4), the current position information of the tractor 1 is acquired (STEP 5), and the operation guide information is used as the driving assistance information ( It is read (STEP 6) and transmitted to the terminal device 70 (STEP 7). In accordance with the received operation guide information, the terminal device 70 notifies the operator of an operation guide regarding the operation of the tractor 1 by displaying it on the display 146 or by voice.

In addition, the tractor 1 includes driving states of the machine body 2 and the working machine 3 (engine speed, vehicle speed of the machine body 2, engine load, tilting attitude of the machine body 2, tilting attitude of the working machine 3, up/down position of the working machine 3, right and left positions. The braking operation of the brake device 26, the steering angle of the steering wheel 10, the switching of the PTO switch, etc.) are acquired and transmitted to the server 100 together with the position information (STEP 8). The position information is received from each of the positioning satellite 63 and the reference station 60. It is latitude/longitude information calculated by the positioning surveying device 53 based on the information obtained.

The tractor 1 during driving support transmits the operation guide information to the terminal device 70 at predetermined time intervals, while transmitting the drive state and position information of the machine body 2 and the work machine 3 to the server 100. The server 100 receives the operation information and the position information received at a predetermined time interval from the field ID (work area identifier), the tractor ID (work vehicle identifier), and the work machine ID (work machine identifier) indicating the field (work area) in which the work is performed. ) And memorize.

When the tractor 1 determines that there is a difference between the operation guide information read out in STEP 6 and the driving states of the machine body 2 and the working machine 3 obtained in STEP 8 (STEP 9: YES), the tractor 1 displays the operation comparison information indicating the difference. Generate (STEP 10). Then, the tractor 1 transmits the generated operation comparison information to each of the terminal device 70 and the server 100 (STEP 11).

When the terminal device 70 receives the operation comparison information from the tractor 1, the terminal device 70 notifies the operator of an operation (correction operation) for correcting the driving states of the machine body 2 and the work machine 3 so as to match the operation guide information. In addition, the server 100 stores the operation comparison information received from the tractor 1 in association with the field ID (work area identifier), the tractor ID (work vehicle identifier), and the work machine ID (work machine identifier).

The driving support control device 51 of the tractor 1 executes the driving support processing of STEPs 5 to 11 until the work is completed. When the work of the tractor 1 is completed (STEP 13), the driving support control device 51 notifies the terminal device 70 and the server 100 of the work completion and transmits the actually measured work time (STEP 14). The terminal device 70 notifies the operator of the actual measurement work time and the end of work. The server 100 also stores the measured work time in association with the field ID (work area identifier), the tractor ID (work vehicle identifier), and the work machine ID (work machine identifier).

The server 100 calculates the operator's skill level and fuel consumption based on the drive state and position information of the machine body 2 and the work machine 3 received from the tractor 1, the operation comparison information, and the actually measured work time. Then, the server 100 uses the field ID (working area identifier), the tractor ID (working area identifier), the driving state and position information of the machine body 2 and the working machine 3, the operation comparison information, the actual work time, the operator skill level information, and the fuel consumption information. It is stored as work history information in association with a vehicle identifier) and a work implement ID (work implement identifier). It should be noted that the server 100 calculates the skill level higher as the number of operation comparison information is smaller. Further, the server 100 calculates the skill level as the measured work time is closer to the work time of the used work history information.

The function of the terminal device 70 is provided in the tractor 1, and the information displayed on the display 146 is displayed on the monitor device of the tractor 1. You may comprise so that it may display.

The present invention is not limited to the above-described embodiment, but can be embodied in various aspects. The configuration of each unit is not limited to the illustrated embodiment, and various modifications can be made without departing from the spirit of the present invention.

1 tractor (work vehicle)
70 terminal device 100 server

Claims (6)

A driving support system for an agricultural work vehicle comprising: a server that stores the drive state of the agricultural work vehicle as work history information by communication with the agricultural work vehicle; and a terminal device that can communicate with the agricultural work vehicle in a work area of the agricultural work vehicle. hand,
The server stores the work history information in association with a work area identifier and a worker identifier,
When the terminal device receives the work history information from the server, it displays a work history for each worker based on the worker identifier ,
A driving support system for an agricultural work vehicle, wherein the agricultural work vehicle makes an erroneous operation determination and notifies a correction operation through the terminal device, when an operation on the agricultural work vehicle is different from the content of driving support based on the work history . The farm work according to claim 1, wherein the work history information is also stored in association with a farm work vehicle identifier that identifies the farm work vehicle and a work machine identifier that identifies a work machine attached to the farm work vehicle. Vehicle driving support system. The farm work vehicle according to claim 2, wherein the setting parameter for the farm work vehicle and the working machine is set based on the work history information by providing the work history information to the farm work vehicle. Driving support system. The server stores the skill level information indicating the skill level of the worker in association with the worker identifier, and transmits the skill level information together with the work history information to the terminal device,
The driving support system for an agricultural work vehicle according to claim 1, wherein the terminal device displays the skill level of the worker together with the work history. The farm work vehicle according to claim 3, wherein the server transmits the work history information of a plurality of workers, and the terminal device displays the work history of the plurality of workers together with the skill level. Support system. The driving support system for an agricultural work vehicle according to claim 1, wherein the work history information includes at least one of an intrusion route into the work area and a work route in the work area.

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