Transport vehicle support system

Abstract

The object of the present invention is to solve the problems of the prior art, namely, to provide a transport vehicle support system that can support the efficient transport of agricultural products around the field. [Solution] The transport vehicle support system of the present invention is a system that supports a transport vehicle that transports agricultural products harvested in a field to a destination, and comprises a display means, a group setting means, a location information acquisition means, a display control means, and a route setting means. The route setting means sets the "outbound route" from the transport vehicle to the harvesting machine related to the transport vehicle's work group based on the transport route, and also sets the "return route" from the transport vehicle to the destination related to the transport vehicle's work group based on the transport route. The operator of the transport vehicle can move using the outbound and return routes by checking the display means mounted on the transport vehicle.

Description

[Technical Field]

[0001] The present invention relates to a technology for transporting crops harvested in agricultural fields, and more specifically to a transport vehicle support system capable of supporting crop transport vehicles by guiding them along appropriate routes. [Background Art]

[0002] When crops in an agricultural field grow to a level suitable for shipment, they are harvested by a harvester such as a harvester, and the harvested crops are transported to places such as country elevators and silos by transport vehicles such as trucks. Normally, one harvester operates in a single agricultural field, and a plurality of transport vehicles are responsible for transporting crops for that one harvester.

[0003] Although an operator with specialized knowledge and skills is typically in charge of operating the harvester, it is not uncommon for transport vehicles to be provided by so-called "contracted third-party vehicles". In other words, individuals who do not have sufficient knowledge about crops or who are unfamiliar with the local area may be employed as transport vehicle operators.

[0004] By the way, starting from April 2024, upper limit regulations on overtime work will be applied to improve working styles in the construction, logistics and transportation industries. For example, in the logistics and transportation industry, there was effectively no limit on overtime work as long as an agreement was reached between labor and management before that, but starting from April 2024, the upper limit of annual overtime work is stipulated at 960 hours. In addition, the total working hours including breaks have also been shortened from 3,516 hours per year to 3,300 hours per year.

[0005] Therefore, it will be necessary to secure more drivers, such as having two drivers handle sections that were previously covered by one driver. On the other hand, it is unlikely that the number of skilled drivers will increase dramatically. Consequently, a decline in driving skills is unavoidable, and there are concerns that this will increase the risk of accidents. As mentioned above, chartered vehicles are often used in the fields, and therefore, the driver shortage problem of 2024 is an urgent issue that must be solved for the agricultural sector as well.

[0006] Furthermore, although numerous transport routes (roads) are provided in the fields, the lack of distinctive landmarks makes it easy for drivers unfamiliar with the area to get lost, and many sections are narrow, making it difficult to choose the appropriate route. Moreover, the transport routes in the fields are rarely shown on maps, and therefore, a navigation system that guides drivers around the fields has never been developed.

[0007] Thus, even before the 2024 problem, there was a desire for technology to efficiently operate transport vehicles that travel back and forth between fields and country elevators or silos, but after the 2024 problem, such efficiency became even more urgently needed. Various technologies for efficiently transporting agricultural products have been proposed to date, and for example, Patent Document 1 proposes a grain transport system that can plan appropriate vehicle dispatch by aggregating information at a management center. [Prior art documents] [Patent Documents]

[0008] [Patent Document 1] Japanese Patent Publication No. 2002-186348 [Overview of the project] [Problems that the invention aims to solve]

[0009] The technology disclosed in Patent Document 1 involves aggregating information at a management center, but ultimately, a person plans the appropriate vehicle dispatch. Therefore, special personnel, such as managers skilled in the technology, must be secured. Furthermore, while it can determine which transport vehicle will be responsible for a particular field, it does not provide guidance on the appropriate route to the field, country elevator, or silo. As a result, drivers unfamiliar with the area may get lost or be forced to reverse after entering narrow road sections.

[0010] The object of the present invention is to solve the problems of the prior art, namely, to provide a transport vehicle support system that can support the efficient transport of agricultural products around the field. [Means for solving the problem]

[0011] The present invention focuses on the idea of ​​knowing the position of a harvesting machine as it moves through the field and then guiding the transport vehicle along an appropriate route. This invention is based on a completely new concept.

[0012] The transport vehicle support system of the present invention is a system that supports transport vehicles that transport agricultural products harvested in a field to a destination, and comprises a display means, a group setting means, a location information acquisition means, a display control means, and a route setting means. The display means is a means for displaying one or more fields, one or more destinations, transport routes connecting the fields and destinations, harvesting machines that perform harvesting work in each field, and transport vehicles on a map. The group setting means is a means for setting a "work group" by associating one destination with one harvesting machine and associating two or more transport vehicles with one harvesting machine. The location information acquisition means is a means for acquiring location information related to the harvesting machine and location information related to the transport vehicle. The display control means is a means for displaying the harvesting machine and transport vehicle on the display means according to the location information acquired by the location information acquisition means. The route setting means is a means for setting the "outbound route" from the transport vehicle to the harvesting machine related to the transport vehicle's work group based on the transport route, and setting the "return route" from the transport vehicle to the destination related to the transport vehicle's work group based on the transport route. The operator of the transport vehicle can then use the outbound and return routes to move by checking the display device installed on the transport vehicle.

[0013] The transport vehicle support system of the present invention can also be configured to display the direction of movement of a harvesting machine, which loads agricultural products onto a transport vehicle while moving in the field, on a display means superimposed on the field. In this case, the route setting means estimates the direction of movement of the harvesting machine based on the position information of the harvesting machine, and the display control means causes the direction of movement of the harvesting machine to be displayed on the display means superimposed on the field.

[0014] The transport vehicle support system of the present invention may further include a means for calculating the loading completion time. This means for calculating the loading completion time is a means for calculating the loading completion time when the transport vehicle is determined to have approached the harvesting machine, based on the loading "start time", the amount of crops loaded per hour by the harvesting machine, and the amount of crops loaded by the transport vehicle. In this case, when two or more transport routes are connected to the field, the route setting means selects one transport route based on the position information of the transport vehicle related to the loading completion time and then sets the return route.

[0015] The transport vehicle support system of the present invention may also be configured to select a transport route for the transport vehicle involved in subsequent operations to enter the field based on the position information of the harvesting machine related to the loading completion time, and then set the outbound route.

[0016] The transport vehicle support system of the present invention may also be configured to select a transport route for the transport vehicle involved in subsequent operations to enter the field based on the direction of movement of the harvesting machine at the time of loading completion, and then set the outbound route.

[0017] The transport vehicle support system of the present invention may further include a means for setting harvested areas. This means for setting "harvested areas" where crops have already been harvested is based on the movement trajectory of the harvester and the harvesting width of the harvester. The harvested area setting means estimates the movement trajectory of the harvester based on the position information of the harvester acquired by the position information acquisition means. In this case, the display control means displays the harvested areas up to the present on the display means overlaid on the field. The operator of the transport vehicle for subsequent work can then decide whether or not to wait in the harvested areas of the field.

[0018] The transport vehicle support system of the present invention may further be equipped with a means for designating a waiting area. This means for designating a waiting area for a transport vehicle involved in subsequent operations. The means for designating a waiting area extracts the transport route excluding the return trip of the transport vehicle involved in the preceding operation, and designates the area within a predetermined distance from the field as a waiting area. [Effects of the Invention]

[0019] The transport vehicle support system of the present invention has the following effects: (1) By appropriately guiding the transport vehicle on the outward journey to the field and the return journey to the destination for the harvested goods, such as country elevators and silos, even drivers unfamiliar with the area will not get lost or enter narrow road sections, thus enabling efficient transport of agricultural products. (2) When the moving direction of the harvester is displayed on the display means, the direction in which the transport vehicle should enter the farm field can be confirmed in advance. As a result, a system for loading agricultural products can be established quickly, that is, the loading operation can be performed promptly. (3) When the loading completion position is estimated by the loading completion time calculation means, an appropriate return route is set, so that the transport vehicle can depart smoothly and quickly toward a country elevator, silo, or the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] [Figure 1] A plan view schematically showing a situation where the transport vehicle support system of the present invention is used. [Figure 2] A block diagram showing the main configuration of the transport vehicle support system of the present invention. [Figure 3] A model diagram for explaining the "harvesting width" of a harvester. [Figure 4] A model diagram for explaining a "working group". [Figure 5] A screen view showing display means on which a harvester and the moving direction of the harvester, and a transport vehicle and the moving direction of the transport vehicle are displayed. [Figure 6] A model diagram for explaining a loading completion time. [Figure 7] A plan view schematically showing a "harvested area" formed in a farm field and the "movement trajectory" of the harvester. [Figure 8] A plan view schematically showing a standby position specified by the standby position specifying means. MODE FOR CARRYING OUT THE INVENTION

[0021] An example of an embodiment of the transport vehicle support system of the present invention will be described with reference to the drawings.

[0022] Figure 1 is a schematic plan view illustrating the use of the transport vehicle support system of the present invention. As shown in this figure, when growing crops such as pasture grass for livestock in a "field," facilities for storing and managing crops, such as country elevators and silos, are installed, and "transport routes" are constructed for transporting crops from the field to the country elevators and silos. Since country elevators and silos are the immediate destinations for transporting crops from the field, for convenience, they will be simply referred to as "destinations" here.

[0023] Harvesters and other "harvesting machines" are placed in the fields, and the crops harvested by these machines are loaded onto "transport vehicles" such as trucks. These transport vehicles then travel along transport routes to their destinations (such as country elevators or silos). After unloading the crops at their destinations, the transport vehicles travel back to the fields along the transport routes. For convenience, the route taken by transport vehicles traveling to the fields from their destinations or along the transport routes will be referred to as the "outbound route," and the route taken from the fields back to their destinations will be referred to as the "return route."

[0024] Drivers hired (contracted) to work in fields are often unfamiliar with the area, making them prone to getting lost or being forced to reverse after entering narrow road sections. Therefore, the present invention aims to support such drivers by guiding them along appropriate outbound and return routes, taking into account the working position and status of the harvesting machine, as well as the current position of the transport vehicle.

[0025] Figure 2 is a block diagram showing the main components of the transport vehicle support system 100 of the present invention. As shown in this figure, the transport vehicle support system 100 of the present invention is configured to include a group setting means 101, a location information acquisition means 102, a route setting means 103, a display control means 104, and a display means 105. It can also be configured to include a loading completion time calculation means 106, a harvest site setting means 107, a waiting area designation means 108, a work group storage means 109, a location information storage means 110, a transport route information storage means 111, a machine specifications storage means 112, and the like.

[0026] Of the various means constituting the transport vehicle support system 100, the group setting means 101, route setting means 103, display control means 104, loading completion time calculation means 106, harvest site setting means 107, and waiting place designation means 108 can be manufactured as dedicated units, or a general-purpose computer device can be used. In other words, each means performs its own specific processing by having the computer device execute calculations according to a predetermined program. This computer device can consist of a personal computer (PC), a tablet PC such as an iPad (registered trademark), a mobile terminal including a smartphone, or a PDA (Personal Data Assistance). The computer device is equipped with a processor such as a CPU, memory such as ROM or RAM, and may also include input means such as a mouse or keyboard and a display. If the computer device includes a display, this display can also be used as the display means 105.

[0027] Furthermore, the work group storage means 109, location information storage means 110, transport path information storage means 111, and machine specifications storage means 112 can utilize the storage devices of a general-purpose computer (e.g., a personal computer) or be built on a database server. When built on a database server, it can be placed on a local network (LAN: Local Area Network) or it can be a cloud server that stores data via the internet.

[0028] The following describes in detail each of the main elements constituting the transport vehicle support system 100 of the present invention.

[0029] (Transport route information storage means) The transport route information storage means 111, which constitutes the transport vehicle support system 100, is a means for storing transport routes connecting fields and destinations, and can also store so-called map information such as the location and shape of fields and destinations. However, the map information, including transport routes, is stored in the transport route information storage means 111 only after being converted into a data format that can be processed by a computer. When creating transport route data, it can be created after performing topographic surveys such as aerial photogrammetry, aerial laser surveying, or MMS (Mobile Mapping System), or it can be created using paper maps that have been produced in the past. In addition, a device that records the route of transport vehicles traveling between fields and destinations can be used to create transport route data, so to speak, using the travel route as actual data.

[0030] (Mechanical specification storage means) The machine specifications storage means 112, which constitutes the transport vehicle support system 100, is a means for storing the specifications of the harvester (hereinafter referred to as "harvester specifications") and the specifications of the transport vehicle (hereinafter referred to as "transport vehicle specifications"). Examples of harvester specifications include the amount of crop harvested by the harvester per unit time (hereinafter simply referred to as "unit harvest amount"), the amount of crop loaded onto the transport vehicle per unit time (hereinafter simply referred to as "unit loading amount"), the "harvesting width" of the harvester, and the standard movement speed of the harvester. Here, the harvesting width is the length set in a direction that is roughly perpendicular to the direction of movement of the harvester, as shown in Figure 3, and is, so to speak, the amount of crop harvested per unit distance traveled by the harvester. If the unit harvest amount and the unit loading amount are roughly equal, it is also possible to specify that only the unit loading amount be stored as the harvester specifications. On the other hand, vehicle specifications include the standard amount of agricultural products carried by the vehicle (hereinafter simply referred to as "standard load capacity"), the dimensions of the vehicle (width, length, height, etc.), and the standard travel speed of the vehicle.

[0031] (Means for setting up groups) The group setting means 101, which constitutes the transport vehicle support system 100, is a means for setting "work groups." Here, a work group is one in which one harvester is associated with one destination, and two or more transport vehicles are associated with one harvester. The transport vehicle support system 100 can be used for one field, or it can be used for two or more fields simultaneously. Also, normally one harvester is placed for one field. In other words, the transport vehicle support system 100 focuses on as many harvesters as there are fields being targeted simultaneously, and the group setting means 101 sets as many work groups as there are harvesters (number of fields).

[0032] For example, in Figure 4, the transport vehicle support system 100 targets three fields consisting of "Field A," "Field B," and "Field C," so the group setting means 101 sets "Work Group A," "Work Group B," and "Work Group C," respectively. In Work Group A, one harvester is associated with destination A and two transport vehicles; in Work Group B, one harvester is associated with destination B and four transport vehicles; and in Work Group C, one harvester is associated with destination C and three transport vehicles. When setting up multiple work groups in this way, the number of transport vehicles to be associated with each can be selected as appropriate. The work groups set by the group setting means 101 are stored in the work group storage means 109 (Figure 2).

[0033] (location information acquisition means) The position information acquisition means 102, which constitutes the transport vehicle support system 100, is a means for acquiring the current position information of the harvester (hereinafter simply referred to as "harvester position") and the current position information of the transport vehicle (hereinafter simply referred to as "transport vehicle position"). Various conventional technologies can be used to acquire the harvester position and transport vehicle position. For example, by installing receivers that receive radio waves from positioning satellites on both the harvester and the transport vehicle, the harvester position and transport vehicle position can be acquired using the Global Navigation Satellite System (GNSS). It is preferable that the position information acquisition means 102 be configured to acquire the harvester position and transport vehicle position periodically at relatively short intervals.

[0034] The harvester position and transport vehicle position acquired by the position information acquisition means 102 are stored in the position information storage means 110 (Figure 2). At this time, the harvester position is stored as a set, associated with the harvester and the time of acquisition, and similarly, the transport vehicle position is stored as a set, associated with the transport vehicle and the time of acquisition. Furthermore, when multiple work groups are set by the group setting means 101, the harvester position and transport vehicle position are stored in the position information storage means 110 in association with the work group to determine which work group they belong to.

[0035] (Display control means) The display control means 104, which constitutes the transport vehicle support system 100, is a means for displaying the field and destination, transport route, harvesting machine, transport vehicle, etc. on a display means 105 such as a screen. However, the harvesting machine is displayed on the map at the harvesting machine's position acquired by the position information acquisition means 102, and similarly, the transport vehicle is displayed on the map at the transport vehicle's position acquired by the position information acquisition means 102. Therefore, the harvesting machine, transport vehicle, etc., are displayed on the display means 105 along with a map to which at least planar coordinates are assigned, and the map can be displayed using, for example, a Geographic Information System (GIS).

[0036] Furthermore, the display control means 104 can also display the harvester along with the direction of movement calculated by the route setting means 103, as will be described later, and display the transport vehicle along with the direction of movement calculated by the route setting means 103. For example, in Figure 5, the harvester moving across the field is displayed on the display means 105 along with its direction of movement (white arrow), and the transport vehicle moving across the field is displayed on the display means 105 along with its direction of movement (black arrow).

[0037] (Route setting means) The route setting means 103, which constitutes the transport vehicle support system 100, is a means for setting appropriate outbound and return routes for the transport vehicles, and is, so to speak, a means for setting routes for navigation. As described above, two or more transport vehicles are operating for one field (i.e., one harvesting machine), and naturally, the positions of each transport vehicle are different. Therefore, the route setting means 103 sets the outbound route to the field and the return route to the destination for each transport vehicle. However, the outbound route is set based on the transport vehicles and fields (i.e., harvesting machines) belonging to the same work group, and the return route is set based on the transport vehicles, fields, and destinations belonging to the same work group.

[0038] When the route setting means 103 sets the outbound and return routes, it can set them so that the travel distance is minimized. In this case, it is also possible to set the routes so that the travel distance is minimized while avoiding "impassable points." Here, an impassable point is a point where the transport vehicle cannot pass (or has difficulty passing), and can be set, for example, based on the transport vehicle specifications (especially the vehicle width) stored in the machine specifications storage means 112 and the width of the transport route stored in the transport route information storage means 111. Alternatively, the system can be configured so that impassable points, such as fallen tree locations or road collapse locations, are set by inputting them from the transport vehicle driver.

[0039] The route setting means 103 can also calculate the direction in which the harvester is moving (hereinafter simply referred to as "harvester movement direction"), the speed at which the harvester is moving (hereinafter simply referred to as "harvester movement speed"), the direction in which the transport vehicle is moving (hereinafter simply referred to as "transport vehicle movement direction"), and the speed at which the transport vehicle is moving (hereinafter simply referred to as "transport vehicle movement speed"). In this case, the harvester movement direction and harvester movement speed can be calculated based on the history of the harvester's position acquired periodically by the position information acquisition means 102, and the transport vehicle's movement direction and transport vehicle's movement speed can also be calculated based on the history of the transport vehicle's position acquired periodically by the position information acquisition means 102. Since the acquisition time is associated with the harvester's position and the transport vehicle's position, the direction of movement and the speed of movement at a predetermined time can be determined.

[0040] (Means for calculating loading completion time) The loading completion time calculation means 106, which constitutes the transport vehicle support system 100, is a means for calculating the "loading completion time." Here, the loading completion time is the time when the planned amount (for example, the standard load amount) of agricultural products is loaded onto the transport vehicle, and is, so to speak, the time when loading onto that transport vehicle is completed. The harvesting machine harvests while moving around the field and loads the agricultural products onto the transport vehicle that is running alongside it while moving. Once the planned amount of agricultural products has been loaded, the transport vehicle departs for its destination, so the loading completion time can also be said to be the departure time of the transport vehicle.

[0041] The following describes the procedure by which the loading completion time calculation means 106 calculates the loading completion time, with reference to Figure 6. First, the "loading start time" for the transport vehicle is identified. Here, the loading start time is the time when the harvester begins loading crops onto the transport vehicle. This loading start time can be the time when the position of the harvester and the transport vehicle, as determined by the position information acquisition means 102, are judged to be sufficiently close. More specifically, the loading start time is identified as the time when the distance between the harvester and the transport vehicle falls below a predetermined threshold.

[0042] Once the loading start time is set, the time required for the harvester to load the planned amount (e.g., standard load) of crops onto the transport vehicle (hereinafter referred to as "loading time per load") is calculated. This loading time per load can be calculated using the harvester specifications and transport vehicle specifications stored in the machine specifications storage means 112. For example, as shown in Figure 6, the loading time per load can be obtained by dividing the standard load (transport vehicle specifications) by the unit loading amount (harvesting machine specifications). Then, by adding the loading time per load to the loading start time, in other words, the time after the loading time per load has elapsed from the loading start time is output as the loading completion time.

[0043] Incidentally, a field may have two or more transport routes connected to it, meaning that there may be multiple points where the transport routes connect to the field (hereinafter referred to as "entrances and exits"). In this case, it is desirable for the transport vehicle, once loading is complete, to depart for its destination from the nearest entrance or exit (in this case, the exit). Therefore, in cases where two or more transport routes are connected to the field, it is preferable to have the route setting means 103 set the return route based on the loading completion time for the transport vehicle. Specifically, the transport vehicle position (hereinafter referred to as "departure position") acquired at the loading completion time (or the time closest to the loading completion time) is read from the position information storage means 110, the entrance or exit closest to the departure position among the two or more entrances or exits is extracted, and the transport route related to that entrance or exit is selected before setting the return route.

[0044] When the transport vehicle for the preceding operation (hereinafter simply referred to as the "preceding transport vehicle") departs for the destination, the transport vehicle for the following operation (hereinafter simply referred to as the "following transport vehicle") enters the field and approaches the harvesting machine. At this time, if two or more transport routes are connected to the field, that is, if two or more entrances and exits are provided, it is desirable for the following transport vehicle to enter the field from the entrance or exit closest to the harvesting machine (in this case, the entrance). Therefore, in cases where two or more transport routes are connected to the field, it is preferable that the route setting means 103 be configured to set the outbound route based on the loading completion time of the preceding transport vehicle. Specifically, the harvesting machine position (hereinafter referred to as the "loading completion position") acquired at the loading completion time (or the time closest to the loading completion time) related to the preceding transport vehicle is read from the position information storage means 110, the entrance or exit closest to the loading completion position among the two or more entrances or exits is extracted, and the transport route related to that entrance or exit is selected and set as the outbound route for the following transport vehicle.

[0045] The transport vehicle moves alongside the harvester, or in other words, in the same direction as the harvester, as the crops are loaded. Therefore, when the transport vehicle enters the field, it is desirable to approach the harvester in the same direction as the harvester's movement at that time. Thus, in cases where two or more transport routes are connected to the field, the route setting means 103 should be configured to set the outbound route based on the loading completion time of the preceding transport vehicle. Specifically, the harvester's movement direction calculated at the loading completion time (or the time closest to the loading completion time) of the preceding transport vehicle is read, the direction connecting the entrance / exit and the harvester's loading completion position (hereinafter referred to as the "entry direction") is determined, the entry direction closest to the harvester's movement direction is extracted from the two or more entry directions, and the transport route (entrance / exit) related to that entry direction is selected and set as the outbound route for the following transport vehicle.

[0046] (Method for setting up harvested area) The harvested area setting means 107, which constitutes the transport vehicle support system 100, is a means for setting a "harvested area." Here, a harvested area is the area of ​​the field where crops have already been harvested by a harvesting machine, as shown in Figure 7. The harvesting machine harvests crops by moving back and forth in a predetermined direction (up and down in the figure) within the field. In other words, when the harvesting machine reaches the end, it turns around (makes a U-turn) and moves in the opposite direction. When the harvesting machine moves from one end of the field to the other (hereinafter referred to as a "lane"), crops are harvested in that lane by the harvesting width of the harvesting machine, and a harvested area of ​​the harvesting width is formed. For example, in Figure 7, the harvesting machine has moved about 2.5 lanes, and a harvested area has been formed by the amount it has moved.

[0047] The procedure by which the harvest site setting means 107 sets the harvest site will be explained below with reference to Figure 7. First, the trajectory of the harvest machine's movement up to the present (hereinafter simply referred to as the "movement trajectory") is set. Specifically, the history of the harvest machine's position, which is periodically acquired by the position information acquisition means 102, is read from the position information storage means 110, these harvest machine positions are placed on the map, and the harvest machine's movement trajectory is set by connecting the harvest machine positions in chronological order.

[0048] Once a movement trajectory is set, a strip-shaped area with a harvest width (hereinafter referred to as the "harvesting zone") is set centered on that movement trajectory. In other words, a harvesting zone is set by extending the area to half the harvest width on both the left and right sides of the movement trajectory. Then, by combining all the harvesting zones, the harvested area formed within the field is set. At this time, it is preferable to set the harvested area while excluding the movement trajectory set outside the field. For example, in Figure 7, the harvested area is set by two harvesting zones and approximately half a harvesting zone. The harvested area set here is displayed on the display means 105 by the display control means 104.

[0049] (Method for designating a waiting location) The waiting area designation means 108, which constitutes the transport vehicle support system 100, is a means for designating a "waiting area." Here, a waiting area is a place where a following transport vehicle waits while agricultural products are being loaded onto the preceding transport vehicle, and is selected from the transport routes near the field.

[0050] The following describes the procedure by which the waiting location designation means 108 designates a waiting location, with reference to Figure 8. First, the return route set for the preceding transport vehicle is extracted. Next, the route stored in the transport route information storage means 111 is read, and the return route related to the preceding transport vehicle is removed from that route. In other words, a route is selected as a candidate for a waiting location, but the route is narrowed down so as not to hinder the preceding transport vehicle's journey to the destination. Then, a waiting location is designated in the vicinity of the field from among the routes from which the return route related to the preceding transport vehicle has been removed. For example, a predetermined range (upper limit distance to lower limit distance) can be set from the center of the field, and routes within that range can be designated as waiting locations. At this time, the location may also be specified based on the outbound route related to the following transport vehicle (the transport vehicle waiting). The waiting location designated here is displayed on the display means 105 by the display control means 104.

[0051] (others) The transport vehicle support system 100 may also be equipped with a planning range specification means for specifying the harvesting area in the field (hereinafter referred to as the "planned work area"). For example, depending on the weather on any given day, harvesting work in the afternoon may become difficult. In this case, if the area to be harvested on that day (planned work area) is displayed on the display means 105, the work for the day becomes clear, which is advantageous for the operator of the harvesting machine. The planning range specification means is a means for specifying the planned work area, and specifically, it is a means for the operator to input the planned work area using a pointing device (mouse, touch panel, pen tablet, touchpad, trackpad, trackball, etc.) or a keyboard. In addition, before harvesting work by the harvesting machine, a process called "cutting down" may be performed, and in that case, the planning range specification means can also be used to specify the planned work area for cutting down. The planned work area specified here is displayed on the display means 105 by the display control means 104.

[0052] (Display means) As previously described, the display means 105 of the transport vehicle support system 100 is a means of displaying fields and destinations, transport routes, harvesting machines, transport vehicles, etc., on a map under the control of the display control means 104. The display means 105 can also display various information generated by the transport vehicle support system 100, such as the direction of movement of the harvesting machine and the transport vehicle, the outward and return routes set by the route setting means 103, the harvested area and movement trajectory set by the harvested area setting means 107, the waiting area specified by the waiting area specification means 108, and the planned work area specified by the planned range specification means.

[0053] The display means 105 is mounted on the harvesting machine and also on each transport vehicle. Therefore, the display means 105 is connected to communicate with other means that constitute the transport vehicle support system 100. For example, even if the driver of a transport vehicle is unfamiliar with the area, they can avoid getting lost or entering narrow road sections by checking the outbound and return routes displayed on the display means 105. Also, the driver of a following transport vehicle can wait with peace of mind at a waiting area designated by the waiting area designation means 108, or depending on the size of the harvested area set by the harvested area setting means 107, they may decide that they can wait in the harvested area (i.e., within the field) rather than at a waiting area on the transport route. On the other hand, the operator of the harvesting machine can perform the day's work while checking the harvesting range designated by the planning range designation means on the display means 105. [Industrial applicability]

[0054] The vehicle transport support system of the present invention can be used in fields producing various crops such as pasture grass for livestock, beans, and vegetables. Considering that the present invention can help solve the so-called "2024 problem," namely the driver shortage, it is an invention that can be expected to make a significant contribution not only industrially but also socially. [Explanation of Symbols]

[0055] 100 Transport vehicle support system of the present invention 101 Group setting means (of the transport vehicle support system) 102 Means for acquiring location information (of the transport vehicle support system) 103 Route setting means (of the transport vehicle support system) 104 Display control means (of the transport vehicle support system) 105 Display means (of the transport vehicle support system) 106 (Loading completion time calculation means for transport vehicle support system) 107 (Means for setting harvested area in the transport vehicle support system) 108 (Means for designating a waiting area for a transport vehicle support system) 109 (Work group memory means of the transport vehicle support system) 110 (Location information storage means of the transport vehicle support system) 111 (Transport vehicle support system) Transport route information storage means 112 (Mechanical specifications storage means of the transport vehicle support system)

Claims

1. A system that supports transport vehicles that carry agricultural products harvested in the field to their destination, A display means for displaying one or more of the aforementioned fields, one or more of the aforementioned destinations, transport routes connecting the fields and the destinations, harvesting machines for performing harvesting work in each of the aforementioned fields, and the transport vehicles on a map, A group setting means for setting a work group by associating one harvester with one destination and associating two or more transport vehicles with one harvester, A location information acquisition means that acquires location information related to the harvesting machine and location information related to the transport vehicle, A display control means that causes the harvesting machine and the transport vehicle to be displayed on the display means according to the location information acquired by the location information acquisition means, The system includes a route setting means for setting the outbound route from the transport vehicle to the harvesting machine related to the work group of the transport vehicle based on the transport path, and setting the return route from the transport vehicle to the destination related to the work group of the transport vehicle based on the transport path, The operator of the transport vehicle can move using the outbound and return routes by checking the display means mounted on the transport vehicle. A transport vehicle support system characterized by the following features.

2. The route setting means estimates the direction of movement of the harvester as it moves through the field and loads the crops onto the transport vehicle, based on the position information of the harvester. The display control means causes the direction of movement of the harvesting machine to be superimposed on the field and displayed on the display means. The transport vehicle support system according to feature 1.

3. The system further includes a loading completion time calculation means that calculates the loading completion time when the loading of crops onto the transport vehicle is completed, based on the loading start time at which the transport vehicle is determined to have approached the harvesting machine based on the location information obtained by the location information acquisition means, the amount of crops loaded per hour by the harvesting machine as it moves through the field and loads crops onto the transport vehicle, and the amount of crops loaded onto the transport vehicle. The route setting means, when two or more transport routes are connected to the field, selects one transport route based on the position information of the transport vehicle related to the loading completion time, and then sets the return route. The transport vehicle support system according to feature 1.

4. When two or more transport routes are connected to the field, the route setting means selects one transport route for the transport vehicle involved in subsequent operations to enter the field based on the position information of the harvester relating to the loading completion time, and then sets the outbound route. The transport vehicle support system according to feature 3.

5. The route setting means estimates the direction of movement of the harvester as it moves through the field and loads the crops onto the transport vehicle, based on the position information of the harvester. Furthermore, when two or more transport routes are connected to the field, the route setting means selects one transport route for the transport vehicle involved in the subsequent operation to enter the field based on the direction of movement of the harvesting machine at the time of completion of loading, and then sets the outbound route. The transport vehicle support system according to feature 3.

6. The system further includes a harvested area setting means for setting a harvested area where crops have already been harvested, based on the movement trajectory of the harvester as it moves through the field and loads crops onto the transport vehicle, and the harvesting width of the harvester. The harvested area setting means estimates the movement trajectory of the harvester based on the position information of the harvester acquired by the position information acquisition means. The display control means causes the harvested area up to the present to be superimposed on the field and displayed on the display means. The operator of the transport vehicle involved in subsequent operations can determine whether or not it is permissible to wait in the harvested area of ​​the field. The transport vehicle support system according to feature 1.

7. The system further includes means for specifying a waiting area for the transport vehicle involved in subsequent operations, The means for designating the waiting area extracts the transport route of the transport vehicle related to the preceding work, excluding the return route, and designates the area within a predetermined distance from the field within the transport route as the waiting area. The transport vehicle support system according to feature 1.

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