WO2016052703A1 - Système d'avertissement - Google Patents

Système d'avertissement Download PDF

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Publication number
WO2016052703A1
WO2016052703A1 PCT/JP2015/077950 JP2015077950W WO2016052703A1 WO 2016052703 A1 WO2016052703 A1 WO 2016052703A1 JP 2015077950 W JP2015077950 W JP 2015077950W WO 2016052703 A1 WO2016052703 A1 WO 2016052703A1
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WO
WIPO (PCT)
Prior art keywords
work vehicle
control device
agricultural work
alarm
information
Prior art date
Application number
PCT/JP2015/077950
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English (en)
Japanese (ja)
Inventor
章浩 新熊
Original Assignee
ヤンマー株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ヤンマー株式会社 filed Critical ヤンマー株式会社
Priority to JP2015549892A priority Critical patent/JP6125038B2/ja
Publication of WO2016052703A1 publication Critical patent/WO2016052703A1/fr

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B76/00—Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
    • B60R25/10—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles actuating a signalling device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
    • B60R25/10—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles actuating a signalling device
    • B60R25/102—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles actuating a signalling device a signal being sent to a remote location, e.g. a radio signal being transmitted to a police station, a security company or the owner
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
    • B60R25/30—Detection related to theft or to other events relevant to anti-theft systems
    • B60R25/32—Detection related to theft or to other events relevant to anti-theft systems of vehicle dynamic parameters, e.g. speed or acceleration
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms

Definitions

  • the present invention relates to an agricultural work vehicle notification system, and relates to a technique for making a notification when an agricultural work vehicle is in an abnormal inclination state.
  • the notification device includes a sensor for recognizing a self-position, a communication device for communicating with an external device, a tilt sensor for detecting a tilt angle of a vehicle body, and an angle corresponding to a vehicle overturn detected by the tilt sensor. It has a configuration in which a reporting device for reporting its own position to an external device is provided (for example, see Patent Document 1).
  • the first pendulum supporting the second pendulum for detecting the inclination is fixed, and then lifted by a parked tow truck or the like, the vehicle is tilted and the first pendulum is A technique is known in which an alarm is issued and theft is prevented before the set angle is tilted (see, for example, Patent Document 2).
  • Patent Document 1 when an agricultural work vehicle enters the field from the roadway, crosses the ridge, is loaded onto and unloaded from the truck bed for movement, or is working on an inclined land, it reaches an angle close to a fall. In this case, the operator may detect a dangerous state and take a risk avoidance action instantaneously to avoid a fall and return. Thus, since it will report conventionally when it becomes the angle equivalent to a fall even if it is instantaneous, it will become a misinformation.
  • a reset button is provided to avoid this misinformation, but it is difficult to operate the reset button when the tilt angle is large, and if it is in the reset state, it will be forgotten to be released so that it will not be reported in case of an important fall There was also a risk that a serious situation would occur.
  • an alarm is issued when the vehicle is tilted by a set angle or more, but the alarm is stopped when the vehicle is returned to the original tilt angle.
  • an agricultural work vehicle there is a case where it is lifted by a crane and placed on a truck and taken away (theft). In this case, since the agricultural work vehicle does not tilt greatly, it may be stolen without issuing an alarm. Also, if an agricultural work vehicle is stored in a place away from a house or placed on a farm field, even if an alarm is issued, there is no person who notices the surroundings and it may be taken away.
  • the present invention has been made in view of the situation as described above, and when an abnormal tilt state of the aircraft occurs when the key switch is turned off and the power is off, an alarm is issued and the relationship between the user and the dealer is given.
  • the person is alerted to theft, and when traveling or working, it is judged that an abnormal inclination such as a fall has occurred if it is tilted more than the set angle for more than the set time, and an alarm is issued and related. It is intended to notify the person.
  • the present invention enables communication between a control device for an agricultural work vehicle, a management server of a management center, and a terminal device owned by a registered party through a communication device, and the agricultural work vehicle has an inclination detection means.
  • a terminal that is connected to the control device and that is owned by the registered parties when the control device is in a power saving standby mode in which the key switch is turned off and the detected value of the tilt detection means exceeds the set angle of the gentle tilt. This is to notify the device.
  • the alarm when the alarm is issued, the alarm can be stopped only at a terminal device owned by a registered party.
  • the present invention enables communication between a control device for an agricultural work vehicle, a management server of a management center, and a terminal device owned by a registered party through a communication device, and the agricultural work vehicle has a positioning device, an inclination sensor, and a key switch. And a forward / reverse switching lever position sensor connected to the control device.
  • the control device has the key switch turned on, the forward / reverse switching lever is in a position other than neutral, and the detected value of the tilt sensor exceeds the set angle and continues for the set time or longer. Then, an alarm is issued and the current position is reported to the terminal device owned by the registered person concerned.
  • the present invention enables communication between a control device for an agricultural work vehicle and a portable terminal owned by an operator via a communication device, and the portable terminal includes an inclination sensor and a positioning device and is attached to a predetermined position of the agricultural work vehicle,
  • the control device is in a running or working state and the detection value of the tilt sensor included in the mobile terminal continues for a set time at a set angle or more that can be toppled
  • the mobile terminal issues an alarm and the registered parties It reports to the terminal device that it owns that it has fallen to its current position.
  • the notification is repeated every set time.
  • Control block diagram. The notification control flowchart at the time of abnormality occurrence.
  • the management server's report control flowchart.
  • the agricultural work vehicle 1 to be monitored is a tractor, and the agricultural work vehicle 1 is equipped with a rotary tiller as a work machine.
  • the agricultural work vehicle 1 is not limited to a tractor, and may be a combine or a rice transplanter.
  • the agricultural work vehicle 1 is provided with various sensors for detecting the operating state, and each sensor is connected to the control device 10.
  • sensors detection means
  • a voltage sensor 21 serving as a battery voltage detection means for detecting the voltage of the battery 7
  • an engine speed sensor 22 a cooling water temperature sensor 23
  • a hydraulic pressure sensor 24 and an inclination sensor for detecting the inclination of the apparatus.
  • an angle sensor 26 provided on the lift arm for detecting the height of the work implement
  • a forward / reverse switching lever position sensor 28 for detecting an operation position of the forward / reverse switching lever, and the like are connected to the control device 10.
  • the control device 10 includes a CPU serving as a calculation means, a ROM / RAM serving as a storage device, an input / output interface, and the like, and may be connected via a bus or a one-chip LSI or the like. May be.
  • the ROM stores various control programs, and the RAM is used as a work area for data storage and program execution.
  • the control device 10 includes a timer as a time measuring means.
  • the display means 31 is connected to the control apparatus 10, and the display means 31 is arrange
  • the display means 31 can display a cause display, alarm monitor, set value, etc. when a failure or abnormality occurs.
  • the display means 31 may be configured by a touch panel or the like. For changing the setting value, a numeric keypad may be displayed to input a number, or an increase / decrease button may be displayed to increase / decrease the number.
  • An operation means 32 is connected to the control device 10.
  • the operating means 32 is a lifting operation switch for raising and lowering the work implement, a PTO switch, a lighting switch, a mode switching operation means, and the like.
  • a key switch 36 can also be included.
  • the positioning device 33 is connected to the control device 10.
  • the positioning device 33 accurately measures the current position of the agricultural work vehicle 1 using a satellite positioning system (GNSS) such as GPS (United States), quasi-zenith satellite (Japan), or Glonus satellite ( Russia). .
  • GNSS satellite positioning system
  • the agricultural work vehicle 1 is provided with a GPS antenna and connected to the positioning device 33, receives signals from GPS satellites 35, 35,..., Analyzes the observed data, and determines the current position of the agricultural work vehicle 1. Measure.
  • the position information obtained in this way is transmitted to the control device 10.
  • the current position is collated with the map data (information) stored in the storage device so that the display means 31 can display it.
  • map data map data published on the Internet, map data distributed by a map maker, or car navigation map data may be used.
  • a communication device 34 is connected to the control device 10, and the communication device 34 can communicate with the communication device 41 of the management server 3 provided in the management center 2 via the high-speed data communication service 4.
  • the high-speed data communication service 4 can transmit and receive data to and from each other via a public telephone network (including mobile communication such as a mobile phone) and the Internet.
  • the management server 3 is installed at a predetermined location of the manufacturer.
  • the management server 3 includes an input unit for inputting transmitted data and instructions from operation means such as a keyboard and a mouse, a storage unit for storing input data and programs, an output unit for outputting data, communication, A control unit for controlling and calculating the processing unit, a display unit for displaying data from the output unit, and the like are provided.
  • the control unit includes remote monitoring means.
  • the storage unit stores an information file in a database so that data input by the control unit can be created, registered, updated, processed, and output in a file. ing. An information file is created for each user, including user ID (customer information: owner's name, address, age, phone number, e-mail address, etc.), the type and model of this machine and work machine, repair and inspection, etc.
  • Aircraft information Aircraft information, weather information such as weather, temperature and precipitation, map information, installation location and work site information (location information), cultivation information, sowing information, weeding information, fertilization information, control information, and yield information for each crop Work information, soil information such as soil quality and hardness for each field, crop information such as sowing time, sowing amount, transplanting time, control time, management work, harvest time and harvest amount of various crops, etc. .
  • a terminal device 6b such as a mobile phone 6a or a personal computer of a related person, a user 6 (including other farmer, farming, etc.), and
  • the terminal device 8a such as a personal computer of the store 8 and the mobile phone 8b of the service person can be accessed, and transmission / reception of e-mails and other information retrieval, browsing, writing, and the like are possible.
  • manufacturers, branches, sales outlets 8 and the like can search, browse, and write information via the LAN.
  • abnormality occurs at the start or operation of the agricultural work vehicle 1 (S1)
  • abnormal part information and abnormal phenomenon information are detected (S2)
  • the control device 10 detects the abnormal part information.
  • the urgency is determined from the abnormal phenomenon information (S3).
  • the customer information that is, the customer name, the model of the agricultural work vehicle 1, and the current position are transmitted to the management server 3 together with the abnormal part information, the abnormal phenomenon information, and the urgency (S4).
  • the urgency level may be determined by the management server 3.
  • the management server 3 refers to the model information, abnormality part information, abnormality phenomenon information, past repair information, recall information, etc. stored in the database to determine the cause of the expected abnormality and the repair method. Select and get. Further, in the management server 3, when there are a plurality of repair request requests (service man calls), the priority order is set according to the urgency level and the notification time. Responsible for the model information, abnormal part information, abnormal phenomenon information, past repair information, recall information, abnormal cause information, repair information, customer information, location information, and urgency The service person's terminal device 8a or the mobile phone 8b or both are notified (S5). Thus, the service person visits the customer according to the priority set according to the degree of urgency, and performs repair or the like.
  • the abnormal parts that occur in the agricultural work vehicle 1 are divided into engines, transmissions, airframes, steering devices, work machines, electrical systems, etc., for example, the engine abnormal phenomenon cannot be started, the rotational speed Does not rise, there is a rotation fluctuation, the engine stalls, black smoke is emitted, the cooling water temperature is high, the hydraulic pressure does not rise, etc.
  • the phenomenon of the abnormality of the transmission is that the gear cannot be shifted, abnormal noise is generated, the set shift speed does not match the actual shift position, or the like.
  • Aircraft abnormalities include bumps, deformation, broken bonnets, bolts removed, etc.
  • Phenomena of the steering device abnormality include that the steering wheel cannot rotate, the operating force is large, and the steering cylinder does not operate.
  • the rotary machine does not rotate, the work machine cannot be raised or lowered, the depth cannot be adjusted, an abnormal sound is generated, the cover is deformed, or the like.
  • the abnormal phenomenon of the electric system is that the cell motor does not rotate, the light does not turn on, does not display, the horn does not turn, etc.
  • the urgency level is divided into a plurality of stages. In this embodiment, it is divided into three stages of “high”, “medium”, and “low”, but more stages may be provided, and it may be expressed by numbers, alphabets, etc., and is not limited. . Specifically, when it is divided into three stages of “high”, “medium”, and “low”, the urgency level “high” means that steering is not possible or work is not possible, and the engine is not working or cannot run Or the working machine does not work.
  • the “medium” level of urgency is a state where traveling and work are possible but there is a possibility of stopping, such as when the speed does not increase, when there is an abnormal sound, or when the height or the like cannot be adjusted.
  • “Low” urgency is a state that does not affect traveling and work but needs to be repaired, such as when the fuselage is deformed, when the light is not turned on, or when it is worn out and the replacement time is reached.
  • the customer information includes the name of the customer who owns the agricultural work vehicle 1, the model (model, model, etc.) of the machine (tractor) of the farm work vehicle 1, the model (model, model, etc.) of the work machine, and the current position.
  • the current position is measured by the positioning device 33 and transmitted to the control device 10 so that it can be expressed by latitude / longitude.
  • an abnormality has occurred by referring to past repair information and recall information stored in the database from the abnormal part information, abnormal phenomenon information and customer information transmitted to the management server 3.
  • causes of abnormalities and repair methods to resolve the abnormalities are listed. For example, if the abnormality occurrence site has been repaired in the past, it may occur again due to the same cause, so the cause of the past abnormality and the repair method are transmitted to the service person. Also, if the abnormality occurrence part is a recall corresponding part, the part corresponding to the recall and the replacement method are transmitted to the service person.
  • search the other user's abnormality history and its repair history for the same abnormality list the same abnormality or an abnormality close to that abnormality,
  • the possible cause, repair method, and coping method are transmitted to the terminal 8a and / or the mobile phone 8b of the service person.
  • the service person can easily recognize the contents of the abnormality and the countermeasures, and prepare the necessary parts, tools, etc. before the departure to the site where the agricultural work vehicle 1 is located. can do. Therefore, there is no wasted time to return to pick up the necessary parts after looking at the actual product, and since the repair procedure can be understood in advance, the repair work can be performed efficiently, and the time required for repair Can also be shortened.
  • the transmission is a hydraulic continuously variable transmission, and can be shifted by tilting the movable swash plate by a shift actuator 37 such as a motor.
  • the tilt angle (actual swash plate angle) of the movable swash plate is the swash plate.
  • the swash plate angle sensor 29 and the speed change actuator 37 are detected by the angle sensor 29 and connected to the control device 10.
  • a lever position sensor 28 is disposed at the rotation base of the main transmission lever and is connected to the control device 10, and a shift speed setting angle (target swash plate angle) obtained by rotating the main transmission lever is detected. Entered.
  • the target swash plate angle and the actual swash plate angle substantially follow and are in a normal state.
  • the target swash plate angle and the actual swash plate angle are in a state of being separated from each other, and the control device 10 has a difference between the target swash plate angle and the actual swash plate angle of a set value or more, If it continues, it will be judged as abnormal.
  • the abnormal part is the transmission, and the abnormal phenomenon is that the shift target value and the actual shift value are different.
  • the degree of urgency is judged from the part and phenomenon of this abnormality. Since this abnormality is capable of running and working, it is determined as “medium” and transmitted to the management server 3.
  • the management server 3 searches the database for the case of the abnormality. If the same symptom has occurred in the agricultural work vehicle 1 before, it is determined that the abnormality is the same, and the same countermeasure as before is transmitted to the service person. If the same symptom has not occurred before, search the other agricultural work vehicle 1 for the same abnormality and if there is a countermeasure corresponding to it, if not, there is a countermeasure that can deal with the abnormality It is searched and sent to the service person. Possible causes of this abnormality include a motor failure, a motor drive circuit failure, a swash plate rotation support part or a connection part with the motor, etc., and countermeasures such as replacement or cleaning of parts are possible. Are sent simultaneously. Further, when there are a plurality of repair requests, the priority order is determined according to the urgency level, and the urgency level and priority level are transmitted to the service person.
  • the service person is sent the current position of the agricultural work vehicle 1 where the abnormality occurred at the same time as the contents, countermeasures, urgency, priority, etc. of the abnormality. It is possible to judge instantly and go to the site efficiently.
  • the control device 10 of the agricultural work vehicle 1, the management server 3 of the management center 2, and the user terminal device 8 a can be communicated via the communication devices 34 and 41, and the agricultural work vehicle 1 has a positioning device 33.
  • the control device 10 determines the urgency from the abnormality content and transmits it to the management server 3.
  • the management server 3 receives a plurality of repair requests. If there is, the priority is determined according to the degree of urgency and the service person is notified, so the service person does not need to examine the contents of the abnormality and determine the degree of urgency or priority, and can go to the repair site immediately. it can.
  • the report to the service person includes customer information, current location information, model information, abnormality part information, abnormality phenomenon information, abnormality cause information, abnormality handling information, and urgency level. Therefore, the service person can quickly reach the site without hesitation with the customer information and the current position information.
  • the model information, abnormal part information, abnormal phenomenon information, abnormal cause information, and troubleshooting information can be used to understand the content of the abnormality before going to the site, and to take countermeasures.
  • the necessary parts can be prepared, and it is not necessary to go back and forth between the site and the service center, and repairs can be made efficiently.
  • since the degree of urgency is known, it is possible to inform the customer who will be deferred about the circumstances, first aid, arrival time, etc., and reliability is not lowered.
  • the urgency level is divided into a plurality of levels, for example, “high”, “medium”, and “low” levels, the service person can easily remember the urgency level of each customer even if there are multiple repair requests. It is easy to prioritize and time allocation.
  • the key switch 36 of the agricultural work vehicle 1 When the key switch 36 of the agricultural work vehicle 1 is turned off, it enters a power saving standby mode in which the power consumption of the battery 7 is brought to zero as much as possible. When it reaches a set time, it automatically starts to acquire necessary data and manages it. The data is transmitted to the server 3. In the present embodiment, as the necessary data, the voltage of the battery 7, the current position of the agricultural work vehicle 1, and the time (date and time) at which this information is acquired are transmitted. In the state where the key switch 36 is on, machine information, work information, and the like are appropriately transmitted to the management server 3.
  • the voltage of the battery 7 is detected by the voltage sensor 21, the current position is measured by the positioning device 33 and transmitted to the control device 10, the time is measured from the clock function of the control device 10, and the high-speed data communication is performed by the communication device 34. It is transmitted to the management server 3 via the service 4.
  • the key switch 36 when the key switch 36 is turned off (S21), the power saving standby mode is entered (S22), and when the set time is reached (S23), the necessary data (battery voltage information, position information). , Time information) is acquired (S24), and this information is transmitted to the management server 3 (S25).
  • the key switch 36 is turned on (S26), the power saving standby mode is canceled (S27), and normal traveling and work are performed. If the key switch 36 is not turned on, the process returns to step S22.
  • the set time is a time specified in advance, for example, 3 hours at night and 3 o'clock in the day, and the time can be arbitrarily changed, and the number of transmissions per day can also be arbitrarily changed. . If the key switch 36 is off, the information is periodically transmitted to detect whether the battery 7 is voltage-controlled and stolen.
  • the remote monitoring means provided in the management server 3 determines whether or not data has been received from the predetermined agricultural work vehicle 1 when the predetermined designated work time is reached in the predetermined agricultural work vehicle 1 (S ⁇ b> 10). S11). This set time is set to be within a time with a little margin for reception. When there is no reception, it is in a state where power cannot be transmitted without being supplied from the battery 7, so either the battery 7 has been discharged, the battery 7 has been removed and it has been stolen, or it is in a failure state. Therefore, the terminal device 8a or 6b or the mobile phone 8b or 6a owned by a pre-registered party such as the store 8 (including the serviceman) and the user 6 is notified (S12). This notification is sent by email. However, it is also possible to notify by telephone using the recorded voice.
  • the management server 3 confirms whether the reply mail has arrived after a set time for creating and sending the reply mail (S13).
  • the process returns to step S10, and when the reply mail has not arrived, it is notified again (S15), returns to step S13, and repeats until the reply mail arrives. In this way, in the event of theft, the response after the damage is kept from delaying.
  • the time for transmitting data to the management server 3 is specified in advance by the management server 3 so that the data transmission from the agricultural work vehicle 1 of another user does not overlap and concentrate. You may set it. In addition, the number of re-reports can be set in advance.
  • step S11 if predetermined information is received, it is determined whether the battery voltage is equal to or higher than the set voltage (S16). If it is less than the set voltage, a notification is made to prompt charging (S17). In this case, there is no urgent need, so only a report is made. This is because there is a case where a report is made at midnight.
  • the control device 10 can be connected in parallel with the spare battery and can be driven by the spare battery at the time of theft or when the battery is exhausted.
  • step S18 If it is determined in step S18 that the possibility of theft is high, the time interval for transmitting data is shortened, and the current position is measured so as to be transmitted sequentially. This will allow you to track the stolen vehicle and assist in arresting the criminal. Furthermore, when it is determined that the theft has occurred, the management server 3 can issue a command to the agricultural work vehicle 1 so that the engine is not started.
  • the battery voltage is detected every time after the set time elapses, the current position is measured, and as described above, it is reported that there is no data notification.
  • Judge whether the voltage is less than the set voltage or the current position is within the set range and notify the relevant parties such as the dealer (including serviceman) 8 and user 6 that the battery voltage is less than the set voltage
  • notification is made to related parties such as the store (including the service person) 8 and the user 6.
  • the configuration is activated every time the set time elapses, if the set time is long, that is, if the detection interval is long, the movement distance after the theft becomes long, so tracking also takes time. Therefore, in the state of the power saving standby mode (non-running, non-working), it can be controlled so that it is determined that the theft is stolen and an alarm is issued and notified when the aircraft tilts. That is, as shown in FIG. 7, when the key switch 36 is turned off (S31), the current inclination angle ⁇ 1 is detected from the inclination sensor 25 serving as the inclination detection means, and the detected value is stored in the storage device (S32). ), A power saving standby mode is set (S33).
  • Step S34 if the value of the tilt sensor 25 changes (S34), it automatically starts and inputs the detected value ⁇ 2 from the tilt sensor 25 (S35), and the tilt angle ⁇ 1 at the time of key-off and And the set angle ⁇ are compared (S36).
  • the angle is equal to or larger than the set angle ⁇ , it is determined that the device is stolen and an alarm is issued (S37), the management server 3 of the management center 2 is notified of the theft (S38), and the management server 3 performs the same as described above. (Step S12 and subsequent steps) to notify related parties such as the user 6, the store 8, and the service person.
  • step S34 when the key switch 36 is turned on in a state where there is no change in the inclination of the aircraft (S39), the standby mode is canceled (S40), and normal traveling and work are performed. If the key switch 36 is not turned on, the process returns to step S33. However, the restart may be performed by detecting the tilt angle by the tilt sensor 25 every time the set time elapses as described above, and issuing an alarm and reporting when there is a change.
  • the set angle ⁇ is a gentle inclination angle. That is, when the agricultural work vehicle 1 is lifted by a crane and stolen, the angle change when lifted is not so large. In other words, if it changes greatly, the balance will be lost and the body will fall down. Accordingly, the set angle ⁇ is a gentle inclination angle, and for example, the set angle ⁇ is about ⁇ 3 degrees.
  • the tilt sensor 25 is attached at the time of normal manufacturing in order to control the angle of the rotary tiller mounted via the work implement mounting device, so it does not need to be newly provided and can easily be added to the anti-theft system. Can be built.
  • the means for detecting the inclination is not limited to the inclination sensor 25, and may be constituted by an angular velocity sensor, an acceleration sensor, or the like.
  • the buzzer 42 is sounded or the horn 43 is sounded.
  • the direction indicator 44 is blinked or the light 45 is turned on.
  • an email is transmitted from the communication device 34 via the high-speed data communication service 4 to a user 6 and a related person such as a store 8 or a service person. In this case as well, as described above, it is retransmitted every set time until it is confirmed that the mail has been received and read.
  • the re-transmission interval is, for example, every 5 minutes. This set time can be arbitrarily changed.
  • the alarm notification and notification can be stopped only at the terminal devices 6b and 8a owned by the user 6 or the service person. For example, it cannot be stopped unless a password is entered or a stop key is operated. In this way, even if the tilt angle is returned to the original angle, the alarm continues to be issued, so that the alarm cannot be easily stopped to prevent theft.
  • the agricultural work vehicle 1 is also provided with an angular velocity sensor, it is possible to determine theft from the detected value using this angular velocity sensor. Since the angular velocity sensor can detect the shaking of the machine, it can be easily detected when it is lifted by a crane and stolen.
  • the vibration switch 27 is provided and connected to the control device 10, and in the power saving standby mode, it is turned on when the vibration is applied and returns from the power saving standby mode. , An alarm may be issued to notify related parties such as the user 6 and the store (including a serviceman) 8.
  • the detection by the vibration switch 27 is valid after a set time has elapsed since entering the power saving standby mode. In other words, after turning off the key switch 36, there is a possibility of touching the aircraft when it leaves the seat or when it moves from the surroundings, so that vibration is detected after a time for completely leaving. It is.
  • the control device 10 of the agricultural work vehicle 1, the management server 3 of the management center 2, and the terminal devices 6b and 8a (including the mobile phones 6a and 8b) owned by the registered parties are connected to the communication devices 34 and 41.
  • the agricultural work vehicle 1 includes a tilt sensor 25 and is connected to the control device 10, and the control device 10 detects the detected value of the tilt sensor 25 in the power saving standby mode with the key switch 36 turned off.
  • the alarm when the alarm is issued, the alarm can be stopped only at a terminal device owned by a user or a service person or the like, so that the alarm can be issued until the user or service person rushes to increase the cost of theft suppression.
  • the agricultural work vehicle 1 when the agricultural work vehicle 1 is accidentally overturned during traveling or working, an alarm is issued to notify a related person such as a family member, a store or a service person. That is, in order to determine whether or not the agricultural work vehicle 1 has fallen, as shown in the flowchart of FIG. 8, the agricultural work vehicle 1 will not fall when it is stopped, so the key switch 36 is turned on. If it is detected (S51) and the key switch 36 is ON, it is determined whether the forward / reverse switching lever position detected by the forward / reverse switching lever sensor 30 is neutral (S52).
  • the determination of whether the vehicle is traveling is not limited to the position of the forward / reverse switching lever, and the position of the main transmission lever, the position of the auxiliary transmission lever, the vehicle speed, and the like may be detected.
  • the detected value of the tilt sensor 25 is equal to or greater than the set angle at which the vehicle can fall, it is possible that the vehicle may fall, and it is determined whether this state has continued for a set time (S54). If it is less than the set time, it will be tilted when it goes over the ridge or enters the field from the road, it will not fall down and it will return to the normal angle, and if it continues for more than the set time, it will not fall and can not be restored to its original state Can be assumed.
  • the set angle and set time can be arbitrarily changed.
  • the related person is a related person such as the family of the user of the aircraft that has fallen, a store, a service person, etc., and is registered in advance.
  • the control device 10 In order to notify the parties concerned, the control device 10 notifies the management server 3 of the overturn via the high-speed data communication service 4 by the communication device 34.
  • the management server 3 sends an e-mail to the registered parties. However, it is also possible to send a mail directly from the control device 10 to the parties concerned. In addition to e-mail, it is also possible to report voice by phone.
  • the contents of the e-mail are not only to ask for help by falling, but also the time when the fall occurred, the owner name of the fallen vehicle (operator, etc.), the model, the unit (vehicle number, serial number, registration number, etc.) Current position (may be displayed on the map).
  • the means for detecting the inclination and the positioning device for detecting the fall are accelerations in the three directions of front and rear, left and right, up and down provided in the mobile terminal 12 such as a mobile phone, a smartphone or a tablet. It is also possible to use an inclination sensor (3D acceleration sensor) 13 that can measure the angle at a time or a positioning device 14 that uses GPS. Notification control is performed in the same manner as described above.
  • the tilt sensor 13 is composed of, for example, a gyro sensor.
  • the portable terminal 12 is detachably attached so that the operator can easily see the display 12 a in the vicinity of the driver's seat 38 of the agricultural work vehicle 1.
  • the portable terminal 12 is attached to the holder 40 protruding from the side of the dashboard 39, but the attachment position and the attachment method are not limited. It can also be attached to a part or the like.
  • the portable terminal 12 can communicate with the control device 10 of the agricultural work vehicle 1 via the communication device 34.
  • a control program (falling notification control application) is installed in the control device 15 of the mobile terminal 12 in advance and the key switch 36 of the agricultural work vehicle 1 is turned on (standby state)
  • communication with the mobile terminal 12 is started
  • the control device 10 and the control device 15 of the portable terminal 12 recognize that this communication has been performed, the notification control is started.
  • a switch, a connection jack, or the like that communicates with the holder 40 to start notification control may be provided.
  • the inclination of the agricultural work vehicle 1 is displayed on the display 12a of the mobile terminal 12 attached to the agricultural work vehicle 1.
  • a side view and a front view of the agricultural work vehicle 1 are displayed, and when the aircraft is tilted, the display is a tilted display of the side view and the front view of the aircraft.
  • the display method is not limited, and the front, rear, left, and right inclination angles may be displayed numerically.
  • the control device 15 acquires a detection value from the inclination sensor 13 every predetermined time, and determines whether or not the set angle is exceeded.
  • a voice or sound warning is issued from the portable terminal 12 to indicate that it is in a dangerous state on the display 12a. indicate.
  • the “Alarm and emergency contact in ⁇ second” and “OK (Cancel)” buttons are displayed, and at the same time, an alarm larger than the above alarm is issued. Similar to the above, the overturning can be easily recognized because the inclination angle changes abruptly and the state beyond the overturnable angle continues.
  • a mail is automatically transmitted from the mobile terminal 12 to the parties registered in advance automatically using the mobile phone line (high-speed data communication service 4). However, mail may be transmitted from the mobile terminal 12 to the related parties via the management center 2.
  • the e-mail is sent simultaneously with the fact that it has fallen and the machine information, customer information, position information, acceleration, and the like.
  • a camera provided in the portable terminal 12 may be used to take a picture of the current state and transmit the image or video at the same time so that it can be displayed on the receiving display. Further, the map and the current position may be displayed on the display from the position information.
  • the control device 10 of the agricultural work vehicle 1 and the portable terminal 12 of the operator can communicate with each other via the communication device 34, and the portable terminal 12 includes an inclination sensor and a positioning device.
  • a key switch 36 and a forward / reverse switching lever position sensor 28 are connected to the control device 10, and the control device 10 has the key switch 36 turned on, the forward / reverse switching lever is in a position other than neutral, and the tilt sensor provided in the mobile terminal 12. If the detected value of 13 continues beyond the set angle that can be toppled for more than the set time, the mobile terminal 12 issues an alarm and informs the person concerned that the current position has fallen. It can be easily recognized, and there is no need to provide a positioning device, an inclination sensor, or an alarm device in the agricultural work vehicle 1, and the cost can be reduced.
  • the management server 3 When the agricultural work vehicle 1 or the portable terminal 12 reports the fall to the management server 3, as shown in FIG. 9, the management server 3 notifies the related parties by email (S61). If the person who sent the e-mail does not read the e-mail, it may fall and be left unattended, and it may be injured. Therefore, if a reply e-mail for confirming the read is not sent, the e-mail is repeatedly sent. That is, the management server 3 confirms whether the reply mail has arrived after the set time has elapsed (S62) in consideration of the time for creating the reply mail and the time required for transmission (S63).
  • the re-reporting is stopped (S65), and when the reply mail has not arrived, it is reported again (S64), and the process returns to step S62 and repeats until the reply mail arrives.
  • the interval at which the e-mail is received and cannot be confirmed and is retransmitted is, for example, about 5 minutes. This set time can be arbitrarily changed.
  • a personal computer or the like cannot confirm reception until it is activated and accumulates a large amount of mails, it is possible to stop re-reporting when someone involved confirms.
  • the control device 10 of the agricultural work vehicle 1, the management server 3 of the management center 2, and the related terminal devices 8 a and 6 b can communicate with each other via the communication devices 34 and 41.
  • a positioning device 33, a tilt sensor 25, a key switch 36, and a forward / reverse switching lever position sensor 28 are connected to the control device 10, and the control device 10 has the key switch 36 turned on and the forward / backward switching lever is in a position other than neutral. If the tilt sensor 25 falls over a set angle that allows it to fall for a set time or longer, it issues a warning and informs the person concerned that it has fallen with its current position, so that it is surely not misreported when the agricultural work vehicle 1 falls. Since the person concerned was notified of the situation, and the person concerned who was notified knows the position of the fall, he can rush to the rescue promptly.
  • the control device 10 of the agricultural work vehicle 1 and the portable terminal 12 owned by the operator can communicate with each other via the communication device 34, and the portable terminal 12 includes the inclination sensor 13 and the positioning device 14.
  • the control device 10 When the control device 10 is in a running or working state while being attached to a predetermined position, and the detection value of the tilt sensor 13 included in the mobile terminal 12 continues for a set time at a set angle or more that can be overturned, the mobile terminal 12 Issues a warning and reports to the terminal devices 6b and 8a (cell phones 6a and 8b) owned by the registered parties that the current position and the fall have occurred.
  • 12 can be easily recognized, and the agricultural work vehicle 1 itself communicates with the tilt sensor, the positioning device, the alarm device, and the terminals of the registered parties. Without providing a communication device, by using the portable terminal 12, will be able to configure the tipping notification apparatus, the cost reduction can be achieved.
  • the report is repeated every set time, so it will be received without the knowledge of the parties concerned, and will not be left as it is. .
  • the alarm is performed by a sound that sounds the buzzer 42, the horn 43, and the like, and a light that turns on and blinks the direction indicator 44, the light 45, etc., so even if the operator falls and cannot move, Will be informed that an abnormality has occurred in the surrounding area and can seek help.
  • the present invention can be used for agricultural work vehicles, construction machines and the like equipped with an inclination sensor, a communication device, and an alarm device.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Alarm Systems (AREA)
  • Agricultural Machines (AREA)
  • Burglar Alarm Systems (AREA)
  • Emergency Alarm Devices (AREA)

Abstract

L'invention concerne un système d'avertissement permettant une communication sur un dispositif de communication entre un dispositif de commande 10 d'un véhicule de travail agricole 1, un serveur de gestion 3 d'un centre de gestion 2 et un dispositif terminal d'un utilisateur 6, et le véhicule de travail agricole 1 est muni d'un capteur d'inclinaison 25 et se connecte au dispositif de commande 10. En mode de veille à économie d'énergie, pendant lequel un interrupteur à clé 36 est éteint, si la valeur détectée par le capteur d'inclinaison 25 est supérieure ou égale à un angle d'inclinaison modéré défini, alors le dispositif de commande 10 déclenche une alarme et avertit les parties concernées, comme l'utilisateur 6 et le point de vente 8 afin d'empêcher le vol du véhicule. En outre, le dispositif de commande 10 déclenche une alarme si, pendant la conduite, le véhicule est incliné à un angle supérieur ou égal à un angle auquel il y a un risque de renversement, avertit les parties concernées si le véhicule se renverse, et, si il n'y a pas de réponse desdites parties, répète l'avertissement pour garantir une assistance.
PCT/JP2015/077950 2014-10-03 2015-10-01 Système d'avertissement WO2016052703A1 (fr)

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JP2017211707A (ja) * 2016-05-23 2017-11-30 地方独立行政法人青森県産業技術センター 転倒警報装置、転倒事故通報システム、及び転倒警報プログラム
JP2017221991A (ja) * 2016-06-14 2017-12-21 富士ゼロックス株式会社 ロボット制御システム
JP2018033373A (ja) * 2016-08-31 2018-03-08 井関農機株式会社 作業車両
JP2020015429A (ja) * 2018-07-26 2020-01-30 三菱マヒンドラ農機株式会社 作業車両
JP2020015430A (ja) * 2018-07-26 2020-01-30 三菱マヒンドラ農機株式会社 作業車両
JP2020015428A (ja) * 2018-07-26 2020-01-30 三菱マヒンドラ農機株式会社 作業車両
JP2021162990A (ja) * 2020-03-31 2021-10-11 三菱マヒンドラ農機株式会社 作業車両監視システム
US20220392274A1 (en) * 2021-06-08 2022-12-08 Toyota Jidosha Kabushiki Kaisha Information processing apparatus, non-transitory computer readable medium, and information processing method
WO2024004561A1 (fr) * 2022-06-30 2024-01-04 株式会社クボタ Système de surveillance

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JP2017211707A (ja) * 2016-05-23 2017-11-30 地方独立行政法人青森県産業技術センター 転倒警報装置、転倒事故通報システム、及び転倒警報プログラム
JP2017221991A (ja) * 2016-06-14 2017-12-21 富士ゼロックス株式会社 ロボット制御システム
CN107498553A (zh) * 2016-06-14 2017-12-22 富士施乐株式会社 机器人控制系统和机器人控制方法
CN107498553B (zh) * 2016-06-14 2021-10-15 富士胶片商业创新有限公司 机器人控制系统和机器人控制方法
JP2018033373A (ja) * 2016-08-31 2018-03-08 井関農機株式会社 作業車両
JP2020015428A (ja) * 2018-07-26 2020-01-30 三菱マヒンドラ農機株式会社 作業車両
JP2020015430A (ja) * 2018-07-26 2020-01-30 三菱マヒンドラ農機株式会社 作業車両
JP2020015429A (ja) * 2018-07-26 2020-01-30 三菱マヒンドラ農機株式会社 作業車両
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JP7083286B2 (ja) 2018-07-26 2022-06-10 三菱マヒンドラ農機株式会社 作業車両
JP2021162990A (ja) * 2020-03-31 2021-10-11 三菱マヒンドラ農機株式会社 作業車両監視システム
US20220392274A1 (en) * 2021-06-08 2022-12-08 Toyota Jidosha Kabushiki Kaisha Information processing apparatus, non-transitory computer readable medium, and information processing method
JP2022187899A (ja) * 2021-06-08 2022-12-20 トヨタ自動車株式会社 情報処理装置、プログラム及び情報処理方法
JP7476854B2 (ja) 2021-06-08 2024-05-01 トヨタ自動車株式会社 情報処理装置、プログラム及び情報処理方法
WO2024004561A1 (fr) * 2022-06-30 2024-01-04 株式会社クボタ Système de surveillance

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