JP7441393B2 - Work vehicle control system - Google Patents

Description

The present invention relates to a control system for a work vehicle.

BACKGROUND ART Conventionally, a control system is known that controls a plurality of unmanned tractors that autonomously travel while performing position measurements using a positioning satellite system. In such a control system, there is a technology that instructs unmanned tractors assigned to each of a plurality of fields to perform predetermined work and monitors the work status (for example, see Patent Document 1).

International Publication No. 2016-129671

However, in the conventional technology, there is room for improvement in terms of efficient movement between fields.

The present invention has been made in view of the above, and an object of the present invention is to provide a control system for a work vehicle that can efficiently move between fields.

In order to solve the above-mentioned problems and achieve the purpose, a control system (100) for a work vehicle (1) according to an aspect of the embodiment controls a plurality of fields (F) while performing positioning using a positioning device (120). The work vehicle (1) includes a plurality of autonomously traveling work vehicles (1) and an information processing device (130) that controls the autonomous travel of each of the plurality of work vehicles (1), and the work vehicle (1) moves between fields. and a second mode in which the information processing device (130) waits for switching to the first mode at the exit (F _out ) of the field (F). When there are a plurality of work vehicles (1), the work vehicles (1) are switched to the first mode in order from the work vehicle (1) that takes the shortest time to travel on the scheduled travel route when switched to the first mode.

According to one aspect of the embodiment, movement between fields can be performed efficiently.

FIG. 1 is an explanatory diagram showing an overview of a control system for a work vehicle according to an embodiment. FIG. 2 is a block diagram showing the functions of the work vehicle control system according to the embodiment. FIG. 3 is a block diagram showing an overview of the tablet terminal. FIG. 4 is a block diagram showing the functions of the work control device. FIG. 5 is a diagram showing the processing contents when the tractor is moved between fields. FIG. 6 is a diagram showing the processing details when the tractor is moved between fields. FIG. 7 is a diagram showing the processing contents when the tractor is moved between fields. FIG. 8 is a flowchart showing the processing procedure of the inter-field movement process executed by the information processing apparatus according to the embodiment. FIG. 9 is a flowchart showing the processing procedure of the inter-field movement process executed by the information processing apparatus according to the embodiment. FIG. 10 is a flowchart showing the processing procedure of the inter-field movement process executed by the information processing device according to the embodiment.

A control system for a work vehicle according to an embodiment of the present invention will be specifically described below with reference to the drawings. Note that the constituent elements in the embodiments described below include those that can be replaced by those skilled in the art, or those that are substantially the same, that is, those that are in the so-called equivalent range. Furthermore, the present invention is not limited to the above-described embodiments, and can be implemented with various modifications without departing from the gist of the present invention.

First, the overall configuration of a work vehicle control system 100 will be described with reference to FIGS. 1 to 4. FIG. 1 is an explanatory diagram showing an overview of a control system 100 for a work vehicle according to an embodiment. FIG. 2 is a block diagram showing the functions of the work vehicle control system 100 according to the embodiment. FIG. 3 is a block diagram showing an overview of the tablet terminal 140. FIG. 4 is a block diagram showing the functions of the work control device 160.

As shown in FIG. 1, a work vehicle control system 100 includes, for example, a tractor 1 as an example of a work vehicle, a positioning device 120 that measures a positioning point indicating the position of the tractor 1 (that is, the own vehicle position), and a 1 (see FIG. 2), and an information processing device 130 that can communicate with the work control device 160. Although FIG. 1 shows one tractor 1, in reality, the work vehicle control system 100 controls a plurality of tractors 1.

A tractor 1, which is a working vehicle, is an agricultural tractor and includes a traveling vehicle body 2 and a working machine 3. The traveling vehicle body 2 is capable of traveling in a field F (FA, FB, FC). The work machine 3 is attached to the rear of the traveling vehicle body 2, for example, and performs ground work in the field F. The working machine 3 of the tractor 1 is, for example, a rotary tiller, but if the working vehicle is a seedling transplanter, it is a seedling planting device, and if the working vehicle is a fertilizer applicator, it is a fertilizing device. Further, if the work vehicle is a combine harvester, the work equipment 3 is a reaping device, a threshing device, or the like. Note that the above example is just an example, and the working machine is not particularly limited as long as it is used for agricultural work in the field F.

Further, the farm field F is provided with an entrance F _in and an exit F _out for the tractor 1. Note that the field F may be provided with one entrance/exit that functions as one entrance F _in and one exit F _out .

The traveling vehicle body 2 includes an engine and a power transmission device. The engine is a power source for the traveling vehicle body 2 as well as a power source for the working machine 3. The engine is a heat engine such as a diesel engine or a gasoline engine. The power transmission device includes a clutch that connects the engine and the drive wheels, and transmits the power of the engine to the drive wheels and the work implement 3 when the clutch is in a connected state. Further, in the power transmission device, when the clutch is in a neutral state, the engine and the driving wheels are disconnected from each other, and power from the engine is not transmitted to the driving wheels. That is, when the clutch is in the neutral state, the tractor 1, which is a working vehicle, decelerates. Further, the traveling vehicle body 2 can freely travel on the farm road R and in the field F. That is, the clutch in the power transmission device is an example of a forward/reverse clutch that switches the tractor 1 between forward, reverse, and neutral positions.

The positioning device 120 measures the position of the tractor 1 as described above. Specifically, the positioning device 120 is, for example, a GNSS (Global Navigation Satellite System) control device (hereinafter referred to as the GNSS control device 120) that acquires position information including a positioning point indicating the position of the tractor 1. The GNSS control device 120, which is a positioning device, can receive radio waves from a navigation satellite 123 orbiting the earth to measure the own vehicle position of the tractor 1, and can also measure time. That is, the position information includes information on the position of the own vehicle, which is a positioning point, and information on the time when the positioning point was measured.

The work control device 160 is an example of a control device that controls automatic travel (autonomous travel) of the tractor 1 in the field F, and includes an information processing device that can be brought into the tractor 1 in addition to a controller 150 that is mounted on the tractor 1 and will be described later. It is composed of a tablet terminal 140, which is an example of a mobile terminal device. Note that in the work vehicle control system 100 according to the present embodiment, a case will be described in which the work control device 160 (control device) includes the controller 150 and the tablet terminal 140; The configuration may include only one of the controller 150 and the tablet terminal 140.

As shown in FIG. 2, the work vehicle control system 100 is constructed such that, for example, a plurality of tractors 1 can be connected to at least one information processing device 130 via a communication network 110. Each tractor 1 is provided with a work control device 160, respectively. That is, the work vehicle control system 100 according to the present embodiment is a system capable of so-called cloud computing.

The work control device 160 can generate work-related information including at least travelable area information in which the tractor 1 can travel automatically. Here, the drivable area information refers to, for example, as shown in FIG. This information includes a travel route (work route) 300 that allows safe unmanned travel without deviating from the outermost edge of a work regulation area (to be described later).

The information processing device 130 includes processing devices such as a CPU (Central Processing Unit) that functions as a control unit, ROM (Read Only Memory), RAM (Random Access Memory), and HDD (Hard Disk Drive) that function as storage units. These include a storage device, and furthermore, a computer equipped with an input/output device. Note that the control section executes functions such as a calculation section, a travel control section, a correction section, and a notification section. The storage unit also stores various information that will be described later.

Here, as the information processing device 130, for example, an agricultural work support server 130a or a personal computer 130b is connected to a work control device 160 (controller 150 and tablet terminal 140) via the communication network 110. Note that in this embodiment, as shown in FIG. will be installed in

The information processing device 130 stores field map information associated with field identification information 200a to 200i (see FIG. 3), respectively, for a plurality of fields F. Further, the information processing device 130 can acquire work-related information generated by the work control device 160 and store it independently for each field F.

The controller 150 configuring the work control device 160 is configured by a computer similarly to the information processing device 130 described above. The controller 150 is connected to various ECUs (Electronic Control Units) 11 (see FIG. 4) that control various systems mounted on the work vehicle, such as the engine and the traveling device. Note that details of the controller 150 will be described later using FIG. 4.

By cooperating with various ECUs 11, the controller 150 can switch between an automatic driving mode in which the tractor 1 travels automatically and a manual driving mode in which a worker (driver) rides the tractor and manually drives the tractor 1. 3, the opening/closing operation of the power transmission switch that controls the engagement state of the clutch, the operation of the traveling drive device, etc. can be controlled.

In addition, the automatic driving mode includes a work mode in which work is performed automatically within the field F, an inter-field movement mode (first mode) in which movement between fields is performed automatically, and a movement mode between fields at the exit F _out of the field F. The mode includes a standby mode (second mode) in which the system waits for switching to another mode, and a refueling mode in which it waits until fuel is refilled, and these modes are switched according to instructions from the information processing device 130. Note that details of the control of the tractor 1 in these modes will be described later.

Further, the controller 150 causes the tractor 1 to automatically travel along a pre-registered travel route 300 (see FIG. 1) based on position information from the GNSS control device 120, which is a positioning device. The controller 150 sets a work area setting mode for setting a work area in which the tractor 1 can automatically travel in the field F, and also executes the work area setting mode.

The tablet terminal 140 is also a type of the above-mentioned computer in terms of its configuration, and as shown in FIG. It includes a touch panel 142 integrated with an operation section that accepts operations, and a GNSS antenna 121.

As shown in FIG. 3, the field-related information in the storage unit 141 includes field map information indicating the location of the field F to which field identification information 200a to 200i are individually assigned, and work-related information associated with the field map information. is memorized. That is, each of the field F in district A, the field F in district B, and the field F in district C, which are divided by district, includes work-related information regarding a plurality of divided fields A0 to A2, B0 to B3, and C0 to C1. is converted into a database as necessary information and stored in the storage unit 141. In addition, below, if there is no particular need to distinguish, the divided fields A0 to A2, B0 to B3, and C0 to C1 in each district may also be described as fields F-A, F-B, and F-C. Fields FA, FB, and FC may also be referred to as field F.

Such information is stored in the storage unit of the information processing device 130 via the communication network 110.

In the work vehicle control system 100 having the above configuration, work-related information acquired by the tractor 1 is associated with each of the plurality of fields F, which can be visually identified by map information, for example. , the agricultural work support server 130a, etc. can be centrally managed. Therefore, it becomes easier to formulate future agricultural work plans, and convenience is improved.

Furthermore, by sequentially uploading work-related information to the agricultural work support server 130a via the tablet terminal 140, it is possible to create a farm work plan using the agricultural work support server 130a or the personal computer 130b using cloud computing. Become.

In addition, since information on areas where automatic travel is possible can also be stored in the information processing device 130, agricultural work can be performed using automatic travel in any of the plurality of fields F to be worked on.

Further, in the work vehicle control system 100 according to the present embodiment, the work control device 160 generates travelable area information including a travel route 300 (see FIG. 1) for automatically driving the tractor 1. When the tractor 1 is driven manned (manually driven) in the field F, the work control device 160 (at least one of the controller 150 and the tablet terminal 140) acquires the travel route 300 (see FIG. 1). Drivable area information is generated based on the travel route 300.

Here, the work control device 160 automatically controls the first automatic driving area in which the tractor 1 that actually traveled manned can travel automatically, and the automatic driving area for other tractors 1 that are not traveling manned. A second automatic driving area, which is a range in which the vehicle can travel, is generated. That is, the work control device 160 stores in advance vehicle information including the wheel base, tread, tire width, and various other specifications regarding the tractor 1 (work vehicle) including the own vehicle and other vehicles working in the field F. be done.

In this way, in the field F where one tractor 1 is manned, not only the manned tractor 1 but also other tractors 1 that are not manned can perform predetermined tasks by automatic driving. This can be done in the prescribed area 202. In this case, the tractor 1 that is not running manned, that is, the tractor 1 that runs automatically, can travel safely without deviating from the work regulation area in the field F (see FIG. 1).

Here, the work control device 160 will be explained. Each part of the tractor 1 in the work vehicle control system 100 can be controlled by electronic control. As shown in FIG. 4, the tractor 1 is provided with a controller 150 on the traveling vehicle body 2 (see FIG. 1). Further, the tablet terminal 140, which together with the controller 150 constitutes the work control device 160, can be brought into the traveling vehicle body 2 or can be attached or detached. Tablet terminal 140 and controller 150 can be connected, for example, using a short-range wireless communication standard such as Bluetooth (registered trademark). Note that the tablet terminal 140 and the controller 150 may be configured to be connectable by wire.

Like the information processing device 130 described above, the controller 150 is provided with a processing device including a CPU, a storage device such as a ROM, a RAM, and an HDD, and an input/output device. Note that the devices are connected to each other and can exchange signals with each other.

Further, various ECUs 11 , a driving mode selection switch 12 , various actuators 170 , a camera 171 , various sensors 172 , an automatic steering device 180 , and a GNSS control device 120 are connected to the controller 150 . Further, a communication unit 151 for communicating with the tablet terminal 140 is connected to the controller 150 .

The driving mode selection switch 12 is a switch for switching between an automatic driving mode in which the tractor 1 is driven automatically (automatic driving) and a manual driving mode in which the tractor 1 is driven manually by an operator (manual driving), and for example, It is provided in the traveling vehicle body 2.

In addition, the various actuators 170 include, for example, various cylinders such as a lifting cylinder that raises and lowers the work equipment 3, a motor that rotates a water depth sensor that detects the water depth of the field F (see Fig. 1), and an engine intake volume. There are various motors such as electric motors such as throttle motors that adjust the

In addition, the various sensors 172 include the water depth sensor described above, a soil depth sensor that detects the soil depth in the field F, a fertility sensor that detects the fertilizer concentration in the field F, and a sensor that detects the weight of harvested paddy, etc. Various sensors such as a load cell or other weight sensor that detects the weight of seedlings, a rotation sensor that detects the rotation speed of the rear wheels, a tilt sensor that detects the inclination of the vehicle body 2, or a work clutch sensor or temperature sensor. There is.

Note that a plurality of cameras 171 are provided at appropriate locations on the traveling vehicle body 2. Image data captured by the camera 171 can be confirmed via, for example, the information processing device 130 installed in the management building H shown in FIG. 1. Further, the work control device 160 can also determine the growth status of crops, work status, etc. from the image data captured by the camera 171.

The GNSS control device 120 that acquires position information including a positioning point indicating the own vehicle position of the tractor 1 is a positioning device that includes a receiving antenna 122 provided on the traveling vehicle body 2 and a GNSS antenna 121 provided on the tablet terminal 140. functions as The GNSS control device 120 receives radio waves from a navigation satellite 123 using a GNSS antenna 121 and a receiving antenna 122, and obtains GNSS coordinates at predetermined time intervals, thereby obtaining position information (positioning points) on the earth at predetermined intervals. can be obtained.

The controller 150 mutually converts the position information and work-related information for each position acquired by the GNSS control device 120 into field map information indicating the locations of the fields FA, FB, and FC (see FIG. 1). The field-related information recorded in association (see FIG. 3) is generated as independent information for each field FA, FB, and FC. The generated independent information is sent to the information processing device 130 via the communication network 110 (see FIG. 2).

The automatic steering device 180 is controlled by the controller 150 based on the position information acquired by the GNSS control device 120 when the automatic driving mode is selected via the driving mode selection switch 12. That is, the controller 150 automatically operates the control handle provided on the traveling vehicle body 2, and the traveling vehicle body 2 is automatically driven. As shown in FIG. 4, the automatic steering device 180 includes a steering motor 181 that applies an arbitrary rotational force to rotate the steering wheel, and a handle potentiometer 182 that detects the rotation angle of the steering wheel.

Although not shown, it is also possible to use an unmanned flying vehicle called a drone as the control system 100 for the work vehicle. Such an unmanned flying vehicle may be equipped with an imaging device similar to the camera 171 provided on the tractor 1, and may also be provided with an antenna that can form part of the GNSS control device 120.

In this case, the unmanned aerial vehicle and the tablet terminal 140 are configured to be able to communicate with each other, and by performing predetermined operations using the touch panel 142, the operator remotely controls all operations of the unmanned aerial vehicle, including the operation of the imaging device. be able to. With such a system, if the growth status of crops planted in field F (see FIG. 1) is imaged from above and the imaged position is associated with agricultural work information using the GNSS control device 120, useful information regarding crop growth can be obtained. It can be field related information.

The tablet terminal 140, which together with the controller 150 constitutes the work control device 160, includes the control section 143, the storage section 141, the touch panel 142, and the GNSS antenna 121, as described above. Further, the tablet terminal 140 includes a terminal communication section 144 corresponding to the communication section 151 on the traveling vehicle body 2 side.

The control unit 143 acquires various information. For example, the control unit 143 sequentially receives information detected by various sensors 172 included in the tractor 1, determines whether the received information is field information regarding the field itself or the work itself, and responds to the determination result. Then, the information is stored in the field database 1411 or the work database 1412.

Further, the control unit 143 acquires the position information acquired by the GNSS control device 120. Specifically, the control unit 143 acquires the positioning point included in the position information indicating the shape of the field F as shape information.

The control unit 143 also sets a work prescribed area in which the tractor 1 can travel automatically based on the shape information, and creates a travel route (work route) 300 on which the tractor 1 can work automatically based on the set work prescribed area. generate.

Further, the control unit 143 controls automatic travel of the tractor 1 during field work and movement between fields in accordance with instructions from the information processing device 130. Specifically, the control unit 143 switches among a work mode, an inter-field movement mode, a standby mode, and a fuel standby mode in the automatic driving mode in accordance with instructions from the information processing device 130.

In addition, the control unit 143 cooperates with the controller 150 of the tractor 1 equipped with the GNSS control device 120 to provide travel route information on which the tractor 1 can automatically travel, based on the position information and work-related information included in the field-related information. That is, drivable area information can be automatically generated. The generated drivable area information is stored in the route database 1413 in one-to-one correspondence with the divided fields A0 to A2, B0 to B3, and C0 to C1 (see FIG. 3).

The storage unit 141 of the tablet terminal 140 stores various programs necessary for control processing by the control unit 143 as well as various information. That is, the storage unit 141 generates a field database 1411, a work database 1412, a route database 1413, and a program unit 1414 in which various programs are stored.

The storage unit 141 stores work-related information in association with field map information indicating the locations of fields FA, FB, and FC (see FIG. 1) to which field identification information 200a to 200i are individually assigned. , is stored as field-related information that is independent information for each of a plurality of fields FA, FB, and FC. That is, each of the fields FA, FB, and FC divided by district has necessary information such as steering related information regarding the plurality of divided fields A0 to A2, B0 to B3, and C0 to C1. , is converted into a database and stored in the storage unit 141. Note that the work-related information includes field-related information regarding fields FA, FB, and FC.

For example, the farm field database 1411 includes management information such as location information, name, and owner of the farm field F, shape information indicating the shape of the farm field F, and the like. The work database 1412 includes information regarding work processes in the field F. For example, the work database 1412 includes information regarding field work performed in the past and field work scheduled to be performed in the future. The route database 1413 includes information regarding the work regulation area and the travel route 300 (work route) set in the work regulation area.

Further, for example, the shape of the field F, the work regulation area, and the reference line may be stored in association with each other in the storage unit 141. Thereby, when performing the same field work in the same field F from the next year onwards, there is no need to perform the setting work, so it is possible to reduce the burden on the operator. Further, the shape of the field F may be stored, for example, by using the center of gravity or the center of a polygon as the representative point of the field F.

Further, each database stored in the storage unit 141 can be sorted according to a predetermined sorting method. For example, when selecting past fields F, a list is displayed in order from the field F (for example, representative point) closest to the current position. Alternatively, it is also possible to display the field work in the order in which it was performed last year. Alternatively, the fields F may be displayed in the order of registration.

The program unit 1414 includes, for example, a work route generation program that generates work route information when the tractor 1 travels automatically, an automatic steering program that causes the tractor 1 to travel automatically according to the generated work route information, etc. A computer program for controlling the overall operation of 1 is stored. Note that various computer programs including the work route generation program, the automatic steering program, and the like may be stored in the storage section of the controller 150 mounted on the traveling vehicle body 2.

The work route generation program includes, for example, a self-position acquisition process that acquires information indicating the own vehicle position determined by the GNSS control device 120, which is a positioning device, and the acquired self-position information and field map information stored in advance. Based on the information, the process includes a driving route generation step of generating a driving route 300 (see FIG. 1) that includes at least travelable area information in which the own vehicle, the tractor 1, can travel automatically. Furthermore, in addition to the driving route 300, a transmission step of generating various work-related information and transmitting the generated information to the information processing device is included.

Further, the field database 1411 of the storage unit 141 stores field-related information shown in FIG. 3 . The field-related information includes, for example, field identification information 200a to 200i that identifies the field F, field map information consisting of image data showing the position of the field F on a map, work-related information, etc., and the work control device 160 Generated by

Next, the contents of processing when the tractor 1 is moved between fields will be explained using FIGS. 5 to 7. 5 to 7 are diagrams showing the processing contents when the tractor 1 is moved between fields. In FIGS. 5 to 7, it is assumed that a plurality of tractors 1a to 1c are automatically traveling and working in a plurality of farm fields FA to FF. Furthermore, in FIGS. 5 to 7, it is assumed that the inlet F _in and the outlet F _out of the fields F-A to F-F are at the same position.

For example, in FIG. 5, it is assumed that the tractor 1 in standby mode is waiting at the exit F _out of the field FF. Furthermore, when the tractor 1 shown in FIG. 5 is switched to the inter-field movement mode, it is determined that the tractor 1 moves between the fields along a predetermined travel route (broken line) from the field FF to the field FD. That's it.

Note that the information processing device 130 may notify which field F each tractor 1 will work on and in what order before starting the work, and when the work on each field F is finished, the information processing device 130 determines the next field F to work on and sends the tractor 1 may be notified.

The information processing device 130 according to the embodiment calculates the amount of fuel consumed in the travel route that the tractor 1 is scheduled to travel based on the actual amount of fuel actually consumed when the tractor 1 traveled between fields in the inter-field movement mode in the past. Calculate the predicted fuel consumption, which is the predicted value of the fuel.

Then, when the remaining fuel amount of the tractor 1 is less than the predicted fuel consumption amount, the information processing device 130 according to the embodiment switches from the standby mode to the refueling mode. That is, when the remaining fuel amount of the tractor 1 is less than the predicted fuel consumption amount, the information processing device 130 stops the tractor 1 in the standby mode until the fuel is replenished.

As a result, it is possible to determine whether or not tractor 1 will make an emergency stop while moving between fields due to fuel shortage before moving between fields. 1 can avoid being unable to move between fields. Therefore, according to the information processing device 130 according to the embodiment, it is possible to suppress a decrease in work efficiency.

Note that when the remaining fuel amount of the tractor 1 is equal to or greater than the predicted fuel consumption amount, the information processing device 130 starts moving the tractor 1 between fields by switching from the standby mode to the inter-field movement mode.

Here, a method for calculating predicted fuel consumption will be explained. For example, when calculating the predicted fuel consumption from farm field FF to farm field FD, the information processing device 130 may calculate, for example, that the tractor 1 (or another tractor 1) was The actual fuel consumption amount actually consumed from the _out to the entrance of the field FD (in the case of FIG. 5, the exit F _out ) is calculated as the predicted fuel consumption amount.

Specifically, the information processing device 130 calculates the actual fuel consumption, which is the difference value between the remaining fuel amount at the exit F _out of the farm field FF of the tractor 1 and the remaining fuel amount at the time of arrival at the entrance of the farm field FD. The amount is calculated as the predicted fuel consumption. Note that the predicted fuel consumption is not limited to the past travel from field FF to field FD, but also the actual fuel consumption during past travel from field FD to field FF, which is the opposite direction. It may be calculated based on. In other words, the information processing device 130 acquires the actual fuel consumption by acquiring the remaining fuel amount at the start and end of the inter-field movement of the travel route in the inter-field movement mode in the past for the travel route scheduled to be traveled from now on. Calculate the amount.

In addition, the information processing device 130 is not limited to calculating the predicted fuel consumption based on the above-mentioned difference value, but _also calculates the predicted fuel consumption based on the past average fuel consumption of the tractor 1 and The predicted fuel consumption may be calculated based on the distance to the entrance.

Further, the information processing device 130 may correct the calculated predicted fuel consumption amount depending on the state of the traveling route and the state of the tractor 1. For example, the information processing device 130 can correct the predicted fuel consumption amount based on slope information, which is information about an uphill slope or a downhill slope of the driving route, as the state of the driving route.

For example, when the travel route includes an uphill slope, the information processing device 130 performs a correction to increase the predicted fuel consumption according to the slope angle and the slope distance. On the other hand, when the travel route includes a downhill slope, the information processing device 130 performs a correction to lower the predicted fuel consumption according to the slope angle and the slope distance. Then, if the amount is less than the corrected predicted fuel consumption, the information processing device 130 stops the tractor 1 in the standby mode until the fuel is replenished.

Note that the inclination information can be obtained, for example, as information on a value obtained by integrating the detection values of the gyro sensor when the tractor 1 equipped with the gyro sensor traveled a travel route in the past.

In this way, the information processing device 130 can calculate a more accurate predicted fuel consumption amount by correcting the predicted fuel consumption amount according to the slope information.

Further, the information processing device 130 may correct the predicted fuel consumption amount based on the hardness of the soil, the presence or absence of puddles, etc. as the state of the travel route. Further, the information processing device 130 may correct the predicted fuel consumption amount based on the weight of the work implement W, the load amount, etc. as the state of the tractor 1.

In this way, the information processing device 130 can calculate a more accurate predicted fuel consumption amount by correcting the predicted fuel consumption amount according to the state of the travel route and the state of the tractor 1.

Regarding the calculation of the actual fuel consumption amount, the information processing device 130 prohibits the calculation of the actual fuel consumption amount if the vehicle has temporarily stopped while moving between fields in the inter-field movement mode in the past. Thereby, it is possible to avoid a decrease in the accuracy of the calculation result of the predicted fuel consumption due to inaccurate calculation of the actual fuel consumption.

Next, in FIG. 6, it is assumed that the tractor 1a in the inter-field movement mode is traveling along a predetermined travel route from field FA to field FD. It is also assumed that the tractor 1b in standby mode is waiting at the exit F _out of the field FB, and similarly, the tractor 1c in the standby mode is waiting at the exit F _out of the field FC. In addition, when the tractor 1b switches to the inter-field movement mode, the tractor 1b performs inter-field movement from the field FB to the field FF, and when the tractor 1c switches to the inter-field movement mode, the tractor 1c moves from the field F It is assumed that it has been decided to move between fields from -C to field FE.

In the case where there are a plurality of tractors 1b and 1c in the standby mode, the information processing device 130 according to the embodiment switches the tractor 1 from the tractor 1 to the inter-field movement mode, which takes less time for the planned travel route, when switching to the inter-field movement mode. Switch to

In the example shown in FIG. 6, the information processing device 130 first switches the tractor 1c, which requires a shorter time, to the inter-field movement mode. After the inter-field movement of the tractor 1c is completed, the information processing device 130 switches the tractor 1b from the standby mode to the inter-field movement mode.

In this way, by giving priority to the tractor 1c whose traveling route requires a shorter time and switching to the inter-field movement mode, the waiting time of the tractor 1b in the standby mode can be reduced. Therefore, according to the information processing device 130 according to the embodiment, movement between fields can be performed efficiently.

Note that since the traveling route of the tractor 1b and the traveling route of the tractor 1c overlap, the information processing device 130 switches the standby mode when the distance between the tractor 1b and the tractor 1c is greater than or equal to a predetermined threshold. The tractor 1b may be switched to inter-field movement mode.

In the standby mode, the tractor 1 has a standby position around the exit F _out inside the farm field F, but the standby position may be around the exit F _out outside the field F. In such a case, a position that does not interfere with the movement of other tractors 1 moving between fields is preferable.

In addition, to calculate the required time, for example, in the case of taking the time required from field FB to field FF, calculate the time that elapsed when moving from field FB to field FF in the past. It can be calculated as the required time.

Specifically, the information processing device 130 stores, in the storage unit, the elapsed time from the start point to the end point when traveling along the travel route from the field FB to the field FF in the past, and stores the elapsed time Calculate the required time based on. Thereby, the required time can be calculated with high accuracy.

Note that, when calculating the time required from field FB to field FF, the information processing device 130 calculates the time required to travel from field FF to field FF based on the elapsed time when traveling the route from field FF to field FB. It may be calculated. In other words, the information processing device 130 distinguishes between the travel route (from field FF to field FB) corresponding to the elapsed time and the travel route (from field FB to field FF) for which the required time is calculated. When the traveling direction is the opposite direction, the required time is calculated based on the elapsed time. As a result, even if the vehicle has never traveled the route from field FB to field FF, it is possible to calculate the required time.

Regarding the calculation of the elapsed time, the information processing device 130 does not store the elapsed time in the storage unit if it has been temporarily stopped while moving between fields from the start point to the end point in the inter-field movement mode in the past. do it like this. Thereby, it is possible to avoid a decrease in accuracy of the calculation result of the required time due to inaccurate elapsed time being stored. Note that the information processing device 130 may prohibit calculation of the elapsed time itself when the device is temporarily stopped while moving between fields.

Next, in FIG. 7, it is assumed that the tractor 1 in the inter-field movement mode is traveling along a predetermined travel route from the field FB to the field FF. Further, it is assumed that the traveling route includes positions SP (hereinafter referred to as stop positions SP) where the tractor 1 (including other tractors 1) has stopped in the past.

The information processing device 130 according to the embodiment notifies a terminal device (such as the tablet terminal 140) handled by the administrator of the tractor 1 of caution information when the tractor 1 in the inter-field movement mode passes the stop position SP.

For example, the caution information includes text information (or audio information is also acceptable) indicating that the vehicle is about to pass the stop position SP, as well as information for notifying a predetermined warning sound. Further, an image of the camera 171 showing the front of the tractor 1 may be included as the caution information.

This allows the administrator to be alerted when the tractor 1 passes a position SP where it has stopped in the past, and for example, if there is a risk of the tractor 1 stopping again, You can also take measures such as removing the cause of the stoppage. That is, according to the information processing device 130 according to the embodiment, the safety of movement between fields can be improved.

Further, the information processing device 130 notifies caution information and controls the vehicle speed of the tractor 1 within a predetermined distance from the stop position SP before passing the stop position SP. Specifically, the information processing device 130 performs control to reduce the current vehicle speed by a predetermined speed, or to reduce the maximum vehicle speed to a predetermined value.

As a result, the manager who receives the warning information can take appropriate actions such as operating the tractor 1 with time, thereby increasing the safety of movement between fields.

Note that the notification timing of the caution information and the timing of vehicle speed restriction may be the same or different. For example, the information processing device 130 notifies caution information when the tractor 1 reaches the stop position SP within a first threshold value, and limits the vehicle speed when the tractor 1 reaches a second threshold value that is closer than the first threshold value. Good too. Alternatively, the information processing device 130 may limit the vehicle speed first and notify the caution information later.

Then, when the tractor 1 passes through the stop position SP without stopping, the information processing device 130 excludes the stop position SP from being notified of caution information from next time onwards. In other words, if the vehicle can pass without stopping, it can be determined that the cause of the vehicle's stopping has been removed, and therefore, warning information will not be notified from next time onwards. This makes it possible to avoid unnecessary notification of caution information, thereby reducing the annoyance caused to the administrator.

Note that the information processing device 130 may not be excluded from notification targets when the administrator performs a predetermined operation and the information processing device 130 passes the stop position SP.

Further, the information processing device 130 stops the engine of the tractor 1 when the tractor 1 stops at the stop position SP, when a predetermined time has elapsed since the stop, or when the remaining fuel amount is less than a predetermined threshold. do.

As a result, fuel consumption during stopping can be suppressed, so it is possible to avoid stopping the tractor 1 due to running out of fuel at the stopping position SP.

Furthermore, when the engine of the tractor 1 is stopped, the information processing device 130 holds the forward/reverse clutch described above in neutral and prohibits switching until it receives a predetermined input operation from an administrator or the like.

That is, the information processing device 130 makes the tractor 1 unable to travel until it receives the input operation. This makes it possible to prevent the tractor 1 from being stolen while it is stopped.

Note that the predetermined input operation is, for example, an operation of inputting a password or the like, or an operation of manually starting the engine by the administrator.

Next, the processing procedure of the processing executed by the information processing device 130 will be explained using FIGS. 8 to 10. 8 to 10 are flowcharts showing the processing procedure of the inter-field movement process executed by the information processing device 130 according to the embodiment.

First, the processing procedure of mode switching processing based on the remaining amount of fuel will be explained using FIG. 8.

As shown in FIG. 8, the information processing device 130 determines whether or not there is a tractor 1 in standby mode in a plurality of fields F (step S101).

If there is a tractor 1 in standby mode (step S101: Yes), the information processing device 130 determines whether the timing for switching to the inter-field movement mode (first mode) has arrived (step S102).

When the timing to switch to the inter-field movement mode has arrived (step S102: Yes), the information processing device 130 determines whether the remaining fuel amount of the tractor 1 is equal to or greater than the predicted fuel consumption amount (step S103).

If the remaining fuel amount of the tractor 1 is equal to or greater than the predicted fuel consumption amount (step S103: Yes), the information processing device 130 switches the tractor 1 from the standby mode to the inter-field movement mode (step S104), and ends the process. do.

On the other hand, in step S101, if there is no tractor 1 in standby mode (step S101: No), the information processing device 130 ends the process.

Further, in step S102, if the timing to switch to the inter-field movement mode has not arrived (step S102: No), the information processing device 130 repeatedly executes step S102 until the timing to switch has arrived.

Further, in step S103, if the remaining fuel amount of the tractor 1 is less than the predicted fuel consumption amount (step S103: No), the information processing device 130 switches the tractor 1 from the standby mode to the refueling mode (step S105). ), the process ends.

Next, the processing procedure of mode switching processing based on the required time of the travel route will be explained using FIG.

As shown in FIG. 9, the information processing device 130 first determines whether there are a plurality of tractors 1 in standby mode in the plurality of fields F (step S201).

If there are a plurality of tractors 1 in standby mode (step S201: Yes), the information processing device 130 acquires the driving route of each of the plurality of tractors 1 (step S202).

Subsequently, the information processing device 130 instructs the tractor 1 with the shortest travel route time to switch from the standby mode to the inter-field movement mode (step S203).

Subsequently, the information processing device 130 determines whether there are any other tractors 1 remaining in standby mode (step S204). If there are no tractors 1 left in standby mode (step S204: Yes), the information processing device 130 ends the process.

On the other hand, in step S201, if there is only one tractor 1 in the standby mode (step S201: No), the information processing device 130 instructs the tractor 1 to switch from the standby mode to the inter-field movement mode ( Step S205), the process ends.

Further, in step S204, if there is another tractor 1 remaining in standby mode (step S204: No), the information processing device 130 executes step S203.

Next, a processing procedure for notification processing of caution information will be described using FIG. 10.

As shown in FIG. 10, the information processing device 130 first determines whether the tractor 1 in the inter-field movement mode is traveling along the travel route (step S301).

When the tractor 1 in the inter-field movement mode is traveling along the travel route (step S301: Yes), the information processing device 130 determines whether or not it is approaching the past stop position SP on the travel route (step S301: Yes). S302).

If the information processing device 130 is approaching the stop position SP (step S302: Yes), the information processing device 130 notifies the terminal device handled by the administrator of the tractor 1 of caution information (step S303).

Subsequently, the information processing device 130 limits the vehicle speed of the tractor 1 (step S304). Subsequently, the information processing device 130 determines whether the tractor 1 has passed through the stop position SP without stopping (step S305).

When the information processing device 130 passes through the stop position SP without stopping (step S305: Yes), the information processing device 130 excludes the stop position SP from being notified of caution information (step S306).

Subsequently, the information processing device 130 cancels the vehicle speed restriction on the tractor 1 (step S307), and ends the process.

On the other hand, in step S301, if there is no running tractor 1 in inter-field movement mode (step S301: No), the information processing device 130 ends the process.

Further, in step S302, if the tractor 1 is not approaching the stop position SP (step S302: No), the information processing device 130 ends the process.

Further, in step S305, when the tractor 1 stops again at the stop position SP (step S305: No), the information processing device 130 maintains the stop position SP as a notification target of caution information (step S308), and in step S307 Execute.

As described above, the control system 100 for the work vehicle 1 according to one aspect of the embodiment includes a plurality of tractors 1 that autonomously travel through a plurality of fields F while performing positioning using the positioning device 120, and a plurality of tractors 1. The tractor 1 has a first mode in which it moves between fields, and a second mode in which it waits for switching to the first mode at the exit F _out of the field F. The information processing device 130 determines whether the tractor 1 in the second mode switches to the first mode based on the actual fuel consumption when the tractor 1 has traveled between fields in the first mode in the past. a calculation unit that calculates a predicted fuel consumption amount on a planned driving route; and a calculation unit that calculates a predicted fuel consumption amount on a planned driving route; and a tractor that is in a second mode until the fuel is refilled when the remaining fuel amount of the tractor 1 in the second mode is less than the predicted fuel consumption amount; 1 and a travel control section that stops the vehicle. Thereby, it is possible to suppress a decrease in work efficiency.

Further, as described above, the control system 100 for the work vehicle 1 according to one aspect of the embodiment includes a plurality of tractors 1 autonomously traveling in a plurality of fields F while positioning using the positioning device 120, and a plurality of An information processing device 130 that controls the autonomous running of each tractor 1, and the tractor 1 has a first mode in which it moves between fields, and a second mode in which it waits for switching to the first mode at the exit F _out of the field F. The information processing device 130 has a storage unit that stores the stop position SP when the tractor 1 stopped while moving between fields in the first mode in the past, and a storage unit that stores the stop position SP when the tractor 1 stopped while moving between fields in the first mode. A notification unit is provided that notifies a terminal device (tablet terminal 140) handled by the administrator of the tractor 1 of caution information when passing the position SP. Thereby, the safety of movement between fields can be improved.

Further, as described above, the control system 100 for the work vehicle 1 according to one aspect of the embodiment includes a plurality of tractors 1 autonomously traveling in a plurality of fields F while positioning using the positioning device 120, and a plurality of An information processing device 130 that controls the autonomous running of each tractor 1, and the tractor 1 has a first mode in which it moves between fields, and a second mode in which it waits for switching to the first mode at the exit F _out of the field F. If there are a plurality of tractors 1 in the second mode, the information processing device 130 selects the first mode in descending order of the time required for the travel route scheduled to travel when the information processing device 130 switches to the first mode. Switch to Thereby, movement between fields can be performed efficiently.

Further advantages and modifications can be easily deduced by those skilled in the art. Therefore, the broader aspects of the invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various changes may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

1 Tractor 2 Traveling vehicle body 3 Work equipment 100 Control system 110 Communication network 120 Positioning device 121 GNSS antenna 122 Receiving antenna 123 Navigation satellite 130 Information processing device 130a Agricultural work support server 130b Personal computer 140 Tablet terminal 141 Storage unit 142 Touch panel 143 Control unit 144 Terminal Communication section 150 Controller 151 Communication section 160 Work control device F Field

Claims (3)

Multiple work vehicles drive through multiple fields while positioning using a positioning device;
an information processing device that controls autonomous driving of each of the plurality of work vehicles;
Equipped with
The work vehicle is
It has a first mode of moving between fields, and a second mode of waiting for switching to the first mode at the exit of the field,
The information processing device includes:
If there are a plurality of work vehicles that are in the second mode, the work vehicle is switched to the first mode in order of decreasing time required for the travel route scheduled to be traveled when switching to the first mode. Control system for work vehicles. The information processing device includes:
The work according to claim 1, characterized in that an elapsed time from a start point to an end point when traveling the travel route in the past is stored in a storage unit, and the required time is calculated based on the elapsed time. Vehicle control system. The information processing device includes:
When the travel route corresponding to the elapsed time and the travel route for which the required time is calculated are in opposite directions, the required time is calculated based on the elapsed time. The control system for a work vehicle according to claim 2.

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