Energy support system for agricultural machine, energy support method for agricultural machine, and agricultural machine

Abstract

The agricultural machine can smoothly and continuously perform agricultural work in a field. An energy support system for an agricultural machine, which is capable of attaching and detaching a package filled with energy and is driven by the energy filled in the package, is provided with a management device, the management device calculates the consumed energy consumed by the agricultural machine when the agricultural machine performs agricultural work, and calculates the number of packages required to supply the consumed energy on the basis of the consumed energy.

Description

Technical Field

[0001] The present invention relates to, for example, an energy support system for agricultural machinery, an energy support method for agricultural machinery, and agricultural machinery. Background Art

[0002] Conventionally, as an agricultural machine equipped with a battery, there is known an agricultural machine disclosed in Patent Document 1. The agricultural machine disclosed in Patent Document 1 can travel by an electric motor driven by electric power from the battery.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2022-60664 Summary of the invention

[0006] Compared with agricultural machinery driven by diesel engines, the agricultural machinery shown in Patent Document 1 does not emit exhaust gas, and therefore has attracted attention as an environmentally friendly agricultural machinery. However, since the energy used for driving the agricultural machinery of Patent Document 1 is a battery, it is difficult to drive for a long time. In particular, when agricultural work is performed by the agricultural machinery, the agricultural machinery may not be driven sufficiently to perform the work.

[0007] Furthermore, when agricultural machinery performs agricultural work for a long time, the battery must be recharged with energy during the agricultural work. If the battery takes time to recharge, the efficiency of the entire agricultural work is reduced.

[0008] In addition, when agricultural machinery performs agricultural operations for a long time, the battery must be recharged with energy in the middle of the agricultural operations. However, in order to recharge the energy, there is a problem that the agricultural machinery must be moved to a predetermined location (such as a location far away from the field) such as a charging station.

[0009] Therefore, an object of the present invention is to provide an energy support system for agricultural machinery and an energy support method for agricultural machinery, which enable the agricultural machinery to smoothly and continuously perform agricultural work in a field.

[0010] Another object of the present invention is to provide an energy support system for agricultural machinery that smoothly distributes packages required by the agricultural machinery during agricultural work in accordance with agricultural work in a field.

[0011] Another object of the present invention is to provide an energy support system for agricultural machinery and agricultural machinery that can quickly replenish energy to the agricultural machinery and improve the efficiency of agricultural work.

[0012] Another object of the present invention is to provide an agricultural machine that can be easily charged with energy without moving to a station or the like where energy is charged.

[0013] Technical means to solve the problem

[0014] The technical means of the present invention for solving the technical problem are characterized by the following.

[0015] An energy support system for agricultural machinery, wherein the agricultural machinery is capable of loading and unloading a package filled with energy and is driven by the energy filled in the package, wherein the energy support system for the agricultural machinery has a management device, which calculates the energy consumed by the agricultural machinery when the agricultural machinery performs the agricultural operation and calculates the number of the packages required to supply the energy based on the energy consumption.

[0016] The management device transmits the number of packages and field information about a field as a delivery destination of the packages to any one of a transport vehicle transporting the packages, a terminal of a driver driving the transport vehicle, and a terminal of a delivery center delivering the packages.

[0017] The management device calculates energy consumed by the agricultural machine when the agricultural machine performs the agricultural work based on the content of the agricultural work performed in the field.

[0018] The management device calculates the energy consumed by the agricultural machinery when performing the agricultural operations in each of the plurality of fields based on the contents of the agricultural operations in each of the plurality of fields, and calculates the number of the packages in each of the plurality of fields based on the calculated energy consumption of each of the plurality of fields.

[0019] The management device searches for a field in which the agricultural work is performed in a predetermined period among the plurality of fields, and extracts the field extracted by the search and the number of the packages used in the extracted field.

[0020] The management device transmits the package for each of the retrieved fields and information related to each field to any one of a transport vehicle that transports the package, a terminal of a driver driving the transport vehicle, and a terminal of a delivery center that delivers the package.

[0021] The management device issues a delivery instruction of the package to any one of a transport vehicle transporting the package, a terminal of a driver driving the transport vehicle, and a terminal of a delivery center delivering the package. When the energy of the installed package becomes below a threshold, the agricultural machine drives toward the package delivered to the field or around the field.

[0022] The management device instructs any one of the transport vehicle transporting the package, a terminal of a driver driving the transport vehicle, and a terminal of a delivery center delivering the package to collect the package.

[0023] A method for energy support of agricultural machinery, wherein a package filled with energy can be detachably mounted on the agricultural machinery, wherein before the agricultural machinery performs agricultural work in a field, the energy consumed by the agricultural machinery when performing the agricultural work is calculated, and based on the energy consumption, the number of packages required to supply the energy consumption is calculated.

[0024] An energy support system for agricultural machinery, wherein the agricultural machinery is capable of loading and unloading a package filled with energy and is driven by the energy filled in the package, wherein the energy support system for the agricultural machinery has a management device, which obtains an operation plan for agricultural operations performed by the agricultural machinery in a field and any one of a request from the agricultural machinery, and instructs any one of a transport vehicle, a terminal of a driver driving the transport vehicle, and a terminal of a distribution center that delivers the package to the field based on a distribution plan set based on the operation plan or the request.

[0025] The management device obtains any one of an operation plan of the agricultural machinery for agricultural operations performed in the field and a request from the agricultural machinery, and issues an instruction to recycle the package to any one of a transport vehicle, a terminal of a driver driving the transport vehicle, and a terminal of a distribution center that delivers the package according to a recycling plan set based on the operation plan or the request.

[0026] The agricultural machine includes an operation switch for performing at least one of a request for delivery of the package and a request for collection of the package.

[0027] The agricultural machine includes a communication device that performs at least one of a request to deliver the package and a request to collect the package when the energy of the package mounted on the agricultural machine becomes equal to or less than a threshold value.

[0028] The transport vehicle moves to the field by automatic driving when receiving an instruction to deliver the package.

[0029] The transport vehicle moves to the field by automatic driving when receiving an instruction to collect the package.

[0030] The management device calculates deterioration of a plurality of packages stored at a delivery source based on delivery histories of the packages, and selects a package to be delivered from the plurality of packages based on the calculated deterioration of the packages.

[0031] The management device determines the delivery fee based on the size of the package to be delivered.

[0032] An energy support system for agricultural machinery, wherein the agricultural machinery is capable of loading and unloading a package filled with energy and is driven by the energy filled in the package, wherein the energy support system for the agricultural machinery has a management device, and the management device guides the delivery of other packages different from the packages installed on the agricultural machinery to a relay location passed through halfway during the agricultural operation, so as to continue the agricultural operation of the agricultural machinery in the field.

[0033] The management device generates a place where materials supplied to the agricultural machine are placed as a relay place, and guides the installation of the other packages at the relay place.

[0034] When the amount of material loaded on the agricultural machine during the agricultural work is equal to or less than a threshold value, the agricultural machine moves to the relay location.

[0035] When the amount of the material loaded on the agricultural machine during the agricultural work is equal to or less than a threshold value, the transport vehicle loaded with the material at the relay location and the other package is moved from the relay location to the agricultural machine.

[0036] When the transport vehicle reaches the agricultural machine, a notification is given to the transport vehicle or the agricultural machine to urge replacement of the package.

[0037] The management device generates a place where a transport vehicle receiving the harvested objects harvested by the agricultural machine stands by as a relay place, and guides installation of the other package at the relay place.

[0038] When the amount of the harvested product harvested by the agricultural machine during the agricultural work becomes equal to or larger than a threshold value, the agricultural machine moves to the relay location.

[0039] When the amount of harvested products harvested by the agricultural machine during the agricultural operation is equal to or larger than a threshold value and the other battery is mounted on the transport vehicle, the transport vehicle is moved from the relay location to the agricultural machine.

[0040] When the transport vehicle reaches the agricultural machine, a notification is given to the transport vehicle or the agricultural machine to urge replacement of the package.

[0041] The agricultural machine includes a notification device configured to issue a notification urging replacement of the package when the agricultural machine arrives at the relay location.

[0042] The agricultural machinery comprises: a vehicle body capable of loading and unloading a package filled with energy; a prime mover driven by the energy filled in the package; and a working device, wherein when the working device needs to be supplied with materials or when the harvested products harvested by the working device need to be discharged, the vehicle body moves to a relay location where other packages different from those mounted on the agricultural machinery are placed.

[0043] The agricultural machinery comprises: a prime mover; a plurality of packages filled with energy for driving at least one of a working device and a prime mover; a vehicle body carrying at least the plurality of packages; and a control device for controlling the travel of the vehicle body, wherein when there is at least one package among the plurality of packages whose energy is above a threshold value, the control device performs travel control to move the vehicle body toward other vehicle bodies.

[0044] The agricultural machinery comprises: a prime mover; a plurality of packages filled with energy for driving at least one of a working device and the prime mover; a vehicle body carrying at least the plurality of packages; and a communication device which, when there is at least one package whose energy is above a threshold value, sends a signal indicating that the package can be transferred to another vehicle body.

[0045] The agricultural machine includes a communication device, and when there is at least one package whose energy is equal to or greater than a threshold value, the communication device transmits a signal indicating that the package can be handed over to another vehicle body.

[0046] When the communication device receives a request to bring the package from the other vehicle body, the control device controls the vehicle to move toward the other vehicle body.

[0047] The control device extracts a filling package having energy greater than a threshold value from among the plurality of packages, and selects a filling package that can be transferred to another vehicle body from among the plurality of filling packages when there are a plurality of extracted filling packages.

[0048] The agricultural machine has a control device that extracts filling packages whose energy is greater than a threshold value from the plurality of packages, and selects a filling package that can be transferred to another vehicle body from the plurality of filling packages when there are a plurality of extracted filling packages.

[0049] The control device stops the vehicle body when the distance between the vehicle body and the other vehicle body becomes equal to or smaller than a threshold value.

[0050] Effects of the Invention

[0051] According to the present invention, the agricultural machine can smoothly and continuously perform agricultural work in the field.

[0052] Furthermore, according to the present invention, in accordance with agricultural work in a field, an agricultural machine can smoothly deliver packages required for the agricultural work.

[0053] In addition, according to the present invention, energy can be quickly replenished to agricultural machinery, thereby improving the efficiency of agricultural work.

[0054] Furthermore, according to the present invention, energy can be easily charged even without moving to a station or the like where energy is charged. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 This is an overall view showing an energy support system for an agricultural machine according to a first embodiment.

[0056] Figure 2 It is a functional block diagram of the electronic equipment of agricultural machinery.

[0057] Figure 3 It is a three-dimensional diagram of a lifting device of an agricultural machine.

[0058] Figure 4 It is a perspective view of a battery mounting portion of an agricultural machine and a diagram for explaining an operation when replacing a battery.

[0059] Figure 5 This is a diagram showing an example of a screen displayed on an external terminal.

[0060] Fig. 6A This is a diagram for obtaining a field outline H10 (field map MP2) based on the travel trajectory K1.

[0061] Figure 6B This is a diagram for obtaining a field outline H10 (field map MP2) from the turning points of the travel track K1.

[0062] Figure 6C This is a diagram in which the contour H10 (field map MP2) is obtained based on the switch operation during driving.

[0063] Fig. 7A It is a diagram showing an example of the screen M11.

[0064] Figure 7B It is a figure which shows an example of the screen M12.

[0065] Fig. 8A This is a diagram for generating the unit work area A3 in the work area A2.

[0066] Figure 8B is shown with Fig. 8A A3 diagram of the different unit work zones.

[0067] Figure 8C It is an explanatory diagram for explaining the generation of the planned travel route L1.

[0068] Fig. 9 This is a diagram showing an example of the screen M1.

[0069] Fig.10 This is a diagram showing a state where a tractor is moved from a warehouse to a field and then returned from the field to the warehouse.

[0070] Fig.11A This is a diagram showing a state where the first package is delivered to the field H1.

[0071] Fig. 11B It is a diagram showing the state of recycling of the second package 6B.

[0072] Fig.12 This is a diagram showing an example of a work plan.

[0073] Fig.13 This is a graph showing the relationship between agricultural work and energy consumption per unit area.

[0074] Fig.14 It is a diagram showing the model and energy information of the package of each machine.

[0075] Fig.15A This is a diagram showing the operation from work planning to calculation of the number of packages.

[0076] Fig. 15B It is a diagram showing the operation of delivering the first package in the delivery plan.

[0077] Fig.16 This is a diagram showing an example of a delivery plan.

[0078] Fig.17 FIG. 1 is a diagram showing the operation of collecting the second package in the collection plan.

[0079] Fig.18 This is a diagram showing an example of a collection plan.

[0080] Fig.19 This is a diagram showing an example of a delivery history.

[0081] Fig. 20It is a diagram showing the relationship between the energy margin, the filling amount, the number of filling times, and the coefficient.

[0082] Fig.21 It is a diagram showing an example of the degree of degradation of the package.

[0083] Fig. 22 This is a diagram showing the relationship between the model number of the package and the delivery fee.

[0084] Fig.23 It is a figure which shows an example of the screen M15.

[0085] Fig.24 This is a diagram showing an example of a screen when setting a relay location.

[0086] Fig.25 This is a diagram showing the relationship between the edges of the field outline and the relay locations.

[0087] Fig.26A This is a screen displaying a message to place the first package at a relay location during delivery.

[0088] Fig.26B This is a diagram showing a message for collecting the second package placed at the relay location at the time of collection.

[0089] Fig.27A This is a diagram showing a field map on the screen M31 of the agricultural terminal.

[0090] Fig.27B This is a diagram showing a field map including the supply position PH on the screen M31 of the agricultural terminal.

[0091] Fig.28A This is a diagram showing a package delivery message added to a field map in which a relay location and a supply position PH are set.

[0092] Fig.28B This is a diagram in which a message of collecting a package is added to a field map in which a relay location and a supply position PH are set.

[0093] Fig.29 This is a diagram showing a state where the tractor is heading toward the replenishment position.

[0094] Fig.30 This is a diagram showing a state where the first package and materials are delivered to the field H1.

[0095] Fig.31 1 is a diagram showing the operation of the transport vehicle T carrying the first package and the material.

[0096] Fig.32 This is a diagram showing a state in which the transport vehicle moves from the relay location A5 to the tractor.

[0097] Fig.33 This is a diagram showing a state where a first package and an empty container are delivered to the field H1.

[0098] Fig.34 1 is a diagram showing the movement of the transport vehicle T carrying the first package and an empty container.

[0099] Fig.35 This is an overall view showing an energy support system for an agricultural machine according to a second embodiment.

[0100] Fig.36 It is a functional block diagram of the electronic equipment of agricultural machinery.

[0101] Fig.37 The first tractor and the second tractor are shown working in the field H1.

[0102] Fig.38 The action when the second tractor hands over the filled package to the first tractor is shown.

[0103] Fig.39 It is a diagram showing an example of filling a package.

[0104] Fig.40 It is a diagram showing an example of displaying a filled package.

[0105] Fig.41 This is a diagram showing a situation when the second tractor hands over the filled package to the first tractor in a field or road (farm road).

[0106] Fig.42 It is an overall picture of the tractor. DETAILED DESCRIPTION

[0107] [First embodiment]

[0108] Hereinafter, each embodiment of the present invention will be described based on the drawings.

[0109] Figure 1 An energy support system for agricultural machinery is shown. The energy support system for agricultural machinery has a management device 100. The management device 100 is a set-type computer such as a server, a portable computer such as a smart phone, a tablet computer, and a notebook computer. Agricultural machinery 101 is a tractor, a combine harvester, a rice transplanter, etc., a machine, etc. In this embodiment, it is assumed that the agricultural machinery 101 is a tractor and the management device 100 is a server for description.

[0110] <Agricultural machinery>

[0111] Fig.421 is a side view showing a tractor 101a as one of agricultural machines 101 and an implement 101b mounted on the tractor 101a. Hereinafter, the front side of the driver sitting on the driver's seat 10 of the tractor 101a is referred to as the front, the rear side of the driver is referred to as the rear, the left side of the driver is referred to as the left, and the right side of the driver is referred to as the right. In addition, the horizontal direction, which is a direction perpendicular to the front-rear direction of the tractor 101a, is referred to as the vehicle body width direction.

[0112] like Fig.42 As shown, the tractor 101a (agricultural machinery 101a) has a vehicle body 3, a prime mover 4, a transmission 5 and an enclosure 6. The vehicle body 3 has a travel device 7 and can travel. The travel device 7 is a device having a front wheel 7F and a rear wheel 7R. The front wheel 7F can be a tire type or a crawler type. In addition, the rear wheel 7R can be a tire type or a crawler type. The prime mover 4 is an electric motor. The prime mover 4 is driven by supplying electric energy (energy source) from the enclosure 6. The transmission 5 can switch the propulsion force of the travel device 7 by changing the speed, and can switch the forward and backward movement of the travel device 7. A driver's seat 10 is provided at the rear of the vehicle body 3. The driver's seat 10 is provided in a cab 9 provided in the vehicle body 3. A steering wheel (steering wheel) 30 is provided in front of the driver's seat 10.

[0113] The package 6 is a package filled with energy, such as a battery filled with electric energy, a hydrogen tank filled with hydrogen, an LPG (Liquified petroleum gas) tank, etc. In the case of a hydrogen tank, for example, by mounting a fuel cell that generates electricity using hydrogen and oxygen in the air on the tractor 101a, and supplying hydrogen from the tank to the fuel cell, the power generated by the fuel cell can be supplied to the prime mover 4, and the prime mover 4 can be driven. In the case of an LPG tank, for example, by mounting a generator that generates electricity using a gas engine on the tractor 101a, and supplying gas from the tank to the gas engine, the power can be supplied to the prime mover 4, and the prime mover 4 can be driven. In this embodiment, for the sake of convenience, it is assumed that the package 6 is a battery and the prime mover 4 is an electric motor driven by the power of the battery.

[0114] The package 6 can be attached to and detached from the vehicle body 3. For example, the prime mover 4 and the package 6 are arranged at the front part of the vehicle body 3, but the arrangement and the like are not limited.

[0115] In addition, a connection portion composed of a three-point linkage mechanism and the like is provided at the rear of the vehicle body 3. The connection portion is a lifting device 8 that enables the working device (machine) 101b to be loaded and unloaded and enables the working device (machine) 101b to travel. By connecting the machine 101b to the lifting device 8, the machine 101b can be towed by the vehicle body 3. In addition, the connection portion may also be a towing device that does not lift the machine 101b. The machine 101b is a tilling device for tilling, a ridge-raising device for raising ridges, a planting device for planting crops, a fertilizer spreading device for spreading fertilizers, a pesticide spreading device for spreading pesticides, a harvesting device for harvesting, a harvesting device for harvesting grass, etc., a spreading device for spreading grass, etc., a grass collecting device for collecting grass, etc., a forming device for forming grass, etc., and the like.

[0116] like Figure 2 As shown, the transmission device 5 receives power from the prime mover 4 and transmits power to the travel system and the working system. The transmission device 5 includes a main shaft (propulsion shaft) 5a, a main transmission unit 5b, an auxiliary transmission unit 5c, a shuttle unit 5d, a PTO power transmission unit 5e, and a front transmission unit 5f. The propulsion shaft 5a is supported by the housing (transmission box) of the transmission device 5 so as to be freely rotatable, and the power from the crankshaft of the prime mover 4 is transmitted to the propulsion shaft 5a. The main transmission unit 5b includes a plurality of gears and a shifter that changes the connection of the gears. The main transmission unit 5b changes the rotation input from the propulsion shaft 5a and outputs it (changes speed) by appropriately changing the connection (meshing) of the plurality of gears using the shifter.

[0117] Similar to the main transmission 5b, the auxiliary transmission 5c includes a plurality of gears and a shifter for changing the connection of the gears. The auxiliary transmission 5c changes the rotation input from the main transmission 5b and outputs it (shifts the speed) by appropriately changing the connection (meshing) of the plurality of gears using the shifter. The shuttle 5d includes a shuttle shaft 12 and a forward / reverse switching unit 13. The power output from the auxiliary transmission 5c is transmitted to the shuttle shaft 12 via gears and the like. The forward / reverse switching unit 13 is composed of, for example, a hydraulic clutch and the like, and the rotation direction of the shuttle shaft 12, that is, the forward and reverse movement of the tractor 101a, is switched by connecting or disconnecting the hydraulic clutch. The shuttle shaft 12 is connected to the rear wheel differential 20R. The rear wheel differential 20R supports the rear axle 21R to which the rear wheel 7R is mounted so as to be able to rotate freely.

[0118] The PTO power transmission unit 5e includes a PTO propulsion shaft 14 and a PTO clutch 15. The PTO propulsion shaft 14 is supported to be freely rotatable and can transmit power from the propulsion shaft 5a. The PTO propulsion shaft 14 is connected to the PTO shaft 16 via gears or the like. The PTO clutch 15 is composed of, for example, a hydraulic clutch, and switches between a state in which the power of the propulsion shaft 5a is transmitted to the PTO propulsion shaft 14 and a state in which the power of the propulsion shaft 5a is not transmitted to the PTO propulsion shaft 14, depending on the connection or disconnection of the hydraulic clutch.

[0119] The front transmission unit 5f has a first clutch 17 and a second clutch 18. The first clutch 17 and the second clutch 18 can transmit power from the propulsion shaft 5a, for example, the power of the shuttle 12, via the gears and the transmission shaft. The power from the first clutch 17 and the second clutch 18 can be transmitted to the front axle 21F through the front transmission shaft 22. Specifically, the front transmission shaft 22 is connected to the front wheel differential device 20F, and the front wheel differential device 20F supports the front axle 21F equipped with the front wheel 7F so that it can rotate freely.

[0120] The first clutch 17 and the second clutch 18 are composed of a hydraulic clutch or the like. The first clutch 17 is connected to an oil circuit, which is connected to a first operating valve 25, and the first operating valve 25 is supplied with working oil discharged from a hydraulic pump. The first clutch 17 switches between a connected state and a disconnected state according to the opening degree of the first operating valve 25. The second clutch 18 is connected to an oil circuit, which is connected to a second operating valve 26. The second clutch 18 switches between a connected state and a disconnected state according to the opening degree of the second operating valve 26. The first operating valve 25 and the second operating valve 26 are, for example, two-position switching valves with electromagnetic valves, and are switched to a connected state or a disconnected state by exciting or demagnetizing the solenoid of the electromagnetic valve.

[0121] When the first clutch 17 is disconnected and the second clutch 18 is connected, the power of the shuttle shaft 12 is transmitted to the front wheel 7F through the second clutch 18. As a result, the front wheel 7F and the rear wheel 7R are driven by power in a four-wheel drive (4WD), and the rotation speed of the front wheel 7F and the rear wheel 7R are substantially the same (4WD constant speed state). On the other hand, when the first clutch 17 is connected and the second clutch 18 is disconnected, the four-wheel drive is achieved and the rotation speed of the front wheel 7F is faster than the rotation speed of the rear wheel 7R (4WD speed-increasing state). In addition, when the first clutch 17 and the second clutch 18 are disconnected, the power of the shuttle shaft 12 is not transmitted to the front wheel 7F, so the rear wheel 7R is driven by power in a two-wheel drive (2WD).

[0122] like Figure 2 and Figure 3As shown, the lifting device 8 has a lifting arm 8a, a lower link 8b, a top link 8c, a lifting rod 8d, and a lifting cylinder 8e. The front end of the lifting arm 8a is supported by the upper rear part of the housing (transmission) that accommodates the speed change device 5 in a manner that it can swing upward or downward. The lifting arm 8a swings (lifts and lowers) by the drive of the lifting cylinder 8e. The lifting cylinder 8e is composed of a hydraulic cylinder. The lifting cylinder 8e is connected to the hydraulic pump via the control valve 27. The lifting cylinder 8e switches between a connected state and a disconnected state according to the opening of the control valve 27. The control valve 27 is, for example, a two-position switching valve with an electromagnetic valve, and switches between a connected state and a disconnected state by exciting or demagnetizing the solenoid of the electromagnetic valve. When the control valve 27 is in the connected state, the lifting cylinder 8e is driven (extended) by the hydraulic pump, and when it is in the disconnected state, the drive of the lifting cylinder 8e is restricted (locked).

[0123] The front end of the lower link 8b is supported by the rear lower part of the speed change device 5 in a manner that allows it to swing upward or downward. The front end of the top link 8c is supported by the rear part of the speed change device 5 at a position higher than the lower link 8b in a manner that allows it to swing upward or downward. The lifting rod 8d connects the lifting arm 8a and the lower link 8b. The machine 101b is connected to the rear part of the lower link 8b and the rear part of the top link 8c. When the lifting cylinder 8e is driven (extended), the lifting arm 8a is raised and lowered, and the lower link 8b connected to the lifting arm 8a via the lifting rod 8d is raised and lowered. As a result, the machine 101b swings (raises and lowers) upward or downward with the front part of the lower link 8b as a fulcrum. When the driving of the lifting cylinder 8e is restricted, the lifting and lowering of the machine 101b is also locked.

[0124] like Figure 4 As shown, the package 6 has a battery pack and an electrical unit (relay, fuse, etc.) inside a roughly rectangular parallelepiped shell. The battery pack is composed of a plurality of battery modules. The battery module is composed of a plurality of units. The package 6 thus constructed is a battery capable of charging and discharging electric energy, specifically a lithium-ion battery. The package 6 is held from the outside of the shell by a bracket 6a1, and a gripping portion 6b1 is provided at the near-front end of the bracket 6a1. The mounting portion 19 of the vehicle body 3 has: a housing portion 19a, which is a space capable of accommodating the entire package 6; an opening 19b, which is provided on the near-front side of the housing portion 19a in the vehicle width direction; and a folding-wing cover portion 19c, which can block the opening 19b. Normally, when the package 6 is accommodated in the housing portion 19a, the opening 19b is blocked by the cover portion 19c, and power can be supplied from the package 6 to the tractor 101a.

[0125] When replacing the package 6, the opening 19b is exposed by opening the cover 19c. While holding the holding portion 6b1 of the package 6 being installed, the bracket 6a1 is pulled toward the near front side, so that the package 6 is taken out from the storage portion 19a while sliding toward the near front side in the vehicle width direction. For the empty storage portion 19a, the end of the new replacement package 6 in the inner direction is inserted through the opening 19b. Next, while holding the holding portion 6b1 of the new replacement package 6, the bracket 6a1 is pressed toward the rear side, so that the new replacement package 6 is slid toward the rear side in the vehicle width direction. Then, after the new replacement package 6 is entirely accommodated in the storage portion 19a, the opening 19b is blocked by closing the cover 19c. As described above, the package 6 is replaced. The structure of the package 6 and the mounting portion 19 is an example, and any structure can be adopted as long as the package 6 can be installed and detached relative to the mounting portion 19.

[0126] like Figure 2 As shown, the tractor 101a has a steering device 29. The steering device 29 has a steering wheel 30, a rotating shaft (steering shaft) 31 that rotates as the steering wheel 30 rotates, and an auxiliary mechanism (power steering mechanism) 32 that assists the steering of the steering wheel 30. The auxiliary mechanism 32 includes a hydraulic pump 33, a control valve 34 that supplies the working oil discharged from the hydraulic pump 33, and a steering cylinder 35 that works through the control valve 34. The control valve 34 is an electromagnetic valve that operates based on a control signal. The control valve 34 is, for example, a 3-position switching valve that can be switched by the movement of a slide valve or the like. In addition, the control valve 34 can also be switched by steering the steering shaft 31. The steering cylinder 35 is connected to an arm (knuckle arm) that changes the direction of the front wheel 7F.

[0127] Therefore, when the steering wheel 30 is operated, the switching position and opening of the control valve 34 are switched according to the steering wheel 30, and the steering cylinder 35 is extended and retracted to the left or right according to the switching position and opening of the control valve 34, thereby changing the steering direction of the front wheel 7F. In addition, the above-mentioned steering device 29 is an example and is not limited to the above-mentioned structure.

[0128] like Figure 2As shown, the tractor 101a has a positioning device 40A. The positioning device 40A can detect its own position (including positioning information including latitude and longitude) through satellite positioning systems (positioning satellites) such as D-GPS, GPS, GLONASS, Beidou, Galileo, and navigators. That is, the positioning device 40A receives satellite signals (position of positioning satellites, transmission time, correction information, etc.) transmitted from positioning satellites, and detects the position (for example, latitude and longitude) based on the satellite signals. The positioning device 40A has a receiving device 41 and an inertial measurement unit (IMU: Inertial Measurement Unit) 42. The receiving device 41 is a device having an antenna, etc. and receiving satellite signals transmitted from positioning satellites, and is mounted on the vehicle body 3 separately from the inertial measurement unit 42. In the present embodiment, the receiving device 41 is mounted on the cab 9 provided on the vehicle body 3. In addition, the mounting location of the receiving device 41 is not limited to the embodiment.

[0129] The inertial measurement device 42 has an acceleration sensor for detecting acceleration, a gyro sensor for detecting angular velocity, etc. The inertial measurement device 42 is disposed under the vehicle body 3, for example, the driver's seat 10, and can detect the roll angle, pitch angle, yaw angle, etc. of the vehicle body 3.

[0130] like Figure 2 As shown, the tractor 101a has a communication device 45A. The communication device 45A is connected to the positioning device 40A, the control device 60, the operating components (lever, switch, dial, etc.) and sensors via the vehicle-mounted communication network N1 to receive an electrical signal. The communication device 45A can communicate with an external network (external) different from the vehicle-mounted communication network N1. The communication device 45A can, for example, perform wireless communication through Wi-Fi (Wireless Fidelity:, registered trademark), BLE (Bluetooth Low Energy:), LPWA (Low Power, Wide Area), LPWAN (Low-Power Wide-Area Network) and the like of the IEEE802.11 series as communication standards. In addition, the communication device 45A can perform wireless communication through, for example, a mobile phone communication network or a data communication network. The communication device 45A sends the vehicle body position (the position of the tractor 101a) detected by the positioning device 40A to the management device 100.

[0131] like Figure 2As shown in FIG. 1 , the tractor 101a includes a control device 60. The control device 60 includes a computing unit (CPU, etc.), a storage unit (memory), etc., and performs predetermined control based on a program stored in the storage unit. More specifically, the control device 60 controls the travel system and the working system of the tractor 101a based on operation signals when operating operating members (lever, switch, dial, etc.) provided around the driver's seat 10, detection signals from various sensors mounted on the vehicle body 3, and the like.

[0132] When the shuttle lever 43a for switching the forward or reverse movement of the vehicle body 3 is operated to move forward, the control device 60 switches the forward / reverse switching unit 13 to move forward, thereby moving the vehicle body 3 forward. When the shuttle lever 43a is operated to move backward, the control device 60 switches the forward / reverse switching unit 13 to move backward, thereby moving the vehicle body 3 backward.

[0133] The control device 60 starts the prime mover 4 through a predetermined process when the ignition switch 43 b is turned on (ON), and stops the driving of the prime mover 4 when the ignition switch 43 b is turned off (OFF).

[0134] In the process of driving the prime mover 4, when the PTO switch 43c is operated, the control device 60 switches the position of the PTO clutch 15 to any one of the neutral position, the on position, and the off position to turn on or off the drive of the PTO shaft 16. When the PTO shift lever 43d is operated, the control device 60 changes the rotation speed of the PTO shaft 16 (referred to as the PTO rotation speed) by switching the PTO speed gear built into the speed change device 5.

[0135] When the speed changeover switch 43e is switched to automatic speed change, the control device 60 automatically switches one of the main speed change portion 5b and the auxiliary speed change portion 5c according to the state of the tractor 101a, and automatically changes the speed gear (speed stage) of the speed change device 5 to a predetermined speed gear (speed stage). When the speed changeover switch 43e is switched to manual speed change, the control device 60 automatically switches one of the main speed change portion 5b and the auxiliary speed change portion 5c according to the speed gear (speed stage) set by the shift lever 43f, and changes the speed gear of the speed change device 5.

[0136] When the throttle lever 43 g is operated, the control device 60 changes the rotation speed of the prime mover 4 (referred to as prime mover rotation speed) according to the operation amount of the throttle lever 43 g, thereby changing the vehicle speed (velocity) of the vehicle body 3 .

[0137] When the hydraulic rod 43h is operated in the ascending direction (the ascending side) during the driving of the prime mover 4, the control device 60 controls the control valve 27 to extend the lift cylinder 8e, thereby raising the rear end portion (the end portion on the implement 101b side) of the lift arm 8a. When the hydraulic rod 43h is operated in the descending direction (the descending side) during the driving of the prime mover 4, the control device 60 controls the control valve 27 to contract the lift cylinder 8e, thereby lowering the rear end portion (the end portion on the implement 101b side) of the lift arm 8a.

[0138] The control device 60 is set to the automatic driving mode when the driving switching switch 43i is operated to be turned on, and is set to the manual driving mode when the driving switching switch 43i is operated to be turned off. When the control device 60 is set to the automatic driving mode, the automatic driving of the tractor 101a is performed. In the automatic driving state, the control device 60 automatically changes the rotation angle of the steering shaft (rotation shaft) 31 based on the deviation between the detected vehicle body position and the set scheduled driving route. In addition, the control device 60 automatically changes the gear of the transmission 5, the rotation speed of the prime mover 4, etc., so that the current vehicle speed is consistent with the vehicle speed corresponding to the scheduled driving route. As a result, the vehicle body 3 can be automatically driven on the scheduled driving route.

[0139] The control device 60 acquires the remaining amount of the package 6 being installed based on the potential detected by the measuring sensor 43j of the package 6, the rotation speed of the prime mover 4, the vehicle speed of the vehicle body 3, and the like. When the control device 60 determines that the package 6 being installed needs to be replaced based on the remaining amount of the package 6 acquired above, the control device 60 controls the communication device 45A to send the battery monitoring release signal to the management device 100. In addition, when the control device 60 determines that the installed package 6 is replaced with the replacement package 6 based on the potential detected by the measuring sensor 43j of the package 6, the control device 60 controls the communication device 45A to send the battery monitoring signal to the management device 100. The specific manner of sending the battery monitoring signal and the battery monitoring release signal based on the measuring sensor 43j will be described below.

[0140] like Figure 2 As shown, the tractor 101a includes a display device 50. The display device 50 is composed of a CPU, an electronic circuit, a panel (a liquid crystal panel, a touch panel, or other panels), and the like.

[0141] The display device 50 registers the outline of the specified field, for example, the position corresponding to the outline of the specified field. Figure 5 As shown, when a predetermined operation is performed on the display device 50 , a screen M10 is displayed on the panel of the display device 50 .

[0142] The screen M10 displays a map MP1 including the field, the body position VP1 of the tractor 1, the field name, the field management number and other field identification information. In addition to the image data of the field, the map MP1 also shows the corresponding position information such as the latitude and longitude. When the tractor 1 enters the field and circles the field, the current body position VP1 detected by the positioning device 40A when the tractor 1 circles the field is displayed on the screen M10. When the tractor 1 finishes circling the field and the registration button 55 displayed on the screen M10 is selected, Fig. 6A As shown, the display device 50 uses the travel track K1 obtained from the plurality of vehicle positions when the tractor 1 is traveling as the outline (outer shape) H10 of the field, and registers the field map MP2 represented by the outline H10 together with the field identification information.

[0143] In addition, if Figure 6B As shown, the display device 50 can register the contour K2 obtained by calculating the inflection points based on the driving trajectory shown by the vehicle body position VP1 and connecting the inflection points as the contour H10 of the field (field map MP2), or can also register the contour K2 obtained by calculating the inflection points based on the driving trajectory shown by the vehicle body position VP1 and connecting the inflection points as the contour H10 of the field (field map MP2). Figure 6C As shown, when the tractor 1 is circling, the driver or the like specifies the ends of the field by using a switch provided on the tractor 1 and connects the specified ends, and registers the contour K3 as the contour H10 (field map MP2). The above-mentioned field registration method is an example and is not limited. The field contour, i.e., the field map MP2, may be data represented by a position (latitude, longitude), data represented by a coordinate system (X axis, Y axis), or data represented by other expressions.

[0144] The display device 50 stores a field map MP2 showing an outline (outer shape). That is, the display device 50 stores the field map MP2 and data showing a field outline (data for showing a predetermined field).

[0145] The display device 50 sets the working area A2. Fig. 7A As shown, when the operator (driver) performs a predetermined operation on the display device, the display device 50 displays a screen M11. The screen M11 includes a field input unit 80 and a field display unit 81. The field input unit 80 can input field identification information such as a field name and a field management number. The field display unit 81 displays a field map MP2 showing a predetermined field corresponding to the field identification information input to the field input unit 80.

[0146] In the screen M11, after the swing width W1 is input to the swing width input unit 82, if the swing setting button 83 is selected, the display device 50 displays the working area A2 other than the swing area A1 on the field map MP2 displayed on the field display unit 81. For example, the display device 50 sets the working area A2 as the area surrounded by the outline H11 formed by offsetting the outline H10 of the field map MP2 inward by the swing width W1. In addition, in the screen M11, the position of the outline of the working area A2 can be specified on the field map MP2 displayed on the field display unit 81 using a pointer or the like, thereby setting the working area A2 in the field map MP2.

[0147] The display device 50 stores data of the field map MP2 in which the work area A2 is set and data (field map) indicating the position of the work area A2. The display device 50 transmits the field map to the management device 100 via the communication device 45A. When receiving the field map, the management device 100 stores the received field map.

[0148] The display device 50 can generate a travel route (planned travel route) L1 of the traveling vehicle 3 on the field map MP2. Figure 7B As shown, when the operator (driver) performs a prescribed operation on the display device, the display device 50 displays a screen M12. In the screen M12, in the field, at least the planned travel route L1 can be set in the work area A2. The screen M12 has a route display unit 85 and a width input unit 86 that display the planned travel route L1. The working width W2 of the working device 2 is the width (work execution width) of the working device 2 for working on the field and the like, and is the spreading width of the supplied material in the case of the working device 2 that spreads the material on the field. For example, in the case where the working device 2 is a fertilizing device, the fertilizing width is the working width W2, in the case where it is a drug spreading device, the drug spreading width is the working width W2, in the case where it is a seedling transplanting device, the planting width that can plant the seedlings in the field in one operation is the working width W2, and in the case where it is a sowing device, the sowing width is the working width W2. In addition, land operations refer to agricultural operations performed on crops planted in fields and fields, such as planting seedlings, irrigation, spreading of pesticides, spreading of fertilizers (fertilization), spreading of seeds (sowing), pressing, covering, ridge formation, tillage, and furrowing.

[0149] After the display device 50 obtains the working width W2, Fig. 8A As shown in FIG. 5 , by dividing the work area A2 longitudinally or transversely by the work width W2, a plurality of unit work areas A3 for performing work using the work device 2 are generated in the work area A2. That is, the display device 50 generates a plurality of unit work areas A3 having the same width as the work width W2 in the work area A2. Figure 8BAs shown, the display device 50 may also generate a plurality of unit work areas A3 having a width W4 obtained by subtracting the overlapping width W3 from the work width W2 in the work area A2. The overlapping width W3 may be input on the screen M12. That is, when the traveling vehicle 3 connected to the working device 2 is driven, the display device 50 sets the minimum unit area for the working device 2 to work on the field as the unit work area A3.

[0150] like Figure 8C As shown, the display device 50 generates a straight section (straight route) L1a for the traveling vehicle body 3 to travel straight for each unit work area A3 of the field map MP2. That is, the display device 50 generates a straight line L1a that connects the two ends in the length direction of the unit work area A3, for example, in the center of the width direction of the unit work area A3. The display device 50 generates a turning section (turning route) L1b for the traveling vehicle body 3 to turn in the turning area A1.

[0151] In addition, the display device 50 can associate the planned travel route L1 with the vehicle speed (moving speed) of the tractor 1 (traveling vehicle body 3). For example, it is assumed that a vehicle speed input unit for inputting the vehicle speed is provided on the screen M12, and the vehicle speed is input to the vehicle speed input unit. The display device 50 associates the straight route L1a with the vehicle speed input to the vehicle speed input unit. The display device 50 stores the planned travel route L1 (the straight route L1a and the turn route L1b).

[0152] <Contents of agricultural work (work plan)>

[0153] like Figure 1 As shown, the energy support system for agricultural machinery includes a management device 100. The management device 100 can be connected to a communication device 45A or an external terminal 120. The external terminal 120 is a terminal such as a portable computer (laptop computer), a fixed computer (personal computer), a PDA, a smart phone, a tablet computer, etc. The management device 100 performs a prescribed action when there is a prescribed instruction from the external terminal 120. Hereinafter, for the sake of convenience of explanation, the external terminal 120 owned or operated by the manager who manages agriculture is referred to as a manager terminal 120A, and the external terminal 120 owned or operated by the operator who performs agricultural operations is referred to as an operator terminal 120B.

[0154] The management device 100 includes a job generating unit 110 and a job storage unit 111. The job generating unit 110 is composed of an electronic circuit provided in the management device 100 and a program stored in a computing unit such as a CPU of the management device 100. The job storage unit 111 is composed of a nonvolatile memory or the like.

[0155] The operation generation unit 110 generates at least the contents of the agricultural operation (operation plan) including the operation, the scheduled date for implementation, and the field. When the manager terminal 120A is connected to the management device 100 and a predetermined instruction is given to the management device 100, such as Fig. 9 As shown, the operation generation unit 110 causes the manager terminal 120A to display a screen M1. The screen M1 includes an operation setting unit 131, a date setting unit 132, a field setting unit 133, and a time setting unit 134. The operation setting unit 131 is a part for setting an operation, and can set a predetermined operation by selecting a predetermined operation from pre-registered operations. In addition, the operation refers to an operation performed for cultivating crops, such as soiling, ridge coating, tillage, sowing, transplanting, harrowing, trenching, weeding, topdressing, harvesting, etc.

[0156] The date setting unit 132 is a part for setting the scheduled date for performing the operation set by the operation setting unit 131, and the scheduled date can be set by inputting the year, month, day, etc. The field setting unit 133 is a part for setting the field for performing the operation, for example, a plurality of fields are displayed on a pre-registered field map, and a predetermined field selected from the plurality of fields is set as the field for performing the operation. The time setting unit 134 is a part for setting the time period for performing the operation, and the time period can be set by inputting the time.

[0157] The screen M1 may include an operator setting unit 135 for setting an operator who performs the operation, a machine setting unit 136 for setting a machine to perform the operation, a sowing object setting unit 137 for setting the name of the sowing object when the operation is to sow the sowing object, and a sowing amount setting unit 138 for setting the sowing amount of the sowing object. The machine setting unit 136 can input machine information such as the type and model of the agricultural machine.

[0158] When the registration button 139 shown in the screen M1 is selected, the operation generation unit 110 generates the information (content) set by the operation setting unit 131, the date setting unit 132, the field setting unit 133, the time setting unit 134, the operator setting unit 135, the machine setting unit 136, the sowing object setting unit 137, and the sowing amount setting unit 138 as the content (operation plan) of the agricultural operation. The operation storage unit 111 stores the operation plan (operation, scheduled date for implementation, field, time period, operator, machine, name of the sowing object, and sowing amount) generated by the operation generation unit 110. The operation plan in the above embodiment is an example and is not limited. For example, the operation is not limited to the operation of planting rice, and may include the operation of cultivating dry fields, and may also include other operations. In this way, the content (operation plan) of the agricultural operation generated by the operation generation unit 110 of the management device 100 is displayed on the manager terminal 120A and the operator terminal 120B, and the manager, the operator, etc. can confirm it.

[0159] <About agricultural work>

[0160] When performing agricultural operations, the operator refers to the operation plan displayed on the operator terminal 120B. Fig.10 As shown, the operator or the like manually drives the tractor 101a from a storage place H2 such as a warehouse to a field H1 (for example, field A) shown in the work plan. When the tractor 101a arrives at the field H1 (field A), the tractor 101a is driven in the field H1 (field A) to perform agricultural work. After the agricultural work is completed in the field H1 (field A), the operator moves the tractor 101a to a field H1 (for example, field B) different from the field H1 (field A) where the agricultural work is completed, and after arriving at the field H1 (field B), the tractor 101a is driven in the field H1 (field B) to perform agricultural work. In this way, when performing agricultural work, the tractor 101a is moved to the fields H1 (field A, field B, ... field F) in sequence according to the work plan, thereby enabling the tractor 101a to perform agricultural work in each field H1. In the work plan, after the agricultural work in the field H1 indicated in the prescribed period (for example, 1 day) is completed, the operator moves the tractor 101a to the storage place H2 and stops the tractor 101a at the storage place H2. In addition, in the above-mentioned embodiment, the case where the tractor 101a is moved from the storage place H2 to the field H1, moved between the fields H1, or returned from the field H1 to the storage place H2 by manual driving is illustrated, but the movement of the tractor 101a is also automatic driving, which is not limited. In addition, it is also possible to combine automatic driving and manual driving in the case where the field H1 is automatic driving and the field H1 is manually driven. In addition, the automatic driving of the tractor 101a is the same as the scheduled driving route L1 in the field. For example, the path (scheduled driving route) that the tractor 101a moves during automatic driving is drawn on a field map indicating latitude, longitude, etc., and the tractor 101a drives on the drawn path (scheduled driving route) under the control of the control device 60. In the above-mentioned automatic driving, the movement along the scheduled driving route is described as an example, but the direction of the automatic driving is not limited to this.

[0161] <Calculation of energy consumption / calculation of the number of battery packs>

[0162] For example, before the tractor 101a performs agricultural work in the field H1, the management device 100 calculates the energy consumed by the tractor 101a when the tractor 101a performs agricultural work. The management device 100 refers to the work plan and calculates the energy consumption of the tractor 101a based on the content of the agricultural work indicated in the work plan.

[0163] Fig.12 An example of a work plan is shown below. Fig.12As shown, the management device 100 refers to the work plan for April 8, for example. In the work plan, a plurality of fields H1 (field A, field B, field C, field F) are shown. The management device 100 calculates the energy consumed by the tractor 101a for each of the plurality of fields H1 (field A, field B, field C, field F) based on the content of the agricultural work in each of the plurality of fields H1 (field A, field B, field C, field F). The management device 100 extracts the agricultural work (work content) of each of the plurality of fields H1 (field A, field B, field C, field F), as shown in FIG. Fig.13 As shown, the energy consumption (first energy consumption) consumed by the agricultural operation in the field H1 is calculated based on the extracted agricultural operation, the energy consumption per unit area in the agricultural operation, and the field area pre-registered in the management device 100. Fig.12 As shown in the figure, for example, in the work plan for April 8, the work content is tillage, and the area of ​​field A is 60a. Fig.13 As shown, since the energy consumption per unit area is 1 kwh, the energy consumption of field A is 60 kwh.

[0164] In addition, the management device 100 calculates the distances (inter-field movement distances) from the storage place H2 where the tractor 101a is stored to the storage place H2 via each field H1 (field A, field B, field C, field F), and calculates the energy consumption (second energy consumption) consumed by the tractor 101a during the movement. The total energy consumption obtained by adding the first energy consumption and the second energy consumption is used as the energy consumption required for agricultural operations.

[0165] In addition, in the above-mentioned embodiment, the consumed energy is calculated based on the agricultural operation and the energy consumption per unit area, but in addition to this, the management device 100 can also refer to the mechanical information (machine type and model of the tractor 101a) shown in the operation plan, multiply it by a coefficient determined according to the machine type and model, and thus calculate the consumed energy.

[0166] Next, when the energy consumption required for agricultural work is obtained, the management device 100 calculates the number of packages 6 required to supply the energy consumption. Fig.14 As shown, the management device 100 refers to the machine information shown in the work plan, specifies the package 6 mounted on the tractor 101a based on the referenced machine information, and extracts the maximum energy (maximum energy) of the specified package 6.

[0167] like Fig.14 As shown, the management device 100 refers to the database of machine information and identification information such as the model of the package 6 to identify the package 6, and specifies the package 6 installed on the tractor 101a. Fig.12As shown, for example, in the operation plan on April 8, in each of the plurality of fields H1 (field A, field B, field C, field F), the machine used for agricultural operations is "machine A", so, Fig.14 As shown, the management device 100 determines that the package 6 installed on the "machine A" is "model A". The management device 100 divides the total energy consumption (the energy consumption obtained by adding the first energy consumption and the second energy consumption) of each of the plurality of fields H1 (field A, field B, field C, field F) by the maximum energy of the "model A" as the package 6 installed on the "machine A", and rounds the value obtained by the division, thereby calculating the number of packages 6. For example, the energy consumption in field A is 70 kwh, and the tractor 101a equipped with model A is used to work in field A. Therefore, the management device 100 divides 70 kwh by the energy capacity of model A (i.e., 50 kwh), and calculates that the number of packages 6 required for agricultural work in field A is 2.

[0168] The management device 100 stores date, field H1, agricultural work, work time, machine information, number of packages, and model number (identification information) of packages as energy information. The energy information includes work plans such as date, field H1, agricultural work, work time, and machine information.

[0169] In the above embodiment, the number of packages 6 is obtained by dividing the total energy consumption in the field H1 by the maximum energy of the package 6. However, instead of the maximum energy of the package 6, a predetermined energy (80% of the energy when the maximum energy is 100%) may be used. In this case, the number of packages 6 (decimal point rounded) = energy consumption in the field H1 / predetermined energy of the package. For example, when applied to the field A on April 8, the number of packages 6 in the field A is 2 according to "energy consumption in the field A (70 kwh) / predetermined energy of the package (40 kwh: 80% of the maximum energy 50 kwh)".

[0170] <Energy Support System Operation>

[0171] Explain the operation of the energy support system of agricultural machinery. Fig.15AAs shown, when the manager terminal 120A is connected to the management device 100 and sends a command to generate a work plan to the management device 100 (step S1), the management device 100 causes the manager terminal 120A to display the screen M1 (step S2). When the manager terminal 120A is operated and the work plan is sent to the management device 100 (step S3), the work plan is stored in the management device 100 (step S4). At least one day before the date shown in the work plan or before the date and time shown in the work plan, the management device 100 performs a process (first process) of finding the total energy consumption of each field H1 consumed by the tractor 101a and finding the number of packages 6 based on the total energy consumption (step S5). In the first process, the management device 100 refers to the work plan, calculates the total energy consumption when the tractor 101a works on each field shown in the work plan, and then calculates the number of packages based on the calculated total energy consumption, the maximum energy of the package 6 mounted on the tractor 101a, or the specified energy of the package 6. That is, the management device 100 obtains the number of packages 6 by the above method in the first process. After the first process, the management device 100 stores energy information (date, field H1, agricultural work, machine information, number of packages, and identification information of packages) (step S6).

[0172] When there is a request for a work plan from the operator terminal 120B, or when the current date and time becomes the scheduled date and time, the management device 100 sends the work plan to the operator terminal 120B (step S7). When there is a request for energy information from the operator terminal 120B, the management device 100 sends the energy information to the operator terminal 120B (step S8). In addition, when there is a request for energy information from the manager terminal 120A, the management device 100 sends the energy information to the manager terminal 120A (step S9).

[0173] As described above, before performing agricultural work with the tractor 101a, the operator or manager can grasp the number of packages 6 required for agricultural work in the field H1 to be worked with the tractor 101a.

[0174] <Packaging delivery / recycling>

[0175] As described above, when agricultural work is performed while the tractor 101a is driven, the energy of the package 6 is gradually consumed. The energy support system for agricultural machinery supports delivery of the package 6 to the field H1 and collection of the package 6 placed in the field H1.

[0176] like Fig.11A , Fig. 11BAs shown, the distribution center H3 stores a replacement package 6A (referred to as the first package 6A) and a used package 6B (referred to as the second package 6B). The second package 6B is filled with energy by a filling device installed in the distribution center H3, and after the energy filling is completed, it is stored in a storage place as the first package 6A. The distribution of the first package 6A and the collection of the second package 6B are carried out by a transport vehicle T such as a truck. The first package 6A is fully filled with energy, for example, when the maximum energy filling amount of the package 6 is 100%, the filling amount is more than 80%. In addition, the filling amount is an example and is not limited to more than 80%.

[0177] Fig.11A The case where the first package 6A is delivered by the transport vehicle T to the field H1 which is the delivery destination of the package 6A is shown. Fig. 11B The state where the package 6B is collected by the transport vehicle T is shown.

[0178] The transporter T delivers the package 6A to the field H1 of the delivery destination according to any one of the energy information, the delivery plan, and the delivery request of the first package 6A from the tractor 101a. In addition, the transporter T collects the package 6B according to any one of the energy information, the collection plan, and the collection request of the package 6B from the tractor 101a. The transporter T can move to the field H1 of the delivery destination by manual driving or automatic driving.

[0179] Next, the delivery of the package 6A and the collection of the package 6B will be described.

[0180] like Figure 1 As shown, a communication device 45B is provided on the transport vehicle T. Similar to the communication device 45A, the communication device 45B can be connected to the management device 100 and can obtain various information sent from the management device 100. In addition, an external terminal (driver terminal) 120C of the driver driving the transport vehicle T can be connected to the management device 100 and can obtain various information sent from the management device 100. An external terminal (center terminal) 120D is provided at the distribution center H3. The center terminal 120D can be connected to the management device 100 and can obtain various information sent from the management device 100.

[0181] <Energy Information>

[0182] When the current time becomes the predetermined time, the management device 100 transmits energy information including field information related to the number of first packages 6A and the field as the delivery destination of the packages 6A to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D. Fig.14As shown, the management device 100 sends the energy information of April 8 to one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D. That is, the management device 100 sends the energy information to one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D before the agricultural operation begins. In the case where the transport vehicle T receives the energy information, the driver can confirm the energy information received by the transport vehicle T through the display device mounted on the transport vehicle T. In the case where the driver terminal 120C receives the energy information, the driver can confirm the energy information received by the driver terminal 120C through the screen of the driver terminal 120C. In the case where the center terminal 120D receives the energy information, the operator of the distribution center can confirm the energy information received by the center terminal 120D through the screen of the center terminal 120D.

[0183] like Fig.14 As shown in FIG. 1 , referring to the energy information on April 8, it can be seen that in field A and field B, two "type A" packages 6 are required to perform agricultural operations. That is, in field A and field B, the "type A" package 6 mounted on the tractor 101a needs to be replaced during agricultural operations. Fig.11A As shown, at least two first packages 6A of "model A" are loaded on a transporter T, and the driver drives the transporter T to move the transporter T from the distribution center H3 to the field A. When the transporter T arrives at the field A, the driver places at least one first package 6A in the field A, and drives the transporter T to move to the field B. When the transporter T arrives at the field B, the driver places at least one first package 6A in the field B, and returns the transporter T to the distribution center H3. That is, the driver calculates the field H1 where the package 6 is insufficient and the insufficient amount of the package 6 in the field H1 among the plurality of fields H1 (field A, field B, field C, field F), and then drives the transporter T to deliver the package 6 to the field H1 where the package 6 is insufficient. On the other hand, the operator driving the tractor 101a replaces the first package 6A and the package 6 (second package 6B) loaded on the tractor 101a in the field A and field B, respectively. The worker places the second package 6B around the field A and the field B.

[0184] In addition, if Fig. 11B As shown, after delivering the first package 6A to the field A and the field B, the driver can grasp from the energy information that the second package 6B is placed around the field A and the field B. After April 8, the driver moves the transport vehicle T to the field A and the field B, respectively, and collects the second package 6B placed around the field A and the field B.

[0185] <Delivery plan, recycling plan>

[0186] In the above embodiment, the package 6 is delivered and recovered by sending energy information to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C and the center terminal 120D, but the package 6 can also be delivered and recovered based on a delivery plan or a recovery plan.

[0187] Fig. 15B The distribution operation of the first package 6A in the distribution plan is shown. When the current time becomes the specified time, the management device 100 refers to the operation plan of the agricultural operation (step S20). Fig.14 As shown in FIG. 1 , the management device 100 refers to the energy information on April 8 including the work plan. The management device 100 sets the distribution plan based on the work plan (step S21). Fig.16 As shown, the management device 100 sets the delivery destination, delivery date and time, the number of packages 6 to be delivered, and the model as a delivery plan. In the delivery plan on April 8, the management device 100 sets the delivery destination to the field shown in the work plan on April 8. In the delivery plan on April 8, the management device 100 sets the delivery date and time to the date and time (start time) when the agricultural work starts in the field H1 or a time earlier than the start date and time. In addition, in the delivery plan on April 8, the management device 100 sets the number of packages 6 required for each field H1 divided by 1 as the delivery number. The management device 100 refers to the energy information and determines that the package 6 mounted on the tractor 101a is "Model A", and reflects the determined "Model A" in the identification information of the delivery plan. In addition, Fig.16 If the number of items to be delivered is zero, it means no delivery.

[0188] like Fig. 15B As shown, when the distribution plan is set, the management device 100 sends a command (distribution command) to distribute the first package 6A to the field H1, that is, a distribution instruction, to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D before the specified time of the distribution date (step S22). The distribution instruction includes distribution location information including the location of the distribution destination, the distribution date, the number of distributions, and identification information. The management device 100 sends a distribution instruction to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D to distribute one first package 6A of "model A" to each of the fields A and B.

[0189] As described above, the management device 100 calculates the delivery plan based on the work plan, and sends a delivery instruction (delivery command) to the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D according to the delivery plan, thereby making it possible to easily deliver the first package 6A.

[0190] Fig.17 The management device 100 refers to the operation plan of the agricultural operation (step S30) when the current time reaches the specified time. Fig.14 As shown in FIG. 1 , the management device 100 refers to the energy information on April 8 including the work plan. The management device 100 sets the collection plan based on the work plan (step S31). Fig.18 As shown, the management device 100 sets the recycling destination, recycling date and time, recycling quantity, and model as a recycling plan. In the recycling plan on April 8, the management device 100 sets the recycling destination to the field shown in the work plan on April 8. In the recycling plan on April 8, the management device 100 sets the recycling date and time to the date and time when the agricultural work in the field H1 ends (end time) or the time before and after the end time. In addition, in the recycling plan on April 8, the management device 100 sets the number of packages 6 required for each field H1 divided by 1 as the recycling number. The management device 100 refers to the energy information and determines that the package 6 mounted on the tractor 101a is "Model A", and reflects the determined "Model A" in the identification information of the recycling plan. In addition, Fig.18 In the case where the number of recovered items is zero, it means that no recovery is performed.

[0191] like Fig.17 As shown, when the collection plan is set, the management device 100 sends an instruction (collection instruction) to collect the second package 6B in the field H1, that is, a collection instruction, to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C and the center terminal 120D before the specified time of the collection date (step S32). The collection instruction includes collection location information including the location of the collection destination, the collection date, the number of collections, and identification information. The management device 100 sends a collection instruction to collect one second package 6B in each of the field A and the field B to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C and the center terminal 120D.

[0192] As described above, the management device 100 calculates the collection plan according to the work plan, and sends a collection instruction (collection instruction) to the transport vehicle T (communication device 45B), the driver terminal 120C and the center terminal 120D based on the collection plan, thereby making it possible to easily collect the second package 6B.

[0193] <Delivery Request, Collection Request>

[0194] In the above-mentioned embodiment, the management device 100 performs delivery and recovery of the package 6 by sending delivery instructions and recovery instructions to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C and the central terminal 120D, but it can also perform delivery and recovery of the package 6 according to the request from the tractor 101a.

[0195] like Figure 2 As shown, an operation switch 130 is provided on the tractor 101a. The operation switch 130 is provided around the driver's seat 10 and can be operated by the driver. When the operation switch 130 performs a predetermined operation, at least one of a request to deliver the first package 6A (delivery request) and a request to collect the delivered second package 6B (collection request) is performed. When the delivery request is performed, the communication device 45A of the tractor 101a transmits information indicating the vehicle position detected by the positioning device 40A and the request to deliver the first package 6A to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D. When receiving the delivery request, the transport vehicle T, the driver terminal 120C, and the center terminal 120D respectively display the identification information of the package 6 mounted on the tractor 101a, the vehicle position, and the meaning of the delivery request.

[0196] In addition, when making a collection request, the communication device 45A of the tractor 101a transmits information indicating the vehicle body position detected by the positioning device 40A and the collection request of the second package 6B to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D. When receiving the collection request, the transport vehicle T, the driver terminal 120C, and the center terminal 120D respectively display the identification information of the package 6 mounted on the tractor 101a, the vehicle body position, and the collection request of the second package 6B.

[0197] As described above, the package 6 can be easily delivered and collected in accordance with the delivery request and collection request from the tractor 101a.

[0198] In the above embodiment, the delivery request or the collection request is made by operating the operation switch 130 provided on the tractor 101a, but when the remaining energy of the package 6 mounted on the tractor 101a is below the threshold value, at least one of the delivery request and the collection request may be automatically made. The control device 60 or the communication device 45A of the tractor 101a monitors the remaining energy of the package 6 being mounted based on the potential detected by the measurement sensor 43j, etc. In the case where the control device 60 monitors the remaining energy, when the remaining energy becomes below the threshold value, the control device 60 instructs the communication device 45A to send the delivery request and the collection request, and the communication device 45A receives the instruction and sends the delivery request and the collection request to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D. When the communication device 45A monitors the remaining energy, when the remaining energy becomes below a threshold, the communication device 45A sends a delivery request and a recovery request to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C and the center terminal 120D regardless of the instructions of the control device 60.

[0199] Furthermore, when the transporter T is a vehicle capable of automatic driving, upon receiving an instruction to deliver the package (delivery instruction, delivery request), the transporter T may move to the field H1 by automatic driving. Furthermore, when the transporter T is a vehicle capable of automatic driving, upon receiving an instruction to recover the package 6 (recovery instruction, recovery request), the transporter T may move to the field H1 by automatic driving.

[0200] <Package Deterioration / Cost Calculation>

[0201] In this way, in the distribution center H3, the first package 6A specified by the distribution instruction or the distribution request is selected from the plurality of first packages 6A stored in the distribution base H3, and the selected first package 6A is loaded on the transport vehicle T. The management device 100 calculates the degradation of the first package 6A based on the distribution history of the plurality of first packages 6A stored in the distribution base H3 (distribution source), and selects the first package 6A to be distributed from the plurality of first packages 6A based on the calculated degradation of the first package 6A.

[0202] In the distribution center H3, the energy is measured before the distribution of the first package 6A, such as Fig.19 As shown in FIG. 1 , the identification information of the package 6 and the delivery date and time are recorded as a delivery history in the external terminal 120D as a database. In addition, when the second package 6B collected at the delivery center H3 arrives, the remaining energy of the second package 6B at the time of collection is measured, as shown in FIG. Fig.19As shown, the remaining amount of energy at the time of collection is recorded in the database as a delivery history together with the delivery date and collection date. The collected second package 6B is filled with energy by the energy filling device and stored as the first package 6A in a storage place.

[0203] The external terminal 120D calculates the degradation degree of the package 6 for each package 6 based on the energy filling amount, the remaining amount, and the filling number. Fig. 20 As shown, the external terminal 120D sets a coefficient according to the remaining amount of the package 6, the energy filling amount, and the filling number, and calculates the value obtained by multiplying them as the degradation degree of each time, and calculates the overall degradation degree by accumulating the degradation degree of each time. In addition, the calculation of the degradation degree is only an example and is not limited.

[0204] Fig.21 The degradation degree of each package 6 stored in the center terminal 120D is shown. Fig.21 As shown, when four packages 6 of "Model A" are stored as the first packages 6A, when two first packages 6A need to be delivered, "Model A-169908" and "Model A-169909" with a small degree of deterioration are selected as the first packages 6A to be delivered. When the center terminal 120D selects the first package 6A, the identification number, storage destination, etc. of the selected first package 6A are notified to any one of the transport vehicle T, the driver terminal 120C, and the center terminal 120D.

[0205] In the above embodiment, the management device 100 can determine the delivery fee based on the size (maximum energy capacity) of the first package 6A delivered. Fig. 22 As shown, the management device 100 stores cost data indicating the relationship between the model (identification information) of the first package 6A and the delivery cost of each. In the cost data, the larger the maximum energy capacity, the higher the delivery cost of each is set. The management device 100 calculates the delivery cost of each field by multiplying the number of first packages 6A by the delivery cost of each, and sends the calculated delivery cost data to the manager terminal 120A. Thus, the delivery cost corresponding to the size of the first package 6A can be easily calculated and requested from the manager or the like.

[0206] In the above-mentioned embodiment, the number of packages 6 is calculated for each field H1 by automatically referring to the work plan. Fig.23As shown, a predetermined period may be inputted on the screen M15, and the field H1 where agricultural work is performed during the inputted predetermined period may be retrieved, and the number of packages 6 required for performing agricultural work on the field H1 retrieved by the retrieval may be obtained. When a predetermined operation is performed on the manager terminal 120A, and a request is made to the management device 100 to calculate the number of packages 6, the management device 100 causes the manager terminal 120A to display the screen M15. The screen M15 includes a period input unit 140 for inputting a period. When the predetermined period is inputted to the period input unit 140, the management device 100 refers to the work plan of the predetermined period, calculates the number of packages 6 based on the referenced work plan, and generates energy information for the predetermined period. An information display unit 141 for displaying energy information is provided on the screen M15, and the energy information for the predetermined period is displayed on the information display unit 141. The energy information displayed on the screen M15 of the manager terminal 120A is transmitted to at least one of the transport vehicle T, the driver terminal 120C, and the center terminal 120D. Thus, the distribution center H3 can easily grasp the energy information within the specified period. In addition, in the above-mentioned embodiment, the screen M15 is provided in the manager terminal 120A, but it can also be displayed on any one of the transport vehicle T, the driver terminal 120C and the center terminal 120D, and the energy information can be displayed on the screen by operating any one of the transport vehicle T, the driver terminal 120C and the center terminal.

[0207] <Relay location>

[0208] In the above embodiment, when the first package 6A is delivered, the delivered first package 6A is placed around the field H1. However, when a relay location A5 is set to be passed during agricultural work, the first package 6A may be guided to be placed at the relay location A5.

[0209] The relay location A5 can be set by the display device 50, the manager terminal 120A, and the operator terminal 120B. In the display device 50, if a predetermined operation is performed after setting the work area A2, the relay location A5 can be set. Figure 7B As shown, the display device 50 can set the planned travel route L1 in the screen M12, or Fig. 7A As shown in FIG. 1 , after setting the work area A2 in the screen M11, the relay location A5 is set. Fig.24 As shown in FIG. 1 , when a predetermined operation is performed while the screen M12 is displayed, the display device 50 changes to the setting mode of the relay location A5, and the pointer portion 95 is displayed on the screen M12. When the area outside the working area A2 (external area), that is, the turning area A1, is selected by the pointer portion 95, the selected turning area A1 is set as the relay location A5. Specifically, Fig.25 As shown, assuming that the working area A2 is composed of a plurality of edges Gi (i=1, 2, 3, 4...i), the turning area A1 is divided into a plurality of areas Ji (i=1, 2, 3, 4...i) connected to the plurality of edges Gi. In this case, the area Ji selected by the pointer unit 95 among the plurality of areas Ji is set as the relay location A5. For example, when the working area A2 is composed of four edges G1, G2, G3, and G4, the turning area A1 becomes four areas J1, J2, J3, and J4. Here, when area J3 is selected among the four areas J1, J2, J3, and J4, as shown in FIG. Fig.24 As shown, the display device 50 sets the area J3 as the relay location A5, and displays the relay location A5 set outside the working area A2. In this way, the relay location A5 can be set outside the working area A2 corresponding to the shape of the field, that is, the shape of the working area A2, such as the area Ji connected to the farm road.

[0210] As described above, when the relay location A5 is set by the display device 50, data of the field map MP2 including the work area A2 and the relay location A5, and a field map including data indicating the positions of the work area A2 and the relay location A5 are stored in the display device 50. In addition, the field map including the relay location A5 is transmitted to the management device 100 via the communication device 45A, and the field map including the relay location A5 is stored in the management device 100. When the relay location A5 is set by the manager terminal 120A or the operator terminal 120B, the field map in the state where the relay location A5 is not set is read from the management device 100, and the read field map is displayed on the screen of the manager terminal 120A or the operator terminal 120B. The manager terminal 120A or the operator terminal 120B has a function of setting the relay location A5 in the same manner as the display device 50, and in the same manner as the display device 50, the relay location A5 can be set by setting the area Ji by the pointer unit 95. When the relay location A5 is set by the manager terminal 120A or the operator terminal 120B, data of the field map MP2 including the working area A2 and the relay location A5, and a field map including data indicating the positions of the working area A2 and the relay location A5 are also stored in the manager terminal 120A or the operator terminal 120B and sent to the management device 100, and the field map including the relay location A5 is stored in the management device 100.

[0211] As described above, when the relay location A5 is set, the management device 100 sends a field map including the relay location A5 to any one of the transport vehicle T, the driver terminal 120C, and the center terminal 120D when delivering the first package 6A or collecting the second package 6B. Fig.26A ,26B As shown, a field map including the relay location A5 is displayed on a screen (referred to as a terminal screen) M30 of any one of the transport vehicle T, the driver terminal 120C, and the center terminal 120D.

[0212] like Fig.26A As shown in FIG. 1 , in the case of delivery of the first package 6A, the management device 100 displays a message indicating that the first package 6A is placed at the relay location A5 on the terminal screen M30. Fig.26B As shown, when the second package 6B is collected, the management device 100 displays a message on the terminal screen M30 indicating that the second package 6B placed in the relay location A5 is collected. That is, in order to continue the agricultural work of the tractor 101a in the field H1, the management device 100 guides at least the first package 6A different from the package 6 mounted on the tractor 101a to be delivered to the relay location A5.

[0213] Furthermore, if the manager terminal 120A or the operator terminal 120B is connected to the management device 100 and a request is made to display the relay location A5, the manager terminal 120A or the operator terminal 120B can also communicate with the management device 100. Fig.26A , Fig.26B In the same manner, a field map including the relay location A5 is displayed. In addition, when the manager terminal 120A or the operator terminal 120B displays the relay location A5, if it is determined to deliver the first package 6A or to collect the second package 6B, the management device 100 displays a message indicating that the first package 6A is placed at the relay location A5, or displays a message indicating that the second package 6B placed at the relay location A5 is collected.

[0214] In this way, the management device 100 can set the relay location A5 as a place to place materials such as fertilizers, pesticides, seedlings, and seeds. The relay location A5 can be set in any of the manager terminal 120A, the operator terminal 120B, and the display device 50. Hereinafter, for convenience of explanation, the manager terminal 120A, the operator terminal 120B, and the display device 50 are referred to as "agricultural terminals".

[0215] Specifically, when the agricultural terminal is operated to enter the material setting mode, the agricultural terminal is connected to the management device 100. In the material setting mode, Fig.27AAs shown, an input unit for inputting a field is displayed on the screen M31 of the agricultural terminal. When field identification information such as a field name is input into the input unit of the screen M31, the management device 100 extracts the field H1 associated with the field identification information, and displays a field map including the extracted field H1 on the screen M31. In the field map displayed on the screen M31 of the agricultural terminal, when a relay location A5 has been set, the management device 100 displays the meaning of setting a place for placing materials on the screen M31 of the agricultural terminal. The pointer portion 95 shown on the screen M31 of the agricultural terminal is moved to a specified position. When the pointer portion 95 is within the range of the relay location A5, if a specified operation is performed, as shown in FIG. Fig.27B As shown, the management device 100 sets the position of the pointer 95 to the supply position PH. That is, the management device 100 sets the supply position PH on the field map displayed on the screen M31. The field map in which the supply position PH is set is stored in the management device 100 and the agricultural terminal. In addition, when the relay location A5 is not set, as described above, the relay location A5 can be set in the agricultural terminal (manager terminal 120A, operator terminal 120B, display device 50).

[0216] As described above, when the agricultural terminal sets the supply position PH, data of the field map MP2 including the working area A2, the relay location A5 and the supply position PH, and data of the field map MP2 including the positions of the working area A2, the relay location A5 and the supply position PH are stored in the agricultural terminal and sent to the management device 100, and the field map including the relay location A5 and the supply position PH is stored in the management device 100.

[0217] In this way, when not only the relay location A5 but also the replenishment location PH is set, when the first package 6A is delivered, Fig.28A As shown, the management device 100 displays a field map including the supply position PH and the relay location A5 on the terminal screen M30, and displays a message indicating that the material is being supplied and the first package 6A is placed on the relay location A5 at the supply position PH. Fig.28B As shown, the management device 100 displays a field map including the replenishment position PH and the relay location A5 on the terminal screen M30, and displays a message indicating that the material is replenished at the replenishment position PH and the second package 6B is collected at the relay location A5 on the terminal screen M30. In addition, when delivering or collecting the first package 6A, the management device 100 can also Fig.28A , Fig.28BThe same screen as the terminal screen M30 shown is displayed on the agricultural terminal (manager terminal 120A, operator terminal 120B, display device 50). Therefore, when transporting materials to the field H1, the operator can place the transported materials at the replenishment location PH by checking the field map including the replenishment location PH displayed by the agricultural terminal.

[0218] <Agricultural Operations (Materials)>

[0219] In the tractor 101a, when agricultural operations that consume materials such as fertilizers, pesticides, seedlings, and seeds are performed, if the display device 50 stores a field map including the supply position PH and the relay location A5, the field map is displayed on the display device 50, and the current vehicle body position is also displayed on the field map. In addition, if the display device 50 does not store a field map including the supply position PH and the relay location A5, the current vehicle body position is transmitted from the communication device 45A to the management device 100. If the management device 100 retrieves the field H1 from the vehicle body position and stores a field map in which the supply position PH and the relay location A5 are set in the retrieved field H1, the management device 100 transmits the field map to the communication device 45A of the tractor 101a, and the display device 50 displays the field map including the supply position PH and the relay location A5 transmitted from the management device 100.

[0220] The tractor 101a has a measuring sensor 43k for detecting the amount of material loaded on the working device 2. The measuring sensor 43k monitors the amount of material during the operation of the working device 2. The control device 60 automatically moves to the replenishment position PH of the relay location A5 when the amount of material becomes less than a threshold value during automatic driving. Fig.29As shown, at the location P10, when the amount of material is less than the threshold value, the tractor 101a temporarily stops the operation of the working device 2 at the location P10, automatically moves to the replenishment location PH closest to the current location, and stops at the replenishment location PH. Here, when the tractor 101a reaches the replenishment location PH to replenish the material, the notification device 44 mounted on the tractor 101a makes a notification to urge the replacement of the first package 6A. That is, when the communication device 45A of the tractor 101a is connected to the management device 100 and receives the delivery of the first package 6A from the management device 100, or when the field map displayed on the display device 50 shows that the first package 6A is placed at the relay location A5, the notification device 44 determines that the first package 6A is delivered at the relay location A5, and makes a notification to urge the replacement of the first package 6A. In addition, the notification device 44 may be a device that generates voice or sound, or a device that displays text or the like. In the above embodiment, when the material becomes below the threshold, the tractor 101a moves to the relay site A5, but when the remaining amount of the installed package 6 becomes below the threshold, it can also move toward the package 6 delivered to the field (relay site A5) or around the field.

[0221] In the above embodiment, when the first package 6A is delivered to the field H1, the first package 6A is transported by the transport vehicle T. In addition, the transport vehicle T can transport not only the first package 6A but also materials to the field H1. Fig.30 This shows the situation of delivering the first package and materials to the field H1. Fig.30 As shown in FIG. 1 , a transport vehicle T carrying the first package 6A approaches a storage location H2 such as a warehouse, loads materials at the storage location H2, and then moves from the storage location H2 to the field H1. When the transport vehicle T arrives at the field H1, as shown in FIG. Fig.32 As shown, the transport vehicle T moves to the relay location A5 and waits. The movement of the transport vehicle T may be automatic driving or manual driving.

[0222] Fig.31 FIG. 2 shows the movement of the transport vehicle T carrying the first package 6A and materials. Fig.31As shown, after the transport vehicle T arrives at the relay location A5, it stops at the relay location A5 (S40). The transport vehicle T is connected to the management device 100 or the tractor 101a via the communication device 45B, and inquires whether the supply position PH is set in the field H1 where the transport vehicle T is located (S41). When the supply position PH is set in the field H1 (S41, yes), the screen of the transport vehicle T guides the placement of materials at the supply position PH and the delivery of the first package 6A to the relay location (S42). When the supply position PH is not set in the field H1 (S41, no), the transport vehicle T is set to the delivery mode (S43). In addition, the transport vehicle T notifies the tractor 101a that it has entered the delivery mode through the communication device 45B (S44). When the tractor 101a starts agricultural operations, the materials are monitored by the measuring sensor 43k (S45). When the amount of material becomes less than the threshold value (S46, Yes), the tractor 101a stops (S47), and the tractor 101a notifies that the material is running low or needs to be moved to the tractor 101a (S48). Fig.32 As shown, when the transporter T is notified that the material is running low or needs to be moved to the tractor 101a, the transporter T automatically moves to the tractor 101a (S49). In addition, in the case where the transporter T is manually driven, the terminal (agricultural terminal, driver terminal 120C) owned by the driver driving the transporter can also be notified that the material is running out or needs to be moved to the tractor 101a, and the driver drives the transporter T to move to the tractor 101a. When the transporter T arrives at the tractor 101a, the transporter T or the tractor 101a is urged to replenish the material and replace the package 6 (S50). For example, a display urging the replenishment of the material and the replacement of the package 6 is displayed on the screen of the transporter T or the display device 50.

[0223] <Agricultural Operations (Harvest)>

[0224] In the above embodiment, the relay place is a place where materials such as fertilizers, pesticides, seedlings, and seeds are supplied, and is a place where the package 6 is placed when it is delivered and recovered, but instead, the relay place may be a place where a transport vehicle that receives harvested objects temporarily waits, and is a place where the package 6 is placed when it is delivered and recovered. In this case, the supply position PH becomes a standby position for the transport vehicle that receives harvested objects, so by rereading the above supply position as the standby position, the standby position can be set by the management device 100, the agricultural terminal, etc.

[0225] Hereinafter, the relay location will be described as a location where the transport vehicle waits. In addition, the setting of the relay location, the display of messages when delivering and collecting the package 6, the setting of the waiting position, etc. refer to the above description and the description thereof will be omitted.

[0226] The management device 100 may generate a place where a transport vehicle that receives the harvested products harvested by the working device 2 of the tractor 101a stands by as a relay place, and guide the installation of the first package 6A at the relay place.

[0227] Thus, in the tractor 101a, when the agricultural work of harvesting is performed, if the display device 50 stores a field map including the standby position PH and the relay location A5, the field map is displayed on the display device 50, and the current vehicle body position is also displayed on the field map. In addition, if the display device 50 does not store a field map including the standby position PH and the relay location A5, the current vehicle body position is transmitted from the communication device 45A to the management device 100. If the management device 100 retrieves the field H1 from the vehicle body position and stores a field map in which the standby position PH and the relay location A5 are set for the retrieved field H1, the management device 100 transmits the field map to the communication device 45A of the tractor 101a, and the display device 50 displays the field map including the standby position PH and the relay location A5 transmitted from the management device 100.

[0228] The tractor 101a has a measuring sensor 431 for detecting the amount of harvested crops. The measuring sensor 431 monitors the amount of harvested crops during the operation of the working device 2. During automatic driving, when the amount of harvested crops reaches or exceeds a threshold value, the control device 60 automatically moves to the standby position PH of the relay location A5. The tractor 101a temporarily stops the operation of the working device 2 at the moment when the amount of harvested crops reaches or exceeds the threshold value, automatically moves to the standby position PH closest to the current position, and stops at the standby position PH. Here, when the tractor 101a reaches the temporary standby position PH of the transport vehicle, the notification device 44 mounted on the tractor 101a notifies to urge the replacement of the first package 6A. That is, when the communication device 45A of the tractor 101a is connected to the management device 100 and receives a message from the management device 100 indicating that the first package 6A is to be delivered, or when the field map displayed on the display device 50 shows that the first package 6A is placed at the relay location A5, the notification device 44 determines that the first package 6A is delivered at the relay location A5 and issues a notification urging the replacement of the first package 6A.

[0229] In the above embodiment, when the first package 6A is delivered to the field H1, the first package 6A is transported by the transport vehicle T. In addition, the transport vehicle T can carry not only the first package 6A but also crops in the field H1. Fig.33 The first package 6A and the container without harvested products are shown being carried to the field H1. Fig.33As shown, the transport vehicle T carrying the first package 6A approaches a storage location H2 such as a warehouse, loads a container, and then moves from the storage location H2 to the field H1. When the transport vehicle T arrives at the field H1, the transport vehicle T moves to the relay location A5 and waits. The movement of the transport vehicle T can be automatic or manual.

[0230] Fig.34 The figure shows the movement of the transport vehicle T when replacing the first package 6A and placing the harvest into the container. Fig.34 As shown, after the transport vehicle T arrives at the relay location A5, it stops at the relay location A5 (S60). The transport vehicle T is connected to the management device 100 or the tractor 101a via the communication device 45B, and inquires whether the standby position PH is set in the field H1 where the transport vehicle T is located (S61). When the standby position PH is set in the field H1 (S61, yes), on the screen of the transport vehicle T, it is guided to wait around the supply position PH and deliver the first package 6A to the relay location (S62). When the standby position PH is not set in the field H1 (S61, no), the transport vehicle T is set to the delivery mode (S63). In addition, the transport vehicle T notifies the tractor 101a that it has entered the delivery mode through the communication device 45B (S64). When the tractor 101a starts agricultural operations, the amount of harvested products harvested by the tractor 101a is monitored by the measuring sensor 431 (S65). When the amount of harvested material exceeds the threshold value (S66, yes), the tractor 101a stops (S67), and the tractor 101a notifies the transport vehicle T that the container for accommodating the harvested material is full (S68). Fig.32 Similarly, the transport truck T automatically moves toward the tractor 101a (S69). In addition, when the transport truck T is manually driven, the terminal owned by the driver driving the transport truck (agricultural terminal, driver terminal 120C) can also be notified that the container for accommodating the harvest is full, and the driver drives the transport truck T to move toward the tractor 101a. When the transport truck T reaches the tractor 101a, the transport truck T or tractor 101a is urged to discharge the harvest to the transport truck T (transfer the harvest harvested by the tractor 101a to the transport truck T) and replace the package 6 (S70). For example, a display urging the discharge of the harvest to the transport truck T and the replacement of the package 6 is displayed on the screen of the transport truck T or the display device 50.

[0231] <Conclusion>

[0232] An energy support system for an agricultural machine (tractor 101a) that can load and unload a package 6 filled with energy and is driven by the energy filled in the package 6, wherein the energy support system for the agricultural machine (tractor 101a) includes a management device 100 that calculates the energy consumed by the agricultural machine (tractor 101a) when the agricultural machine (tractor 101a) performs agricultural operations, and calculates the number of packages 6 required to supply the consumed energy based on the consumed energy. Thus, the package 6 when the agricultural machine (tractor 101a) performs agricultural operations can be grasped. That is, the energy required for performing agricultural operations in a field H1 can be ensured by the package 6, so that agricultural operations in the field H1 can be smoothly continued.

[0233] The management device 100 transmits the number of packages 6 and field information related to the field H1 that is the delivery destination of the packages 6 to any one of the transport vehicle T that transports the packages 6, the terminal 120C of the driver driving the transport vehicle T, and the terminal 120D of the delivery center H3 that delivers the packages 6. Thus, the packages 6 required for agricultural work can be easily delivered to the field H1.

[0234] The management device 100 calculates the energy consumed by the agricultural machine (tractor 101a) when the agricultural machine (tractor 101a) performs agricultural work based on the content of agricultural work performed in the field H1. This makes it possible to easily find the number of packages 6 corresponding to the load of agricultural work.

[0235] The management device 100 calculates the energy consumed by the agricultural machine (tractor 101a) when the agricultural machine (tractor 101a) performs agricultural work on each of the plurality of fields H1 based on the content of each agricultural work on the plurality of fields H1, and calculates the number of packages 6 for each of the plurality of fields H1 based on the calculated energy consumption of each of the plurality of fields H1. Thus, even when agricultural work is performed on the plurality of fields H1 in sequence using the agricultural machine (tractor 101a), it is possible to prevent the situation where the agricultural work cannot be performed midway due to exhaustion of energy of the package 6.

[0236] The management device 100 searches for a field H1 in which agricultural work is performed in a predetermined period among a plurality of fields H1, and extracts the field H1 extracted by the search and the number of packages 6 used in the extracted field H1. Thus, the packages 6 required for agricultural work in a predetermined period (for example, one day) can be easily prepared, and agricultural work in the predetermined period can be smoothly performed.

[0237] The management device 100 transmits the package 6 of each retrieved field H1 and information related to each field H1 to any one of the transport vehicle T that transports the package 6, the terminal 120C of the driver driving the transport vehicle T, and the terminal 120D of the delivery center H3 that delivers the package 6. Thus, the package 6 required for agricultural work in a predetermined period (for example, one day) can be easily delivered to the field H1.

[0238] The management device 100 issues a delivery instruction of the package 6 to any one of the transport vehicle T that transports the package 6, the terminal 120C of the driver driving the transport vehicle T, and the terminal 120D of the delivery center H3 that delivers the package 6. Thus, the operator who delivers the package 6 can easily grasp the information for delivering the package 6 to the field H1 by observing the transport vehicle T, the terminals 120C, and 120D.

[0239] When the energy of the mounted package 6 is below the threshold, the agricultural machine (tractor 101a) moves toward the package 6 delivered to the field H1 or the surroundings of the field H1. Thus, before the energy of the package 6 mounted on the agricultural machine (tractor 101a) is exhausted, it is easy to reach the field H1 or the surroundings of the field H1 where a new package 6 is placed, so that the package 6 can be easily replaced in the field H1 or the surroundings of the field H1.

[0240] The management device 100 instructs any one of the transport vehicle T that transports the package 6, the terminal 120C of the driver driving the transport vehicle T, and the terminal 120D of the delivery center H3 that delivers the package 6 to collect the package 6. Thus, in order to replace the package 6, the package 6 that has been unloaded from the agricultural machine (tractor 101a) and placed in a specified place can be easily collected.

[0241] A method for supporting energy of an agricultural machine (tractor 101a) which is detachably equipped with a package 6 filled with energy, wherein before the agricultural machine (tractor 101a) performs agricultural work in a field H1, the consumed energy consumed by the agricultural machine (tractor 101a) when the agricultural machine (tractor 101a) performs agricultural work is calculated, and based on the consumed energy, the number of packages 6 required to supply the consumed energy is calculated. Thus, the package 6 when the agricultural machine (tractor 101a) performs agricultural work can be grasped. That is, the energy required for performing agricultural work in the field H1 can be ensured by the package 6, so that the agricultural work in the field H1 can be smoothly continued.

[0242] An energy support system for an agricultural machine (tractor 101a), which can load and unload a package 6 filled with energy and is driven by the energy filled in the package 6, wherein the energy support system for the agricultural machine (tractor 101a) has a management device 100, which obtains any one of an operation plan of agricultural operations performed by the agricultural machine (tractor 101a) in a field H1 and a request from the agricultural machine (tractor 101a), and instructs any one of a transport vehicle T, a terminal 120 of a driver driving the transport vehicle T, and a terminal 120D of a distribution center H3 for distributing the package 6 to distribute the package 6 to the field H1 according to a distribution plan or request set based on the operation plan. Thus, it is possible to understand whether the persons involved in the distribution of the package 6, i.e., the driver of the transport vehicle, the manager who manages the package 6 at the distribution center H3, the operator, etc., distribute the package 6 to the field H1 in accordance with the work plan of the agricultural operation, and distribute the package 6 to the field H1 in accordance with the request from the agricultural machine (tractor 101a). That is, according to the work plan or the agricultural machine (tractor 101a), the package 6 required for the agricultural operation can be smoothly distributed to the field H1. That is, when the agricultural operation is performed, the package 6 can be delivered to the place (field) where the agricultural operation is performed.

[0243] The management device 100 obtains any one of the operation plan of the agricultural operation performed by the agricultural machine (tractor 101a) in the field H1 and the request from the agricultural machine (tractor 101a), and issues an instruction to collect the package 6 to any one of the transport vehicle T, the terminal 120C of the driver driving the transport vehicle T, and the terminal 120D of the distribution center H3 that delivers the package 6 according to the collection plan or request set based on the operation plan. As a result, it is possible to grasp whether the persons involved in collecting the package 6, that is, the driver driving the transport vehicle, the manager who manages the package 6 at the distribution center H3, the operator, etc., collect the package 6 according to the operation plan of the agricultural operation, and whether the package 6 is collected according to the request from the agricultural machine (tractor 101a). That is, it is possible to smoothly collect the package 6 according to the operation plan or the agricultural machine (tractor 101a).

[0244] The agricultural machine (tractor 101a) has an operation switch 130, which performs at least one of a request to deliver the package 6 and a request to collect the package 6. Therefore, the driver of the agricultural machine (tractor 101a) or the agricultural worker who performs agricultural work can simply perform a request to deliver the package 6 or a request to collect the package 6 by operating the operation switch 130 as needed.

[0245] The agricultural machine (tractor 101a) includes a communication device 45A, which, when the energy of the package 6 mounted on the agricultural machine (tractor 101a) becomes less than a threshold value, at least performs one of a request to deliver the package 6 and a request to collect the package 6. Thus, when the energy of the package 6 mounted on the agricultural machine (tractor 101a) becomes less than a threshold value, a request to deliver the package 6 or a request to collect the package 6 can be automatically and simply performed.

[0246] The transport vehicle T moves to the field H1 by automatic driving when receiving an instruction to deliver the package 6. Thus, the package 6 can be carried into the field H1 without manually driving the transport vehicle T.

[0247] The transport vehicle T moves to the field H1 by automatic driving when receiving an instruction to collect the package 6. Thus, the transport vehicle T for collecting the package 6 can reach the field H1 without manually driving the transport vehicle T.

[0248] The management device 100 calculates the degradation of the package 6 based on the delivery history of the plurality of packages 6 stored at the delivery source, and selects the package 6 to be delivered from the plurality of packages 6 according to the calculated degradation of the package 6. This can prevent the plurality of packages 6 stored at the delivery source from being extremely degraded in a short period of time.

[0249] The management device 100 determines the delivery fee based on the size of the delivered package 6. Thus, even if there are a plurality of packages 6 of different sizes, the delivery fee according to the energy amount can be obtained.

[0250] An energy support system for an agricultural machine (tractor 101a), which can load and unload a package 6 filled with energy and is driven by the energy filled in the package 6, wherein the energy support system for the agricultural machine (tractor 101a) has a management device 100, and the management device 100 guides the distribution of another package 6 different from the package 6 installed on the agricultural machine (tractor 101a) at a relay site passed in the middle of agricultural operations, so that the agricultural machine (tractor 101a) can continue the agricultural operation in the field H1. Thus, the package 6 can be distributed to the place where the agricultural machine (tractor 101a) passes during agricultural operations. The operation for replacing the package 6 can be smoothly performed during agricultural operations. That is, since the package 6 is distributed to the relay site where the agricultural machine (tractor 101a) passes in the middle of agricultural operations, the energy can be quickly replenished to the agricultural machine (tractor 101a), thereby improving the efficiency of agricultural operations.

[0251] The management device 100 generates a place where materials supplied to the agricultural machine (tractor 101a) are placed as a relay place, and guides the installation of another package 6 at the relay place. Thus, the supply of materials and the replacement of the package 6 can be performed simultaneously.

[0252] When the amount of material carried on the agricultural machine (tractor 101a) during agricultural work becomes less than a threshold, the agricultural machine (tractor 101a) moves to the relay site. Thus, the package 6 can be replaced according to the timing of replenishing the material at the relay site.

[0253] When the amount of material carried on the agricultural machine (tractor 101a) becomes less than the threshold value during agricultural operation, the transport vehicle T carrying the materials at the relay location and other packages 6 is moved from the relay location to the agricultural machine (tractor 101a). Thus, when the agricultural machine (tractor 101a) is supplied with materials, not only the materials but also the packages 6 can be quickly brought to the vicinity of the agricultural machine (tractor 101a), so that the agricultural machine (tractor 101a) can be supplied with materials at the same time.

[0254] When the transport vehicle T reaches the agricultural machine (tractor 101a), the transport vehicle T or the agricultural machine (tractor 101a) is notified to urge replacement of the package 6. Thus, the driver of the transport vehicle T or the agricultural machine (tractor 101a) can be easily informed that the package 6 can be replaced.

[0255] The management device 100 generates a place where a transport vehicle T for receiving harvested products harvested by an agricultural machine (tractor 101a) stands by as a relay place, and guides the installation of other packages 6 at the relay place. Thus, the package 6 can be replaced according to the timing of transferring the harvested products to the transport vehicle T at the relay place.

[0256] When the amount of harvested crops harvested by the agricultural machine (tractor 101a) during agricultural operations exceeds a threshold value, the agricultural machine (tractor 101a) moves to a relay location, thereby enabling replacement of the package 6 according to the timing of transferring the harvested crops to other transport vehicles at the relay location.

[0257] When the amount of harvested material harvested by the agricultural machine (tractor 101a) during agricultural operation is greater than a threshold value and other batteries are mounted on the transport vehicle T, the transport vehicle T is moved from the relay location to the agricultural machine (tractor 101a). Thus, when the agricultural machine (tractor 101a) discharges the harvested material, not only the harvested material but also the package 6 can be quickly brought to the vicinity of the agricultural machine (tractor 101a), so that the discharge of the harvested material can be carried out at the location where the agricultural machine (tractor 101a) is located.

[0258] The agricultural machine (tractor 101a) has a vehicle body 2 capable of loading and unloading a package 6 filled with energy, a prime mover 4 driven by the energy filled in the package 6, and a working device 3. When it is necessary to supply materials to the working device 3 or to discharge the harvest harvested by the working device 3, the vehicle body 2 moves to a relay location where another package 6 different from the package 6 mounted on the agricultural machine (tractor 101a) is placed. Thus, the package 6 can be replaced at the relay location A5 when the material of the working device 3 is supplied or the harvest harvested by the working device 3 is discharged.

[0259] In the first embodiment, the number of packages 6 mounted on the tractor 101a is not limited. For example, a plurality of packages 6 may be mounted on the tractor 101a, at least one of which may be replaceable, and the other packages 6 may be fixed and not replaceable. Alternatively, a plurality of packages 6 may be mounted on the tractor 101a, and all of the plurality of packages 6 may be replaceable.

[0260] [Second embodiment]

[0261] Fig.35 1 is an overall diagram showing an energy support system for agricultural machinery according to a second embodiment. The agricultural machinery 101 according to the second embodiment is also a tractor, a combine harvester, a rice transplanter, or a machine tool. In the second embodiment, the description of the same structure as the first embodiment is omitted. In addition, in the second embodiment, the description is made by taking a tractor as an example. The description is made by taking a battery as the package.

[0262] like Fig.35 As shown in FIG. 1 , a plurality of packages 6 are mounted on the tractor 101a. At least one of the plurality of packages 6 is replaceable. Fig.36 As shown, the plurality of packages 6 are connected to the regulator 160. The regulator 160 switches to either the discharge mode or the regeneration mode based on a control signal from the control device 60. In the discharge mode, the regulator 160 receives power from the plurality of packages 6. The regulator 160 adjusts the ratio of the received power of each of the plurality of packages 6 based on the control signal from the control device 60. The power received by the regulator 160 is sent to the prime mover 4 (electric motor).

[0263] Thus, the energy support system for agricultural machinery of the second embodiment is a system that transfers the package 6 having energy above the threshold value when the energy of the package 6 respectively mounted on the plurality of tractors 101a is above the threshold value. For the sake of convenience, it is assumed that there are two tractors 101a, and the first tractor is referred to as the first tractor 101a1, and the second tractor is referred to as the second tractor 101a2.

[0264] Fig.37 FIG. 101 shows a situation where the first tractor 101a1 and the second tractor 101a2 are working in the field H1. Fig.37 As shown, the first tractor 101a1 continues agricultural work in field A, for example, and the second tractor 101a2 finishes agricultural work in field B. When the agricultural work of the day is finished, the second tractor 101a2 is scheduled to return to the storage place H2. In addition, when the agricultural work of the day is not finished, the second tractor 101a2 moves to another field H1 (for example, field C).

[0265] When the second tractor 101a2 is scheduled to return to the storage place H2, if the energy of the plurality of packages 6 mounted on the second tractor 101a2 is sufficient to return to the storage place H2, the second tractor 101a2 performs an operation of, for example, distributing at least one package (referred to as a filling package) 6) of the plurality of packages 6 having an energy of more than a threshold value to the first tractor 101a1 as the other tractor 101a. The second tractor 101a2 travels toward the relay place A5 in the field A where the first tractor 101a1 performs agricultural work or around the field A while returning from the field B to the storage place H2, and stops at the relay place A5 in the field A or around the field A. The operator who performs work in the field A or the operator who rides the second tractor 101a2 places the filling package 6 of the second tractor 101a2 at the relay place A5 in the field A or around the field A. When the work at the relay location A5 in the field A or around the field A is completed, the second tractor 101a2 moves to the storage location H2.

[0266] Fig.38 FIG. 2 shows the action of the second tractor 101a2 handing over the filled package 6 to the first tractor 101a1. Fig.38As shown, after the operation in field B is completed, the control device 60 or the display device 50 of the second tractor 101a2 determines whether the operation of the prescribed period (for example, 1 day) is completed (S80). Specifically, the control device 60 or the display device 50 is connected to the management device 100 via the communication device 45A, or extracts the operation plan by referring to the storage device such as the non-volatile memory of the display device 50. After extracting the operation plan, the control device 60 or the display device 50 refers to the actual results of agricultural operations from the start of agricultural operations to the present (for example, the position of the vehicle body), and if the actual results of agricultural operations indicate that agricultural operations have been performed in all fields shown in the operation plan, it is determined that the operation is completed (S80, Yes). For example, when the operation plan indicates that agricultural operations are performed in field B and field C, if the actual results of agricultural operations (the position of the vehicle body) of the second tractor 101a2 indicate that the operation is performed while moving in field B and field C, the control device 60 or the display device 50 of the second tractor 101a2 determines that the operation of the prescribed period (1 day) is completed.

[0267] On the other hand, if the agricultural operation actual result does not indicate that the agricultural operation has been performed in all the fields shown in the operation plan for the prescribed period, the control device 60 or the display device 50 determines that the operation for the prescribed period has not been completed (S80, No). In addition, in the above embodiment, the vehicle position is exemplified as the agricultural operation actual result, but the agricultural operation actual result is not limited to the vehicle position, and any actual result can be used as long as it can determine whether the agricultural operation has been performed in units of the field H1.

[0268] When the control device 60 of the second tractor 101a2 determines that the operation within the prescribed period has not been completed (S80, No), the control device 60 controls the tractor 101a2 to move from the current field to the field H1 where the next agricultural operation is to be performed by automatic driving (S81). Fig.37 As shown, after the work in the field B is completed, the control device 60 of the second tractor 101a2 drives the tractor out of the field B toward the farm road (road) and toward the field C and into the field C by automatic driving.

[0269] When the operation of the predetermined period is completed (S80, Yes), the control device 60 of the second tractor 101a2 determines whether there is a package (referred to as a filled package) with energy greater than a threshold value (S82). Fig.39 As shown, the control device 60 of the second tractor 101a2 measures the energy of the plurality of packages 6 using the measuring sensor 43j, and extracts the packages 6 having energy above a threshold value (eg, above 80%) from the plurality of packages 6 as filling packages.

[0270] When there is a filled package 6 (S82, yes), the control device 50 of the second tractor 101a2 transmits a signal (transfer signal) indicating that the package 6 can be transferred to the other agricultural machine 101 (vehicle body 3) via the communication device 45A (S83). For example, the second tractor 101a2 transmits a signal indicating that the package 6 can be transferred to the first tractor 101a1. When the first tractor 101a1 (control device 60) receives the signal to transfer the package 6 (S84), the control device 60 of the first tractor 101a1 measures the energy of a plurality of packages 6 using the measurement sensor 43j, and determines whether there is a package 6 (referred to as a depleted package) whose energy is below a threshold value (for example, below 20%) (S85).

[0271] When there is an exhausted package 6 (S85, Yes), the first tractor 101a1 (control device 60) sends a request (request signal) for bringing the package 6 and the current vehicle position of the first tractor 101a1 to the second tractor 101a2 that sent the transfer signal (S86).

[0272] When receiving a request (request signal) to bring the package 6, the control device 60 of the second tractor 101a2 generates a planned driving route from the current vehicle position to the field A where the first tractor 101a1 is located (S87), and moves to the field A by automatic driving (S88). The control device 60 of the first tractor 101a2 stops at the relay location A5 in the field A or around the field A (S89). Fig.40 As shown, information indicating which of the plurality of packages 6 is the filled package 6 (the package 6 that can be transferred to the first tractor 101a1) is displayed on the display device 50 of the second tractor 101a2 (S90). In addition, information indicating which of the filled package 6 is the package 6 that can be transferred to the first tractor 101a1 may be displayed on the agricultural terminal.

[0273] When the filling package 6 is placed at the relay location A5 in the field A or around the field A, that is, when information indicating that the filling package 6 has been placed is input to the display device 50 of the second tractor 101a2 (select Fig.40 When the control unit 60 of the second tractor 101a2 presses the completion button (S91, Yes), the control unit 60 of the second tractor 101a2 controls the tractor 101a2 to travel from the current position to the storage place H2 (S92).

[0274] In addition, if Fig.39 As shown, when a plurality of filling packages 6 exist in the second tractor 101a2, the control device 60 selects a filling package 6 that can be transferred to the first tractor 101a1 from among the plurality of filling packages.

[0275] The total amount of energy of the other packages 6 except the filling package 6 from the plurality of packages 6 is calculated, and the total amount of energy is used to calculate whether the second tractor 101a2 can return from the field A to the storage place H2. If it can return, all the filling packages 6 of the second tractor 101a2 are selected as the filling packages 6 that can be transferred to the first tractor 101a1.

[0276] On the other hand, in the total amount of energy of the other packages 6 except the filling package 6, when the second tractor 101a2 cannot return from the field A to the storage place H2, the control device 60 selects at least one of the plurality of filling packages 6 as a package for return. Then, the control device 60 calculates the energy of the package for return and the total amount of energy of the other packages 6, and when the tractor 101a2 can return from the field A to the storage place H2 with the total amount of energy, the package 6 except the package 6 for return among the plurality of filling packages 6 is selected as the filling package 6 that can be transferred to the first tractor 101a1. As described above, the information of the selected filling package 6 is displayed on the display device 50.

[0277] Fig.41 FIG. 1 shows a state where the first tractor 101a1 and the second tractor 101a2 are traveling on a road (agricultural road). Fig.41As shown, the first tractor 101a1 and the second tractor 101a2 are controlled by the control device 60 respectively, and move by automatic driving. For example, in automatic driving, the control device 60 of the first tractor 101a1 determines whether there is an exhausted package 6. When there is an exhausted package 6, the communication device 45A of the first tractor 101a1 sends a request signal to the second tractor 101a2. On the other hand, in automatic driving, when the communication device 45A of the second tractor 101a2 receives the request signal, the control device 60 of the second tractor 101a2 determines whether there is a refilling package 6. When there is a refilling package 6, the communication device 45A of the second tractor 101a2 sends a handover signal to the first tractor 101a1. When the first tractor 101a1 receives the handover signal, the first tractor 101a1 and the second tractor 101a2 perform inter-vehicle communication via the communication device 45A and send each other's vehicle positions. The control devices 60 of the first tractor 101a1 and the second tractor 101a2 calculate the distance between each other based on the positions of the respective vehicle bodies, and when the distance between the first tractor 101a1 and the second tractor 101a2 is less than a threshold value (less than several meters), the control devices 60 stop, for example, in the area A30. That is, the control device 60 of the first tractor 101a1 stops the automatic driving in the area A30, and the control device 60 of the second tractor 101a2 also stops the automatic driving. In the area A30, the filling package 6 of the second tractor 101a2 is replaced with the exhausted battery body 6 of the first tractor 101a1.

[0278] The communication between the communication device 45A of the first tractor 101a1 and the communication device 45A of the second tractor 101a2 may be direct communication or indirect communication, and is not limited thereto. That is, the transmission and reception of the transfer signal and the request signal may be performed directly through the communication device 45A, or may be performed through a mobile phone communication network such as a base station, satellite communication, or the like.

[0279] <Conclusion>

[0280] The agricultural machine (tractor 101a) comprises: a prime mover 4; a plurality of packages 6 filled with energy for driving at least one of a working device 3 and a prime mover 4; a vehicle body 3 equipped with at least a plurality of packages 6; and a control device 60 for controlling the travel of the vehicle body 3. When there is at least one package 6 among the plurality of packages 6 whose energy is above a threshold value, the control device 60 performs travel control to move the vehicle body 3 toward other vehicle bodies 3.

[0281] The agricultural machine (tractor 101a) comprises: a prime mover 4; a plurality of packages 6 filled with energy for driving at least one of a working device 3 and a prime mover 4; a vehicle body 3 carrying at least a plurality of packages 6; and a communication device 45A, wherein when there is at least one package 6 whose energy is above a threshold value, the communication device 45A sends a signal indicating that the package 6 can be transferred to another vehicle body 3.

[0282] Thus, the package 6 having energy equal to or greater than the threshold value can be transferred (handed over) to another vehicle 3. That is, the other vehicle 3 can be charged with energy without moving to a predetermined package 3 replacement location or charging location.

[0283] The agricultural machine (tractor 101a) has a communication device 45A, and when there is at least one package 6 with energy above the threshold, the communication device 45A transmits a signal indicating that the package 6 can be transferred to another vehicle 3. Thus, the other vehicle 3 can easily understand that the package 6 with energy above the threshold has been transferred.

[0284] When the communication device 45 of the agricultural machine (tractor 101a) receives a request to bring the package 6 from another vehicle 3, the control device 60 controls the vehicle to move toward the other vehicle 3. Thus, the other vehicle 3 can receive the package 6 of the agricultural machine (tractor 101a) by simply making a request.

[0285] The control device 60 extracts the filling package 6 having energy greater than or equal to the threshold value from the plurality of packages 6, and selects the filling package 6 that can be transferred to the other vehicle body 3 from the plurality of filling packages 6 when there are a plurality of extracted filling packages 6. Thus, only the filling package 6 selected from the plurality of filling packages 6 can be transferred to the other vehicle 3.

[0286] When the distance between the vehicle body 3 and the other vehicle body 3 becomes less than a threshold value, the control device 60 stops the vehicle body 3. Thus, the agricultural machine (tractor 101a) equipped with the package 6 having energy above the threshold value and transferable to the other vehicle 3 can be stopped at a position close to the other vehicle body 3, so that the package 6 can be easily replaced around the stop position.

[0287] The embodiments disclosed this time should be considered as illustrative in all aspects and not restrictive. The scope of the present invention is indicated by the claims rather than the above description, and is intended to include all modifications within the meaning and scope equivalent to the claims.

[0288] Description of reference numerals:

[0289] 1. Tractor

[0290] 2: Operating device

[0291] 3: Driving body (body)

[0292] 4: Prime Mover

[0293] 5: Speed ​​​​change device

[0294] 5a: Propulsion shaft

[0295] 5b: Main transmission

[0296] 5c: Auxiliary transmission

[0297] 5d: Shuttle

[0298] 5e: PTO power transmission unit

[0299] 5f: Front gearshift

[0300] 6: Encapsulation

[0301] 6A: First package

[0302] 6B: Second package

[0303] 6a1: Bracket

[0304] 6b1: Grip

[0305] 7: Driving device

[0306] 7F: Front wheel

[0307] 7R: Rear wheel

[0308] 8: Lifting device

[0309] 8a: Lifting arm

[0310] 8b: Lower link

[0311] 8c: Top connecting rod

[0312] 8d: Lifting rod

[0313] 8e: Lifting cylinder

[0314] 9: Cockpit

[0315] 10: Driver's Seat

[0316] 12: Shuttle axis

[0317] 13: Forward and reverse switching part

[0318] 14: PTO propulsion shaft

[0319] 15: PTO clutch

[0320] 16: PTO shaft

[0321] 17: First Clutch

[0322] 18: Second clutch

[0323] 19: Installation

[0324] 19a: Accommodation

[0325] 19b: Opening

[0326] 19c: Cover

[0327] 20F: Front wheel differential

[0328] 20R: Rear wheel differential

[0329] 21F: Front axle

[0330] 21R: Rear axle

[0331] 22: Front drive shaft

[0332] 25: First action valve

[0333] 26: Second action valve

[0334] 27: Control valve

[0335] 29: Steering gear

[0336] 30: Steering Wheel

[0337] 31: Steering shaft

[0338] 32: Auxiliary institutions

[0339] 33: Hydraulic pump

[0340] 34: Control valve

[0341] 35: Steering cylinder

[0342] 40A: Positioning device

[0343] 41: Receiving device

[0344] 42: Inertial Measurement Unit

[0345] 43a: Shuttle lever

[0346] 43b: Ignition switch

[0347] 43c: PTO switch

[0348] 43d: PTO gear lever

[0349] 43e: Variable speed switch

[0350] 43f: Gear lever

[0351] 43g: Throttle lever

[0352] 43h: Hydraulic lever

[0353] 43i: Run Toggle Switch

[0354] 43j: Measurement sensor

[0355] 43k: Measurement sensor

[0356] 43l: Measuring sensor

[0357] 44: Notification device

[0358] 45A: Communication device

[0359] 45B: Communication device

[0360] 50: Display device

[0361] 55: Register button

[0362] 60: Control device

[0363] 80: Field input

[0364] 81: Field display

[0365] 82: Rotation width input unit

[0366] 83: Rotation setting button

[0367] 85: Route display unit

[0368] 86: Width input section

[0369] 95: Pointer

[0370] 100: Management Device

[0371] 101: Agricultural machinery

[0372] 101a: Tractor

[0373] 101b: Machinery

[0374] 110: Job Generation Department

[0375] 111: Job Storage

[0376] 120: External terminal

[0377] 120A: Administrator terminal

[0378] 120B: Operator terminal

[0379] 120C: Driver terminal

[0380] 120D: Center Terminal

[0381] 130: Operation switch

[0382] 131: Operation Setting Department

[0383] 132: Date Setting Department

[0384] 133: Field Setting Department

[0385] 134: Time Setting Department

[0386] 135: Operator Setting Department

[0387] 136: Mechanical Setting Department

[0388] 137: Spreading material setting unit

[0389] 138: Seeding amount setting unit

[0390] 139: Register button

[0391] 140: Period input unit

[0392] 141: Information display unit

[0393] A1: Rotation area

[0394] A2: Operation area

[0395] A3: Unit operation division

[0396] A5: Relay location

[0397] G1: Edge

[0398] G2: Edge

[0399] G3: Edge

[0400] G4: Edge

[0401] Gi: Edge

[0402] H1: Field

[0403] H10: Contour

[0404] H11: Contour

[0405] H2: Storage place

[0406] H3: Distribution center (distribution base)

[0407] J1: Area

[0408] J2: Area

[0409] J3: Area

[0410] J4: Area

[0411] Ji: Area

[0412] K1: Driving trajectory

[0413] K2: Contour

[0414] K3: Contour

[0415] L1: Driving the planned route

[0416] L1a: Straight route

[0417] L1b: Turnaround route

[0418] M1: Screen

[0419] M10: Screen

[0420] M11: Screen

[0421] M12: Screen

[0422] M15: Screen

[0423] M30: Screen (terminal screen)

[0424] M31: Screen

[0425] MP1: Map

[0426] MP2: Field Map

[0427] N1: In-vehicle communication network

[0428] P10: Location

[0429] PH: Supply position (standby position)

[0430] VP1: Vehicle position

[0431] W1: Swing width

[0432] W2: Working width

[0433] W3: Overlap width

Claims

1. An energy support system for agricultural machinery, wherein the agricultural machinery can load and unload a package filled with energy and is driven by the energy filled in the package, wherein: The energy support system for the agricultural machine includes a management device that calculates energy consumption consumed by the agricultural machine when the agricultural machine performs the agricultural work and calculates the number of the packages required to supply the energy consumption based on the energy consumption.

2. The energy support system for agricultural machinery according to claim 1, wherein: The management device transmits the number of packages and field information about a field as a delivery destination of the packages to any one of a transport vehicle transporting the packages, a terminal of a driver driving the transport vehicle, and a terminal of a delivery center delivering the packages.

3. The energy support system for agricultural machinery according to claim 1 or 2, wherein: The management device calculates energy consumed by the agricultural machine when the agricultural machine performs the agricultural work based on the content of the agricultural work performed in the field.

4. The energy support system for agricultural machinery according to claim 1, wherein: The management device calculates the energy consumed by the agricultural machinery when performing the agricultural operations in each of the plurality of fields based on the contents of the agricultural operations in each of the plurality of fields, and calculates the number of the packages in each of the plurality of fields based on the calculated energy consumption of each of the plurality of fields.

5. The energy support system for agricultural machinery according to claim 4, wherein: The management device searches for a field in which the agricultural work is performed in a predetermined period among the plurality of fields, and extracts the field extracted by the search and the number of the packages used in the extracted field.

6. The energy support system for agricultural machinery according to claim 5, wherein: The management device transmits the package for each of the retrieved fields and information related to each field to any one of a transport vehicle that transports the package, a terminal of a driver driving the transport vehicle, and a terminal of a delivery center that delivers the package.

7. The energy support system for agricultural machinery according to claim 1 or 2, wherein: The management device issues a delivery instruction of the package to any one of a transport vehicle transporting the package, a terminal of a driver driving the transport vehicle, and a terminal of a delivery center that delivers the package.

8. The energy support system for agricultural machinery according to claim 1 or 2, wherein: When the energy of the mounted package becomes equal to or less than a threshold value, the agricultural machine travels toward the package delivered into or around the field.

9. The energy support system for agricultural machinery according to claim 1 or 2, wherein: The management device instructs any one of the transport vehicle transporting the package, a terminal of a driver driving the transport vehicle, and a terminal of a delivery center delivering the package to collect the package.

10. An energy support method for agricultural machinery, wherein a package filled with energy is detachably mounted on the agricultural machinery, wherein: Before the agricultural machine performs agricultural work in a field, energy consumed by the agricultural machine when performing the agricultural work is calculated, and based on the energy consumption, the number of the packages required to supply the energy consumption is calculated.

11. An energy support system for an agricultural machine, wherein the agricultural machine can load and unload a package filled with energy and is driven by the energy filled in the package, wherein: The energy support system of the agricultural machinery has a management device, which obtains an operation plan of the agricultural machinery to perform agricultural operations in the field and any one of the requirements from the agricultural machinery, and instructs any one of a transport vehicle, a terminal of a driver driving the transport vehicle, and a terminal of a distribution center that delivers the package to the field according to a distribution plan set based on the operation plan or the requirements.

12. The energy support system for agricultural machinery according to claim 11, wherein: The management device obtains any one of an operation plan of the agricultural machinery for agricultural operations performed in the field and a request from the agricultural machinery, and issues an instruction to recycle the package to any one of a transport vehicle, a terminal of a driver driving the transport vehicle, and a terminal of a distribution center that delivers the package according to a recycling plan set based on the operation plan or the request.

13. The energy support system for agricultural machinery according to claim 12, wherein: The agricultural machine includes an operation switch for performing at least one of a request for delivery of the package and a request for collection of the package.

14. The energy support system for agricultural machinery according to claim 12, wherein: The agricultural machine includes a communication device that performs at least one of a request to deliver the package and a request to collect the package when the energy of the package mounted on the agricultural machine becomes equal to or less than a threshold value.

15. The energy support system for agricultural machinery according to any one of claims 11 to 14, wherein: The transport vehicle moves to the field by automatic driving when receiving an instruction to deliver the package.

16. The energy support system for agricultural machinery according to any one of claims 11 to 14, wherein: The transport vehicle moves to the field by automatic driving when receiving an instruction to collect the package.

17. The energy support system for agricultural machinery according to any one of claims 11 to 14, wherein: The management device calculates deterioration of a plurality of packages stored at a delivery source based on delivery histories of the packages, and selects a package to be delivered from the plurality of packages based on the calculated deterioration of the packages.

18. The energy support system for agricultural machinery according to any one of claims 11 to 14, wherein: The management device determines the delivery fee based on the size of the package to be delivered.

Images