Management system for work vehicle

Abstract

To provide a management system for a work vehicle that allows movement between farm fields to be performed smoothly.SOLUTION: A management system for a work vehicle includes a positioning device, a vehicle detection sensor, and a control device. The positioning device measures the position of the work vehicle. The vehicle detection sensor detects the position and advancing direction of another work vehicle. The control device includes farm field data and farm road data. The control device calculates a progress state of work by another work vehicle from a change in the position and advancing direction of another work vehicle using the farm field data and the farm road data, predicts a moving route and moving time of another work vehicle, compares them with the moving route and moving time of the work vehicle, and if a possibility of passing another work vehicle occurring is a predetermined value or higher, notifies that there is a possibility of passing another work vehicle occurring.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a management system for work vehicles.

Background Art

[0002] Conventionally, in a management system for work vehicles that manages a plurality of work vehicles that automatically travel between fields of work targets, a management system for work vehicles that adjusts the travel of the work vehicle so that there is no passing between the work vehicles during movement between fields is known (see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The farm roads on which work vehicles travel during movement between fields may be narrow, and if passing occurs, movement may be stalled or careful operation may be required. Therefore, the occurrence of passing has been a cause of reducing efficiency, such as making it difficult to continue automatic driving. In the above technology, the movement routes between fields of each work vehicle operating in the system are acquired and the travel of the work vehicle is adjusted, but since information on neighboring work vehicles outside the system cannot be acquired, passing may still occur during movement between fields.

[0005] The present invention has been made in view of the above, and an object thereof is to provide a management system for work vehicles that can smoothly execute movement between fields.

Means for Solving the Problems

[0006] In order to solve the above-described problems and achieve the object, a management system (100) for a work vehicle (1) according to an embodiment includes a positioning device that measures the position of the work vehicle (1), a vehicle detection sensor (124) that detects the position and traveling direction of another work vehicle (1a), field data including a field (F) in which the work vehicle (1) works and a field (F) in which the other work vehicle (1a) works, and road data including a farm road (A) on which the work vehicle (1) moves and a farm road (A) on which the other work vehicle (1a) moves. The control device (160) is provided. The control device (160) uses the field data and the road data to calculate the progress status of the work in the other work vehicle (1a) from the changes in the position and traveling direction of the other work vehicle (1a), predicts the movement route (Ra) and movement time of the other work vehicle (1a), and compares them with the movement route (R) and movement time of the work vehicle (1). When the possibility of passing by the other work vehicle (1a) is equal to or greater than a predetermined value, it notifies that there is a possibility of such passing.

Effect of the Invention

[0007] According to the management system for a work vehicle according to the embodiment, the movement between fields can be smoothly executed.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

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Figure 4

Figure 5

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Figure 9

Figure 10

Embodiment for Carrying Out the Invention

[0009] Hereinafter, the management system of the work vehicle according to the embodiment of the present invention will be specifically described with reference to the drawings. Note that the components in the following embodiments include those that can be replaced by those skilled in the art, or those that are substantially the same, that is, those within the so-called equivalent range. Furthermore, the present invention is not limited to the above embodiments, and can be variously modified and implemented without departing from the gist of the present invention.

[0010] First, the overall configuration of the work vehicle management system 100 will be described with reference to FIGS. 1 to 4. FIG. 1 is an explanatory diagram showing an overview of the work vehicle management system 100 according to the embodiment. FIG. 2 is a side view of the work vehicle according to the embodiment. FIG. 3 is a block diagram showing the functions of the work vehicle management system 100 according to the embodiment. FIG. 4 is a block diagram showing the functions of the control device 160.

[0011] As shown in FIG. 1, the work vehicle management system 100 includes, for example, a tractor 1 as an example of a work vehicle, a positioning device 120 that measures a positioning point indicating the position of the tractor 1 (i.e., the position of the own vehicle), a vehicle detection sensor 124 that detects the position and traveling direction of another tractor 1a (see FIG. 5), a control device 160 (see FIG. 3) having field data and farm road data to be described later, and an information processing device 130 that can communicate with the control device 160.

[0012] Tractor 1 operates in the field F. Another tractor 1a is, for example, a tractor owned by a cultivator in the vicinity of the field F and is a tractor outside the management of the management system 100. In FIG. 1, one tractor 1 is shown, but actually, in the management system 100 of the work vehicle, one or more tractors 1 are controlled.

[0013] The tractor 1, which is a work vehicle, is an agricultural tractor and includes a traveling vehicle body 2 and a working machine 3. The traveling vehicle body 2 is capable of traveling in the field F. The working machine 3 is, for example, mounted on the rear part of the traveling vehicle body 2 and performs ground operations in the field F. Examples of the working machine 3 of the tractor 1 include a rotary tiller, etc. If the work vehicle is a seedling transplanter, it is a seedling planting device, etc., and if the work vehicle is a fertilizer applicator, it is a fertilizer application device. Also, if the work vehicle is a combine, a harvesting device, a threshing device, etc. are the working machine 3. Note that the above examples are just examples and are not particularly limited as long as they are working machines for performing agricultural operations in the field F.

[0014] Also, in the field F, there is an entrance F in and an exit F out provided. Note that in the field F, there may be provided one entrance F in and an exit F out that functions as one entrance and exit.

[0015] As shown in FIG. 2, the traveling vehicle body 2 includes an engine E and a power transmission device 4. The engine E is a power source for the traveling vehicle body 2 and also a power source for the work implement 3. The engine E is a heat engine such as a diesel engine or a gasoline engine. The power transmission device 4 has a clutch that can connect the engine E and the drive wheels, and when such a clutch is in the engaged state, the power of the engine E is transmitted to the drive wheels and the work implement 3. Further, when the clutch is in the neutral state, the connection state between the engine E and the drive wheels is released in the power transmission device 4, and the power of the engine E is not transmitted to the drive wheels. That is, when the clutch is in the neutral state, the tractor 1, which is a work vehicle, decelerates. Also, the traveling vehicle body 2 can freely travel within the rural road A and the farm field F. That is, the clutch in the power transmission device 4 is an example of a forward and reverse clutch that switches the forward, reverse, and neutral of the tractor 1.

[0016] As described above, the positioning device 120 measures the position of the tractor 1. Specifically, the positioning device 120 is, for example, a GNSS (Global Navigation Satellite System) control device (hereinafter, GNSS control device 120) that acquires position information including a positioning point indicating the position of the tractor 1. The GNSS control device 120, which is a positioning device, can receive radio waves from the navigation satellite 123 orbiting the earth to measure the position of the own vehicle of the tractor 1 and can measure time. That is, the position information includes information on the position of the own vehicle, which is the positioning point, and information on the time when the positioning point was measured.

[0017] As described above, the vehicle detection sensor 124 detects the position and traveling direction of another tractor 1a. Specifically, the vehicle detection sensor 124 is, for example, a LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging). The vehicle detection sensor 124 is installed at the front part of the traveling vehicle body 2, such as being attached to the sensor mounting stage 5 provided in the front, and can detect the position and traveling direction of another tractor 1a existing in front of the traveling vehicle body 2. Alternatively, the vehicle detection sensor 124 may be cameras 171 (for example, stereo cameras) respectively provided at the center of the front and rear parts of the roof 7 of the cabin 6.

[0018] The control device 160 shown in FIG. 1 is an example of a control device that controls the automatic driving (autonomous driving) of the tractor 1 in the field F. It is composed of a controller 150 described later mounted on the tractor 1 and a tablet terminal 140 which is an example of an information processing device that can be brought into the tractor 1. In the management system 100 of the work vehicle according to the present embodiment, the case where the control device 160 is configured to include the controller 150 and the tablet terminal 140 will be described. However, the control device 160 may be configured to include only one of the controller 150 and the tablet terminal 140.

[0019] As shown in FIG. 3, the management system 100 of the work vehicle is constructed such that, for example, a plurality of tractors 1 can be connected to at least one information processing device 130 via a communication network 110. Each tractor 1 is provided with a control device 160. That is, the management system 100 of the work vehicle according to the present embodiment is a system capable of so-called cloud computing.

[0020] The information processing device 130 is a computer provided with a processing device such as a CPU (Central Processing Unit) that functions as a control unit, a storage device such as a ROM (Read Only Memory), a RAM (Random Access Memory), and an HDD (Hard Disk Drive) that function as a storage unit, and an input / output device. The control unit executes functions such as a calculation unit, a travel control unit, a correction unit, and a notification unit. The storage unit stores various types of information described later.

[0021] Here, as the information processing device 130, for example, an agricultural work support server 130a or a personal computer 130b is connected to a control device 160 (a controller 150 and a tablet terminal 140) via a communication network 110. In the present embodiment, as shown in FIG. 1, one information processing device 130 composed of an agricultural work support server 130a or a personal computer 130b is installed in a management building H that manages a plurality of fields F. The information processing device 130 stores map information in which identification information is associated with each of the plurality of fields F.

[0022] The controller 150 that constitutes the control device 160 is configured by a computer in the same manner as the above-described information processing device 130. The controller 150 is connected to various ECUs (Electronic Control Units) 11 (see FIG. 4) that control each system mounted on a work vehicle such as an engine E and a traveling device. Details of the controller 150 will be described later with reference to FIG. 4.

[0023] The controller 150 can switch between an automatic driving mode in which the tractor 1 is automatically driven and a manual driving mode in which an operator (driver) rides and manually drives in cooperation with the various ECUs 11, and can also control the lifting operation of the work implement 3, the opening and closing operation of a power transmission switch that controls the connection state of the clutch, the operation of the traveling drive device, and the like.

[0024] Further, the controller 150 causes the tractor 1 to automatically travel along a pre-registered travel route 300 (see FIG. 1) based on the position information from the GNSS control device 120, which is a positioning device.

[0025] The tablet terminal 140 is also a kind of the above-described computer in terms of configuration. As shown in FIG. 4, the tablet terminal 140 includes a control unit 143, and a touch panel 142 in which a display unit for displaying various information and an operation unit for receiving various input operations are integrated.

[0026] Here, the control device 160 will be described. The tractor 1 in the work vehicle management system 100 can control each part by electronic control. The controller 150 is provided on the traveling vehicle body 2 (see FIG. 1). Further, the tablet terminal 140 that constitutes the control device 160 together with the controller 150 can be brought into the traveling vehicle body 2 or is detachable. The tablet terminal 140 and the controller 150 can be connected by a short-range wireless communication standard such as Bluetooth (registered trademark). Note that the tablet terminal 140 and the controller 150 may be configured to be connectable by wire.

[0027] The controller 150 is provided with a processing device having a CPU or the like, a storage device such as a ROM, a RAM, and an HDD, and an input / output device, similar to the information processing device 130 described above. Note that each device is connected to each other and can transfer signals to each other.

[0028] The controller 150 has field data including the field F where the tractor 1 works and the field F where the other tractor 1a works. Also, the controller 150 has road data including the farm road A where the tractor 1 moves and the farm road A where the other tractor 1a moves. The field data and the road data are included in, for example, map information and are acquired from the information processing device 130. The field data includes management information such as the position information, name, owner, cultivator, and the owner of the other tractor 1a of the field F, and shape information indicating the shape of the field F. The owner, cultivator, etc. of the field F are information that can be input to the information processing device 130 or the controller 150 in advance.

[0029] Also, various ECUs 11, a driving mode selection switch 12, various actuators 170, a camera 171, various sensors 172, an automatic steering device 180, and a GNSS control device 120 are connected to the controller 150. Further, a communication unit 151 for communicating with the tablet terminal 140 is connected to the controller 150.

[0030] The driving mode selection switch 12 is a switch for switching between an automatic driving mode in which the tractor 1 travels in automatic driving (automatic travel) and a manual driving mode in which the operator drives it in manual driving (manual travel), and is provided, for example, on the traveling vehicle body 2.

[0031] Also, as the various actuators 170, there are various motors such as a lifting cylinder for lifting and lowering the working machine 3, a motor for rotating a water depth sensor for detecting the water depth of the field F (see FIG. 1), and an electric motor such as a throttle motor for adjusting the intake air amount of the engine E.

[0032] In addition, as various sensors 172, there are the above-mentioned water depth sensors, soil cultivation depth sensors for detecting the soil cultivation depth of the field F, fertility sensors for detecting the fertilizer concentration of the field F, load cells and other weight sensors for detecting the weight of harvested paddy rice or the weight of seedlings, rotation sensors for detecting the rotation speed of the rear wheels, inclination sensors for detecting the inclination of the traveling vehicle body 2, or various sensors such as a work clutch sensor and a temperature sensor.

[0033] When the automatic driving mode is selected via the driving mode selection switch 12, the automatic steering device 180 is controlled by the controller 150 based on the position information acquired by the GNSS control device 120. That is, the controller 150 automatically operates the steering wheel provided on the traveling vehicle body 2, and the traveling vehicle body 2 is automatically driven. The automatic steering device 180 includes a steering motor 181 that applies an arbitrary rotational force to rotate the steering wheel, and a handle potentiometer 182 that detects the rotation angle of the steering wheel.

[0034] As described above, the tablet terminal 140 that constitutes the control device 160 together with the controller 150 includes a control unit 143 and a touch panel 142. In addition, the tablet terminal 140 includes a terminal communication unit 144 corresponding to the communication unit 151 on the traveling vehicle body 2 side.

[0035] Although not shown, as the work vehicle management system 100, it is also possible to use an unmanned aerial vehicle called a so-called drone. Such an unmanned aerial vehicle may be equipped with an imaging device similar to the camera 171 provided on the tractor 1, and an antenna capable of constructing a part of the GNSS control device 120.

[0036] In this case, the unmanned aerial vehicle and the tablet terminal 140 are configured to be communicable, and by performing a predetermined operation on the touch panel 142, an operator can remotely control all operations of the unmanned aerial vehicle, including the operation of the imaging device. With such a system, it is possible to image other work vehicles from above and detect the position and traveling direction of the other tractor 1a from the captured image. Alternatively, the work vehicle management system 100 may detect the position and traveling direction of the other tractor 1a using the image captured by the satellite camera.

[0037] Next, with reference to FIG. 5, the processing content during the field work of the tractor 1 will be described. FIG. 5 is a diagram showing the processing content when the tractor 1 moves between fields. In FIG. 5, it is assumed that the tractor 1 and other tractors 1a are working in a plurality of fields F (F-A, F-B, F-C, F-D, F-E, F-F). The tractor 1 sets fields F-A and F-C as the work target fields (movement target fields). The other tractors 1a set fields F-B and F-D as the work target fields. The tractor 1 is traveling along the traveling route 300 indicated by the broken line in field F-A. The other tractors 1a are traveling along the traveling route 300a indicated by the broken line in field F-B.

[0038] As shown in FIG. 5, the tractor 1 is working in field F-A. The other tractors 1a are working in field F-B. The tractor 1 is, for example, working in the automatic driving mode based on a work plan, but may also be working in the manual driving mode. The other tractors 1a may be working under manual driving by an operator or may be working in the automatic driving mode.

[0039] The controller 150 determines the manufacturer and model of the other tractor 1a from the appearance of the other tractor 1a photographed by the vehicle detection sensor 124. Further, the controller 150 determines the owner of the other tractor 1a from the information of neighboring cultivators previously input as field data. For example, the controller 150 can determine the owner of the other tractor 1a by extracting an owner who owns a tractor of a predetermined manufacturer and model from among neighboring cultivators. Furthermore, the controller 150 estimates, for example, using machine learning, the traveling direction, moving speed, distance and orientation from the tractor 1, and whether the other tractor 1a is working, from the appearance of the other tractor 1a photographed by the vehicle detection sensor 124. In this way, the controller 150 can predict the movement trend of the other tractor 1a during the automatic driving of the tractor 1.

[0040] The controller 150 calculates the progress status of the work on the other tractor 1a from the changes in the position and traveling direction of the other tractor 1a using the field data and farm road data. Specifically, the controller 150 maps the position of the other tractor 1a on the map included in the field data and farm road data. The controller 150 records the traveling route 300a that the other tractor 1a has actually moved based on the position of the other tractor 1a mapped on the map, and calculates the progress status (degree of progress) of the work in the field F-B. Then, the controller 150 predicts the work end time in the field F-B from the progress status of the work in the field F-B.

[0041] The controller 150 predicts the movement trend of the other tractor 1a after the work in the field F-B from the owner information of the other tractor 1a. The movement trend after the work is, for example, which field F the other tractor 1a will head to next. For example, when the work in the field F-D is not being carried out, the controller 150 predicts that the other tractor 1a will head to the field F-D.

[0042] Based on the predicted movement trend of the other tractor 1a after the completion of work, the controller 150 predicts the movement route Ra and movement time of the other tractor 1a, and compares them with the movement route R and movement time of the tractor 1 based on the work plan. Based on the comparison result, when the possibility of encountering the other tractor 1a on the farm road A is equal to or greater than a predetermined value, the controller 150 notifies that there is a possibility of an encounter. Here, the predetermined value is the probability of encountering the other tractor 1a, and any probability is set in advance. As a notification that there is a possibility of an encounter, the controller 150 issues an alarm through the display on the touch panel 142 of the tablet terminal 140, a lamp, a buzzer, etc. In Japan, farm roads are narrow, and there may be cases where work vehicles cannot pass each other. However, by notifying that there is a possibility of an encounter, the controller 150 can prevent the occurrence of passing of work vehicles in advance.

[0043] When the possibility of encountering the other tractor 1a becomes equal to or greater than a predetermined value, the controller 150 may change the working speed (travel speed) of the tractor 1 to reduce the possibility of encountering the other tractor 1a. The controller 150 can adjust the working speed by increasing or decreasing the working speed, or by temporarily stopping the work. When the work is being carried out in the manual operation mode, the controller 150 can also change the working speed of the tractor 1 by notifying the operator to change the working speed.

[0044] Based on the past movement route Ra, the controller 150 may predict the movement route Ra of the other tractor 1a. Specifically, when the tractor 1 is working in the field F, the vehicle detection sensor 124 detects the movement route Ra of the other tractor 1a, and the controller 150 stores the movement route Ra that the other tractor 1a has actually moved. When there are multiple fields to which the other tractor 1a is moving, the controller 150 sets the possibility of moving along the movement route Ra that the other tractor 1a has moved in the past to be higher than the possibility of moving along other movement routes Ra.

[0045] For example, assume that another tractor 1a targets field F-F in addition to fields F-B and F-D. The controller 150 stores the past movement route Ra of the other tractor 1a. When the other tractor 1a has moved along the movement route Ra from field F-B to field F-D in the past, the controller 150 calculates a higher possibility of moving from field F-B to field F-D than moving from field F-B to field F-F. Alternatively, when the other tractor 1a has a tendency to move from field F-B to field F-D (such as when the number of movements is large), the controller 150 calculates so that the possibility of moving to field F-D becomes higher than that of field F-F.

[0046] Next, with reference to FIGS. 5 to 8, the processing procedure of the processing executed by the controller 150 will be described. FIGS. 6 to 8 are flowcharts showing the processing procedure during field work executed by the controller 150.

[0047] First, with reference to FIGS. 5 and 6, the processing procedure for notifying that there is a possibility of a passing encounter will be described.

[0048] As shown in FIG. 6, the controller 150 calculates the progress status of the work on the other tractor 1a from the changes in the position and traveling direction of the other tractor 1a in the field F (step S101).

[0049] Subsequently, the controller 150 predicts the movement route Ra and movement time of the other tractor 1a based on the progress status of the work on the other tractor 1a (step S102).

[0050] Subsequently, the controller 150 calculates the possibility of a passing encounter with the other tractor 1a (step S103).

[0051] Subsequently, the controller 150 determines whether the possibility of a passing encounter with the other tractor 1a is equal to or greater than a predetermined value (step S104).

[0052] When the possibility of passing is equal to or greater than a predetermined value (step S104: Yes), the controller 150 notifies that there is a possibility of passing (step S105) and ends the process.

[0053] When the possibility of passing is less than the predetermined value (step S104: No), the controller 150 ends the process.

[0054] Next, with reference to FIGS. 5 and 7, a procedure for changing the working speed of the tractor 1 will be described. Hereinafter, the description of the same process as the procedure for notifying that there is a possibility of the above-mentioned passing will be omitted.

[0055] As shown in FIG. 7, when the possibility of passing with another tractor 1a is equal to or greater than a predetermined value (step S104: Yes), the controller 150 notifies that there is a possibility of passing (step S105).

[0056] Subsequently, the controller 150 changes the working speed of the tractor 1 (step S106) and ends the process.

[0057] Next, with reference to FIGS. 5 and 8, a procedure for increasing the possibility of moving the movement route Ra that has been moved in the past will be described.

[0058] As shown in FIG. 8, the controller 150 determines whether there are a plurality of fields to be moved by another tractor 1a (step S107).

[0059] When there are a plurality of fields to be moved by another tractor 1a (step S107: Yes), the controller 150 increases the possibility of moving the movement route Ra that has been moved in the past (step S108) and executes step S104.

[0060] When there are no multiple fields to be traveled by other tractors 1a (step S107: No), the controller 150 calculates the possibility of passing by other tractors 1a (step S103) and executes step S104.

[0061] Next, a combine harvester as an example of a work vehicle will be described. Hereinafter, the description of the same configuration and processing as when the work vehicle is the tractor 1 will be omitted.

[0062] The combine harvester and other combine harvesters have the harvested paddy rice collected by a paddy rice collection vehicle. Hereinafter, the paddy rice collection vehicle of the combine harvester will be referred to as a self-collection vehicle, and the paddy rice collection vehicle of other combine harvesters will be referred to as an other-collection vehicle.

[0063] The combine harvester is provided with a LiDAR at the front of the machine body as the vehicle detection sensor 124. Alternatively, the combine harvester is provided with cameras at the front and rear of the machine body as the vehicle detection sensor 124. The control device determines the manufacturer and model of other combine harvesters from the appearance of other combine harvesters photographed by the vehicle detection sensor 124. At the same time, the control device determines the capacity of the grain tank based on the manufacturer and model of other combine harvesters. In addition, the control device determines the owner of other combine harvesters from the information of neighboring cultivators previously input as field data. Furthermore, the control device estimates, for example, using machine learning, the traveling direction, moving speed, distance and azimuth from the combine harvester, and whether or not other combine harvesters are working, from the appearance of other combine harvesters photographed by the vehicle detection sensor 124.

[0064] The control device estimates the trend of the other-collection vehicle (for example, whether or not the paddy rice discharging operation is in progress) from the appearance of the other-collection vehicle photographed by the vehicle detection sensor 124, for example, using machine learning. The control device also predicts the trend of the other-collection vehicle and formulates a work plan for the self-combine harvester and the self-collection vehicle so as not to pass by other combine harvesters and other-collection vehicles on the farm road.

[0065] The control device calculates the progress of work in other combines from changes in the position and traveling direction of other combines using field data and farm road data. Then, the control device predicts the work end time in the field from the progress of work in the field. At the same time, the control device maps the position of the paddy collecting vehicle on the map included in the field data and farm road data. The control device predicts the next paddy collecting position (estimated paddy collecting position) and time in other combines based on the previous paddy collecting position and time in other combines and the granary tank capacity of other combines. The control device formulates work plans for the combine and the self-collecting vehicle so that the combine and the self-collecting vehicle do not collide with other combines and other collecting vehicles.

[0066] When the combine is working in the field, the control device stores the actual time from after the loading of paddy onto other collecting vehicles is completed, leaving the field for discharging paddy, and returning to the field based on the appearance of other collecting vehicles photographed by the vehicle detection sensor 124. Then, when the other collecting vehicle leaves the field for discharging paddy, the control device predicts the timing of the other collecting vehicle's return to the field based on the stored time.

[0067] The control device predicts the movement trend of other collecting vehicles based on the predicted timing and the estimated paddy collecting position. That is, the control device predicts the position and time where other collecting vehicles will stay, considering the possibility that the paddy collecting vehicle may stay in the same place until the next collection after completing paddy collection, and formulates work plans (adjusts the work pace) for the combine and the self-collecting vehicle so as not to be obstructed by other collecting vehicles.

[0068] Next, the information exchange with work vehicles outside the system will be described with reference to FIGS. 9 and 10. FIG. 9 is a side view of the work vehicle according to the embodiment. FIG. 10 is a front view of the information board 125.

[0069] Conventionally, information sharing and action control were carried out through communication within the same system, and work vehicles outside the system (such as tractors) were recognized and avoided as external factors. In the present application, LiDAR, visible camera 126, etc. are used to enable the recognition of the movement trends of tractors outside the system.

[0070] As shown in FIGS. 9 and 10, for example, the tractor 1 is provided with a visible information board (monitor) 125 to inform the surrounding of the driving situation of the host vehicle on which automatic driving is performed. The controller 150 causes the information board 125 to display things that can be read by people, such as language, emojis, and symbols, and things that can be read by the surrounding systems. The information board 125 displays visible information, and the information is read. In this way, it is possible to predict and respond to the movement of tractors outside the system without system sharing and communication with the outside of the system.

[0071] For example, the controller 150 causes the information board 125 to display the working time (total time) up to the present of the tractor 1 and the remaining working time. Thereby, the surrounding drones (other tractors 1a) can predict the start time of movement after the work of the tractor 1 based on the information displayed on the information board 125. In addition, the surrounding drones can adjust the work so as not to pass by the tractor 1 on the farm road during movement based on the current work progress of the tractor 1.

[0072] For example, the controller 150 causes the information board 125 to display the work content of the tractor 1. The surrounding drones (other tractors 1a) can be selected to obtain other work information if the work on the day is of the same type.

[0073] For example, the controller 150 causes the information board 125 to display the work load and work fuel consumption of the tractor 1. Since the surrounding drones (other tractors 1a) can calculate the work speed, work time, etc. of the tractor 1 on the day, the information displayed on the information board 125 can be used for their own work management.

[0074] Further, the controller 150 may use infrared communication for information exchange with a tractor outside the system. The controller 150 can change the transmission content of the infrared device that transmits and receives infrared rays according to the progress of the work and the like.

[0075] For example, the tractor 1 is provided with an infrared device 127 at the upper front of the body so as to easily receive infrared rays. Since the tractor 1 repeatedly changes its direction in the field, a plurality of opportunities to obtain information during work can be provided. In addition, the tractor 1 can obtain information when approaching, such as when passing by or overtaking near other tractors. Note that the infrared device 127 is connected to various ECUs 11 (see FIG. 4).

[0076] For example, the tractor 1 is provided with an infrared transmission device that transmits infrared rays toward the front and rear of the vehicle. Thereby, the tractor 1 can increase the opportunity to obtain information and can obtain information from each other not only when passing by but also when chasing other tractors.

[0077] For example, the tractor 1 is provided with an infrared transmission device that transmits infrared rays toward the front, rear, left, and right of the vehicle. Thereby, the tractor 1 can increase the opportunity to obtain information and can also detect changes in information during work.

[0078] For example, the tractor 1 is provided with an infrared transmission device that transmits infrared rays toward the front, rear, left, right, and above of the vehicle. Thereby, the tractor 1 can share information with a drone.

[0079] For example, the tractor 1 is provided with an infrared transmission device that transmits infrared rays above the cabin 6 or above the roll bar frame, thereby transmitting infrared rays in all directions. Thereby, the tractor 1 can increase the opportunity to obtain information and can also detect changes in information during work.

[0080] In addition, the controller 150 may use a two-dimensional barcode for information exchange with a tractor outside the system. The controller 150 displays a two-dimensional barcode or the like on the information board 125 and changes the display content according to the progress of the work or the like. The controller 150 captures and recognizes the information displayed on the information board of another tractor 1a with the visible camera 126.

[0081] For example, the tractor 1 is provided with an information board 125 facing the front of the vehicle. Since the tractor 1 repeats turning in the field, a plurality of opportunities to obtain information during work can be provided. In addition, the tractor 1 can obtain information when approaching, such as when passing by or overtaking another tractor in the vicinity.

[0082] For example, the tractor 1 is provided with information boards facing the front and rear of the vehicle, respectively. Thereby, the tractor 1 can increase the opportunities to obtain information, and in addition to overtaking, the tractors can obtain information from each other even when chasing.

[0083] For example, the tractor 1 is provided with information boards facing the front, rear, left, and right of the vehicle, respectively. Thereby, the tractor 1 can increase the opportunities to obtain information, and in addition to overtaking, the tractors can obtain information from each other even when chasing.

[0084] For example, the tractor 1 is provided with display devices facing the front, rear, left, right, and above of the vehicle, respectively. Thereby, the tractor 1 can share information with the drone.

[0085] In addition, the tractor 1 may display information on the glass surface 8 of the cab 6. Thereby, the tractor 1 can secure a working visual field while displaying information.

[0086] As described above, the management system 100 for a work vehicle according to the embodiment includes a positioning device 120 that measures the position of the tractor 1, a vehicle detection sensor 124 that detects the position and traveling direction of another tractor 1a, field data including the field F where the tractor 1 works and the field F where another tractor 1a works, and road data including the farm road A where the tractor 1 moves and the farm road A where another tractor 1a moves, and a controller 150. The controller 150 calculates the progress status of the work in another tractor 1a from the changes in the position and traveling direction of the other tractor 1a using the field data and the road data, predicts the moving route Ra and the moving time of the other tractor 1a, compares them with the moving route R and the moving time of the tractor 1, and when the possibility of passing by the other tractor 1a is equal to or greater than a predetermined value, notifies that there is a possibility of passing by. Thereby, the management system 100 for a work vehicle can smoothly execute the movement of the tractor 1 between fields.

[0087] Also, as described above, when the possibility of passing by another tractor 1a becomes equal to or greater than a predetermined value, the management system 100 for a work vehicle according to the embodiment changes the working speed of the tractor 1 to reduce the possibility of passing by the other tractor 1a. Thereby, the management system 100 for a work vehicle can smoothly execute the movement of the tractor 1 between fields by automatically suppressing the occurrence of passing by the other tractor 1a.

[0088] Also, as described above, the management system 100 for a work vehicle according to the embodiment stores the past moving route Ra of another tractor 1a, and when there are a plurality of fields to be moved by the other tractor 1a, sets the possibility of moving along the moving route Ra that the other tractor 1a has moved in the past to be higher than the possibility of moving along other moving routes Ra. Thereby, the management system 100 for a work vehicle can smoothly execute the movement of the tractor 1 between fields by more accurately predicting the moving route Ra and the moving time of the other tractor 1a.

[0089] Further effects and modifications can be easily derived by those skilled in the art. Therefore, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various changes can be made without departing from the spirit or scope of the general inventive concept defined by the appended claims and their equivalents.

Description of Reference Numerals

[0090] 1 Tractor (Work Vehicle) 1a Other Tractor (Other Work Vehicle) 100 Management System 120 Positioning Device 124 Vehicle Detection Sensor 140 Tablet Terminal (Control Device) 150 Controller 160 Control Device A Rural Road F Field R Movement Route Ra Movement Route

Claims

1. A positioning device for positioning the position of a work vehicle, a vehicle detection sensor for detecting the position and traveling direction of another work vehicle, a control device having field data including the field where the work vehicle works and the field where the other work vehicle works, and road data including the farm road where the work vehicle moves and the farm road where the other work vehicle moves, The control device calculates the progress status of the work in the other work vehicle from the changes in the position and traveling direction of the other work vehicle using the field data and the road data, predicts the movement route and movement time of the other work vehicle, and compares them with the movement route and movement time of the work vehicle. If the possibility of passing the other work vehicle is equal to or greater than a predetermined value, a work vehicle management system that notifies that there is a possibility of passing the other work vehicle.

2. The work vehicle management system according to claim 1, wherein when the possibility of passing the other work vehicle becomes equal to or greater than the predetermined value, the control device changes the working speed of the work vehicle to reduce the possibility of passing the other work vehicle.

3. The control device stores the past movement route of the other work vehicle, and when there are a plurality of fields to be moved by the other work vehicle, the possibility of moving the movement route that the other work vehicle has moved in the past is set higher than the possibility of moving other movement routes. The work vehicle management system according to claim 1 or claim 2.

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