Work vehicles

Abstract

To calculate work possible time more accurately.SOLUTION: A work vehicle 1 includes: a vehicle body; a connection part provided at the vehicle body, and where a work device can be attached to / detached from; an electric motor 12 for operating the work device; a battery 20a (storage battery) for supplying power at least to the electric motor 12; a BMU 20a1 (detection device) for detecting an output value of the battery 20a; a storage device 26 for storing beforehand data in which work by the work device is associated with an output range value of the battery 20a in the case where the work is performed; a determination part 25a for determining that the work device is in the work, in the case where the detection value detected by the BMU 20a1 is contained in the output range value; and a calculation part 25b for calculating work possible time based on a median value of the output range value which is determined to contain the detection value and residual capacity of the battery 20a, in the case where the work device is determined to be in the work.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a work vehicle equipped with a battery unit and electric equipment. [Background technology]

[0002] Conventionally, in the electric vehicle disclosed in Patent Document 1, the available driving time is calculated from the average power consumption in the past vehicle driving and the current remaining battery charge. In recent years, the development of electric work vehicles equipped with battery units and electric devices has been progressing for work vehicles such as agricultural machinery. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2001-231103 A Summary of the Invention [Problem to be solved by the invention]

[0004] In agricultural machinery and other work vehicles, multiple types of work equipment can be attached and detached, and power consumption varies greatly depending on the type of attached work equipment or the work content. Therefore, even if the method of calculating the remaining driving time of an electric vehicle according to Patent Document 1 above (i.e., the method of calculating the remaining driving time from the average power consumption in the past and the current remaining battery charge) is applied to agricultural machinery and other work vehicles, the estimation error in the remaining working time is large, and the remaining working time of the work vehicle cannot be calculated accurately.

[0005] The present invention has been made to solve such problems in the prior art, and has an object to provide a work vehicle that can accurately calculate the workable time of the work vehicle. [Means for solving the problem]

[0006] A work vehicle according to one aspect of the present invention comprises a vehicle body, a coupling section provided on the vehicle body to which a working device can be attached and detached, an electric motor for operating the working device, a storage battery for supplying power to at least the electric motor, a detection device for detecting an output value of the storage battery, a memory device for pre-storing data correlating work performed by the working device with an output range value of the storage battery when the work is being performed, a determination section for determining that the working device is working when the detection value detected by the detection device is included in the output range value, and a calculation section for calculating a work available time based on the median value of the output range value determined to include the detection value and the remaining capacity of the storage battery when it is determined that the working device is working.

[0007] The memory device may pre-store data for a plurality of tasks correlating the tasks performed by the work device with output range values ​​of the storage battery when the tasks are performed, and the judgment unit may determine whether a detection value detected by the detection device is included in any of the output range values ​​for the plurality of tasks, and if it determines that the detection value is included, determine that the task corresponding to the output range value that is determined to be included is being performed by the work device.

[0008] The storage device may pre-store priorities for two or more tasks among the plurality of tasks for which the output range values ​​of the storage battery overlap, and the determination unit may determine whether the detection value detected by the detection device is included in any of the output range values ​​of the plurality of tasks, and if it is determined that the detection value is included in the output range value of the two or more overlapping tasks, determine that the task with the higher priority among the two or more overlapping tasks is being performed by the work device.

[0009] When the determination unit determines that the detection value detected by the detection device is included in the output range values ​​of two or more of the multiple tasks, it may determine that the task corresponding to the median output range value to which the detection value is closest among the two or more tasks is being performed by the task device. When the determination unit determines that the task does not fall within any of the multiple tasks, the calculation unit may calculate the available work time based on a median value calculated by taking a moving average of the detection values ​​detected by the detection device and the remaining capacity of the storage battery.

[0010] The work vehicle is provided with an input unit that receives a designation of a region, and the storage device is data associating a specified area of ​​use with an operation performed by the operation device and an output range value of the storage battery when the operation is performed, for a plurality of operations, is stored in advance, and the determination unit identifies the area of ​​use corresponding to the area specified by the input unit, selects an operation performed by the operation device and an output range value of the storage battery when the operation is performed that correspond to the identified area of ​​use, determines whether or not the detection value detected by the detection device is included in the output range value for the selected operation, and if it is determined that the detection value is included, determines that the operation corresponding to the output range value that is determined to be included is being performed by the operation device.

[0011] The work vehicle is equipped with an input unit that accepts a designation of a time, and the memory device pre-stores data for a plurality of tasks that associates a predetermined use time, work performed by the work device, and an output range value of the storage battery when the work is performed, and the judgment unit identifies the use time corresponding to the time specified by the input unit, selects the work performed by the work device and the output range value of the storage battery when the work is performed that correspond to the identified use time, determines whether the detection value detected by the detection device is included in the output range value of the selected task, and if it is determined that the detection value is included, determines that the task corresponding to the output range value that is determined to be included is being performed by the work device.

[0012] The work vehicle is equipped with an input unit that accepts the designation of an area and a time, and the memory device pre-stores data for a plurality of tasks that associates a predetermined area of ​​use, a time of use for the area of ​​use, work performed by the work device, and an output range value of the storage battery when the work is performed, and the determination unit identifies the area of ​​use corresponding to the area specified by the input unit, identifies the time of use corresponding to the time specified by the input unit for the identified area of ​​use, selects the work performed by the work device and the output range value of the storage battery when the work is performed that correspond to the identified area of ​​use and time of use, determines whether the detection value detected by the detection device is included in the output range value of the selected task, and if it is determined that the detection value is included, determines that the task corresponding to the output range value that is determined to be included is being performed by the work device.

[0013] the storage device pre-stores, as an output range value of the storage battery, an average output range value which indicates a range from an upper limit value to a lower limit value of an average output of the storage battery when the work is being performed and has a median value between the upper limit value and the lower limit value, the determination unit calculates a moving average value of the detection value detected by the detection device, and determines that the work device is performing work when this moving average value is included in the average output range value, When it is determined that the work tool is in operation, the calculation unit may calculate the available work time based on a median of the average output range value determined to be included and a remaining capacity of the storage battery.

[0014] The calculation unit may calculate the available work time when at least one of the following occurs: when the working device is positioned at a predetermined position by the connection unit, when output of power to the working device is started, when the working device is in operation and a calculation instruction is input, and when a predetermined period of time has elapsed while the working device is in operation. The work implement may be an implement for performing agricultural work.

[0015] The work vehicle may include a traveling device provided on the vehicle body and driven by the electric motor, an inverter that controls the electric motor, and an output shaft that outputs the power output by the electric motor to the work device attached to the connecting portion. Effect of the Invention

[0016] According to the above-described work vehicle, the workable time of the work vehicle can be accurately calculated. [Brief description of the drawings]

[0017] [Figure 1] FIG. 1 is a diagram showing the entire system of a work vehicle 1. [Diagram 2] 13 is a diagram showing an example of a data table DT1 stored in a storage device 26. FIG. [Diagram 3] 4 is a flowchart for calculating available work time in the first embodiment. [Figure 4] 5 is a flowchart showing a calculation process of available work time according to the first embodiment. [Diagram 5] FIG. 11 is a diagram showing an example of a data table DT2 stored in a storage device 26 of the second embodiment. [Figure 6] 10 is a flowchart showing a calculation process of available work time according to the second embodiment. [Figure 7A] 10 is a flowchart showing a calculation process of available work time according to the second embodiment. [Figure 7B] FIG. 13 is a diagram showing an example in which the fourth and fifth output range values ​​ORV4 and ORV5 overlap. [Figure 8A] FIG. 13 is a diagram showing an example of a data table DT21 stored in a storage device 26 of the third embodiment. [Figure 8B] 13 is a flowchart showing a calculation process of available work time according to the third embodiment. [Figure 8C] 13 is a flowchart showing a calculation process of available work time according to the third embodiment. [Figure 9] FIG. 13 is a diagram showing an example of a data table DT3 stored in a storage device 26 of the fourth embodiment. [Figure 10] 13 is a flowchart showing a calculation process of available work time according to the fourth embodiment. [Figure 11] FIG. 13 is a diagram showing an example of a data table DT4 stored in a storage device 26 of the fifth embodiment. [Figure 12] 13 is a flowchart showing a calculation process of available work time according to the fifth embodiment. [Figure 13] FIG. 1 is a side view of a work vehicle 1 (tractor). DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. [First embodiment] 13 is a side view showing one embodiment of a work vehicle 1. In this embodiment, the work vehicle 1 is a tractor. The work vehicle 1 includes a vehicle body 2. The vehicle body 2 is provided with a driver's seat 7 in which an operator sits.

[0019] In the following description of this embodiment, the direction in which a worker seated in the driver's seat 7 of the work vehicle 1 faces (the direction of arrow A1 in FIG. 13) will be referred to as the front, the opposite direction (the direction of arrow A2 in FIG. 13) as the rear, the left side of the worker (the front side in FIG. 13) as the left side, and the right side of the worker (the back side in FIG. 13) as the right side. Additionally, the horizontal direction perpendicular to the fore-and-aft direction of the work vehicle 1 will be referred to as the width direction. Fig. 1 is a diagram showing the entire system of a work vehicle. As shown in Fig. 1 and Fig. 13, the work vehicle 1 is equipped with a traveling device 4, a battery unit 20, an electric device 11, a transmission 10, and a connecting section 8. The traveling device 4, the battery unit 20, the electric device 11, the transmission 10, and the connecting section 8 are provided on a vehicle body 2. As shown in Fig. 13, the traveling device 4 is a device having front wheels 4A and rear wheels 4B that are driven to rotate, and the vehicle body 2 can travel by the traveling device 4. The front wheels 4A and rear wheels 4B may be of a tire type or a crawler type.

[0020] The battery unit 20 is a structure capable of storing electricity and outputting the stored electricity. The battery unit 20 has a battery 20a (storage battery) inside a housing (casing). The battery 20a is capable of storing electricity and is, for example, a secondary battery such as a lithium ion battery or a lead storage battery. The battery 20a has a plurality of cells inside, and the plurality of cells are electrically connected in series and in parallel. The battery unit 20 is connected to a charger 21 provided on the work vehicle 1. The charger 21 is a socket to which a cable for charging the battery unit 20 is connected. The battery unit 20 can be charged by power supplied from outside via the charger 21.

[0021] The electric device 11 is a device such as an electrical component that is driven by power supplied from the battery unit 20. More specifically, the electric device 11 is directly or indirectly connected to the battery unit 20, and is a device that transmits the power supplied by the battery unit 20, or a device that operates by the power. As shown in Fig. 1, the electric device 11 includes an electric motor 12 that is driven by the power of the battery unit 20. The electric device 11 also includes, for example, an inverter 13 and a DC / DC converter 14.

[0022] The electric motor 12 is a drive source of the work vehicle 1 that is driven by the electric power output by the battery unit 20. The electric motor 12 rotates a drive shaft by the electric power supplied from the battery unit 20. The electric motor 12 is a three-phase AC synchronous motor with embedded permanent magnets. The electric motor 12 has a rotatable rotor and a rotor that generates a force for rotating the rotor. The rotor has a stator that rotates the rotor.

[0023] The inverter 13 is connected to the battery unit 20 and the electric motor 12. The inverter 13 is a device that drives the electric motor 12, and converts DC power supplied by the battery unit 20 into three-phase AC power and supplies it to the electric motor 12. In other words, the electric motor 12 is connected to the battery unit 20 via the inverter 13. The inverter 13 can arbitrarily change the current and voltage of the power supplied to the electric motor 12.

[0024] The DC / DC converter 14 is connected to the battery unit 20, and converts the voltage of the DC power supplied from the battery unit 20 into a different voltage. In this embodiment, the DC / DC converter 14 is a step-down converter that converts an input voltage into a lower voltage. The DC / DC converter 14 supplies power to, for example, an on-board battery 15 that supplies power to electronic devices provided in the work vehicle 1.

[0025] The transmission 10 is connected to a drive shaft of the electric motor 12, and the power output by the electric motor 12 is transmitted to the transmission 10, and the traveling device 4 is driven by the power whose speed has been changed by the transmission 10. The transmission 10 is provided with an output shaft (PTO shaft) 17 that outputs the power output by the electric motor 12 to the outside. The PTO shaft 17 is provided so as to protrude rearward from the rear of the vehicle body 2.

[0026] The connecting part 8 is provided on the vehicle body 2 so as to be able to swing freely, and a working device 9 is detachably attached to the rear part of the connecting part 8. The working device 9 is operated by power input from the outside, for example, power input from the PTO shaft 17. That is, the working device 9 operates by inputting the power output from the electric motor 12 via the PTO shaft 17. The working device 9 is, for example, a device that performs agricultural work. The working device 9 is a tilling device that tills, a fertilizer spreading device that spreads fertilizer, a pesticide spreading device that spreads pesticide, a harvesting device that harvests, a reaping device that cuts grass and the like, a spreading device that spreads grass and the like, a grass collecting device that collects grass and the like, a molding device (roll baler) that shapes grass and the like, and the like.

[0027] In the above-described embodiment, the drive shaft of the electric motor 12 is connected to the transmission 10, the power output by the electric motor 12 is transmitted to the transmission 10, and the traveling device 4 is driven by the power changed in speed by the transmission 10, but the configuration of the traveling device 4 is not limited to this. For example, a traveling electric motor may be provided separately from the electric motor 12, and the traveling electric motor may be driven by electric power supplied from the battery unit 20. Also, a traveling hydraulic motor may be provided, and a hydraulic pump (not shown) may be driven by the power of the electric motor 12, and the traveling hydraulic motor may be driven by hydraulic oil output from the hydraulic pump.

[0028] As shown in FIG. 1, the work vehicle 1 includes a control device 25 and a storage device 26. The control device 25 is a device configured from electric and electronic circuits, programs stored in a CPU, etc., and controls various devices of the work vehicle 1. For example, the control device 25 controls the rotation speed of the electric motor 12 based on the operation of a rotation speed operation device (accelerator pedal) 27, which is an operable operation device provided around the driver's seat 7. The storage device 26 is a non-volatile memory or the like, and stores various information related to the control of the control device 25. For example, the storage device 26 stores information such as a table related to the rotation speed of the electric motor 12 relative to the operation amount of the rotation speed operation device 27.

[0029] The work vehicle 1 is equipped with a cooling system 30 that cools the electric equipment 11. The cooling system 30 has a radiator 31 that cools a refrigerant (cooling water), a cooling pump 40 that sends out the cooling water, and a cooling path (not shown) that circulates the cooling water, and cools the electric equipment 11 by circulating the cooling water through the electric equipment 11. 13, the radiator 31 is provided, for example, in the front part of the vehicle body 2. The radiator 31 cools (removes heat from) the cooling water passing through the inside thereof by cooling air generated by a radiator fan 31a. The radiator fan 31a is a suction type fan driven by electric power stepped down by the DC / DC converter 14, and sucks in air from the front of the vehicle body 2 and sends the air to the radiator 31.

[0030] As shown in FIG. 1, the control device 25 controls, for example, an electric device 11 (electrical equipment) mounted on the vehicle. The control device 25 is an electronic control unit (ECU (Electronic Control Unit)) that controls the vehicle. The control device 25 is connected to other devices such as the BMU 20a1, the display device 5, the storage device 26, and other ECUs (not shown) via an in-vehicle network N1 such as a CAN (Controller Area Network).

[0031] Here, the charging of the battery 20a will be described. The battery 20a has a BMU (battery management unit) 20a1. The BMU 20a1 is a battery monitoring device that monitors and controls the battery unit 20. The BMU 20a1 can obtain, for example, the voltage, temperature, current, and terminal voltage of the internal cells of the battery 20a, monitor the battery unit 20, and perform charging control and discharging control of the battery 20a. For this reason, the BMU 20a1 is a detection device that detects an output value indicating at least one of the output power, output voltage, and output current of the battery 20a (storage battery) as a detection value. In this embodiment, the detection value is the output power value, but it may be an output voltage value or an output current value. The BMU 20a1 can calculate and obtain the remaining capacity of the battery 20a based on the voltage and current of the battery 20a. The BMU 20a1 may obtain the remaining capacity of the battery 20a based on information from a remaining capacity detection device (not shown) that detects the remaining capacity of the battery 20a. The temperature of the battery 20a is detected by, for example, a temperature detector 20c.

[0032] When the voltage of battery 20a reaches a predetermined limit value, BMU 20a1 outputs a charging stop signal to charger 21, and when the voltage of battery 20a is below the limit value, BMU 20a1 outputs a charging permission signal to charger 21. When charger 21 receives the charging stop signal from BMU 20a1, it cuts off the charging current to battery 20a by opening and closing a relay in charger 21. On the other hand, when charger 21 receives the charging permission signal from BMU 20a1, it allows the charging current to battery 20a by opening and closing a relay in charger 21.

[0033] When the BMU 20a1 is outputting a charging permission signal, and a cable is connected to the charger 21 and power is supplied to the charger 21 from the outside, the BMU 20a1 charges the battery 20a with, for example, a small current for a short time. The BMU 20a1 judges whether the voltage of the battery 20a rises to a predetermined level or more (pre-charge), and when the voltage of the battery 20a rises to a predetermined level or more during pre-charge, it outputs a charging start signal to the charger 21, and the charger 21 charges the battery 20a by means of CVCC (Constant Current Constant Voltage) charging or the like. The BMU 20a1 judges whether to end the charging of the battery 20a based on conditions such as the charging time and the amount of electricity passing through it, and when the charging time has elapsed for a predetermined time or the amount of electricity passing through it is equal to or more than a predetermined level, it outputs a charging stop signal to the charger 21, causing the charger 21 to cut off the charging current and end the charging of the battery 20a.

[0034] On the other hand, if the voltage of the battery 20a does not rise to a predetermined level during pre-charging, the BMU 20a1 outputs a charge stop signal to the charger 21 to cause the charger 21 to cut off the charging current and terminate charging of the battery 20a. The control device 25 acquires information about the battery 20a from the outside and determines whether the battery 20a is being charged. In this embodiment, the control device 25 acquires signals (a charging stop signal and a charging start signal) from the BMU 20a1 to determine whether the battery 20a is being charged.

[0035] As shown in FIG. 2, the storage device 26 stores in advance a data table DT1 including data associating the work performed by the working device 9 with the output range value ORV of the battery 20a when the work is performed. FIG. 2 is a diagram showing an example of the data table DT1 stored in the storage device 26. The data table DT1 shown in FIG. 2 is data associating the work performed by the working device 9 with the output range value ORV of the battery 20a when the work is performed, which is stored in advance for a plurality of works. In this embodiment, the output range value ORV is an output power range value, but it may be an output voltage range value or an output current range value, etc. The data table DT1 stores the first to n-th working devices W1 to Wn and the first to n-th output range values ​​ORV1 to ORVn in one-to-one correspondence. The first to n-th working devices W1 to Wn are, for example, a tilling device, a fertilizer spreading device, a pesticide spreading device, a harvesting device, a reaping device, a spreading device, a grass collecting device, a molding device, etc.

[0036] The control device 25 includes a determination unit 25a and a calculation unit 25b. Unit 25b is composed of electric and electronic circuits provided in control device 25, and programs stored in the CPU, storage device 26, etc. Determination unit 25a determines that working device 9 is working when the detection value detected by BMU 20a1 is included in output range value ORV. When it is determined that working device 9 is working, calculation unit 25b calculates available work time based on median value LM of output range value ORV that is determined to include the detection value and the remaining capacity of battery 20a.

[0037] The judgment unit 25a judges whether the detection value detected by the BMU 20a1 is included in any of a plurality of task output range values ​​ORV (e.g., the first to nth output range values ​​ORV1 to ORVn), and if it is determined that the detection value is included, it judges that the task corresponding to the output range value ORV that is included is being performed by the work device 9. Furthermore, when the determination unit 25a determines that the task does not fall within any of the tasks, the calculation unit 25b calculates the available work time based on the median OM calculated by taking a moving average of the detection values ​​detected by the BMU 20a1 and the remaining capacity of the battery 20a. That is, the calculation unit 25b calculates the available work time at the present time based on the median OM calculated by taking a moving average of the detection values ​​detected by the BMU 20a1 at the present time and the remaining capacity of the battery 20a at the present time.

[0038] The first to n-th output range values ​​ORV1 to ORVn are values ​​indicating the range from an upper limit value LU to a lower limit value LL of the average output of the battery 20a when work is being performed, and are average output range values ​​having a median value LM between the upper limit value LU and the lower limit value LL. For example, the first output range value ORV1 is a value indicating the range from a first upper limit value LU1 to a first lower limit value LL1 of the average output of the battery 20a when work is being performed by the first work device W1, and is an average output range value having a first median value LM1 between the first upper limit value LU1 and the first lower limit value LL1.

[0039] Determination unit 25a calculates a moving average value MA of the detection values ​​detected by BMU 20a1, and determines that the working device 9 is in operation if this moving average value MA is included in any of the first to nth output range values ​​ORV1 to ORVn, which are average output range values. Furthermore, calculation unit 25b calculates a workable time based on the median value LM of the average output range value (i.e., output range value ORV) that is determined to be included and the remaining capacity of BMU 20a1 when it is determined that the working device 9 is in operation.

[0040] The calculation unit 25b calculates the available work time when at least one of the following occurs: when the working device 9 is positioned at a predetermined position by the connection unit 8, when the output of power to the working device 9 is started, when the working device 9 is in operation and a calculation instruction is input, and when a predetermined period of time has elapsed while the working device 9 is in operation.

[0041] Here, calculation of the available work time of the working device 9 by the control device 25 will be described with reference to Fig. 3. Fig. 3 is a flow chart for calculating the available work time in the first embodiment. The calculation unit 25b determines whether it is a predetermined timing (S1). Specifically, the calculation unit 25b determines that it is a predetermined timing when at least one of the following occurs: the working device 9 is positioned at a predetermined position (lowered position, work start position, etc.) by the connecting unit 8, the output of power to the working device 9 is started, a calculation instruction is input while the working device 9 is in operation, and a predetermined period of time has elapsed while the working device 9 is in operation (S1, Yes).

[0042] When the calculation unit 25b determines that it is the predetermined timing (S1, Yes), the determination unit 25a detects the output value of the BMU 20a1 (S2). Specifically, the determination unit 25a obtains the detection value (output power) detected by the BMU 20a1. The determination unit 25a calculates a moving average value MA of the detection values ​​detected by the BMU 20a1 (S3). The calculation unit 25b executes a calculation process of the available work time of the working device 9 (S4). Here, the calculation process of the available work time of the working device 9 will be described with reference to Fig. 4. Fig. 4 is a flowchart showing the calculation process of the available work time in the first embodiment.

[0043] As shown in Fig. 4, the determination unit 25a determines whether or not the moving average value MA of the output power value of the battery 20a is included in the first output range value ORV1 (S41). The determination unit 25a determines whether the moving average value MA of the output power value of the battery 20a is equal to or greater than the first lower limit value LL1 of the first output range value ORV1 and equal to or less than the first upper limit value LU1. If the moving average value MA of the output power value of the battery 20a is included in the first output range value ORV1 (S41, Yes), the determination unit 25a identifies the work of the first working implement W1 corresponding to the first output range value ORV1 (S42). For example, if the first working implement W1 is a tilling implement, the work corresponding to the first output range value ORV1 is identified as tilling work.

[0044] When it is determined that the work device 9 is in operation, in this case when it is determined that the first work device W1 is in operation, the calculation unit 25b calculates the available work time based on the median value LM1 of the first output range value ORV1 determined to include the moving average value MA of the output power value of the battery 20a and the remaining capacity of the battery 20a (S43). For example, if the median value LM1 of the first output range value ORV1, which is the output power range value, is a value per unit time (for example, one minute), the remaining power amount RP, which is the remaining capacity of the battery 20a, divided by the median value LM1 can be calculated as the available work time (minutes). In other words, the available work time (minutes) of the first work device W1 = remaining power amount RP / median value LM1.

[0045] On the other hand, in S41, if the moving average value MA of the output power value of the battery 20a is not included in the first output range value ORV1 (S41, No), the determination unit 25a determines whether or not the moving average value MA of the output power value of the battery 20a is included in the second output range value ORV2 (S44). Specifically, the determination unit 25a determines whether or not the moving average value MA of the output power value of the battery 20a is equal to or greater than the second lower limit value LL2 of the second output range value ORV2 and equal to or less than the second upper limit value LU2. If the moving average value MA of the output power value of the battery 20a is included in the second output range value ORV2 (S44, Yes), the determination unit 25a identifies the work of the second working device W2 corresponding to the second output range value ORV2 (S45). For example, if the second working device W2 is a fertilizer spreading device, the work corresponding to the second output range value ORV2 is identified as fertilizer spreading work.

[0046] When it is determined that the work device 9 is in operation, in this case when it is determined that the second work device W2 is in operation, the calculation unit 25b calculates the available work time based on the median value LM2 of the second output range value ORV2 determined to include the moving average value MA of the output power value of the battery 20a and the remaining capacity of the battery 20a (S46). For example, if the median value LM2 of the second output range value ORV2, which is the output power range value, is a value per unit time (for example, one minute), the remaining power amount RP, which is the remaining capacity of the battery 20a, divided by the median value LM2 can be calculated as the available work time (minutes). In other words, the available work time (minutes) of the second work device W2 = remaining power amount RP / median value LM2.

[0047] On the other hand, in S44, if the moving average value MA of the output power value of the battery 20a is not included in the second output range value ORV2 (S44, No), the determination unit 25a determines whether or not the moving average value MA of the output power value of the battery 20a is included in the n-th output range value ORVn (S47). Specifically, the determination unit 25a determines whether or not the moving average value MA of the output power value of the battery 20a is equal to or greater than the n-th lower limit value LLn of the n-th output range value ORVn and equal to or less than the n-th upper limit value LUn. If the moving average value MA of the output power value of the battery 20a is included in the n-th output range value ORVn (S47, Yes), the determination unit 25a identifies the operation as the operation of the n-th working device Wn corresponding to the n-th output range value ORVn (S48). For example, if the n-th working device Wn is a molding device, the operation corresponding to the n-th output range value ORVn is identified as molding operation.

[0048] When it is determined that the work device 9 is in operation, in this case when it is determined that the n-th work device Wn is in operation, the calculation unit 25b calculates the available work time based on the median LMn of the n-th output range value ORVn, which is determined to include the moving average value MA of the output power value of the battery 20a, and the remaining capacity of the battery 20a (S49). For example, if the median LM2 of the n-th output range value ORVn, which is the output power range value, is a value per unit time (for example, one minute), the remaining power amount RP, which is the remaining capacity of the battery 20a, divided by the median LMn can be calculated as the available work time (minutes). In other words, the available work time (minutes) of the n-th work device Wn = remaining power amount RP / median LMn.

[0049] On the other hand, in S47, when the moving average value MA of the output power value of the battery 20a is not included in the n-th output range value ORVn (S47, No), the determination unit 25a determines that there is no corresponding work (S50). That is, it is determined that the work does not correspond to any of the work of the multiple work apparatuses pre-stored in the storage device 26. When the determination unit 25a determines that the work does not correspond to any of the multiple work (S50), the calculation unit 25b calculates the workable time based on the median OM calculated by taking the moving average of the detection values ​​detected by the BMU 20a1 and the remaining capacity of the battery 20a (S51). For example, if the median OM calculated by taking the moving average of the detection values ​​detected by the BMU 20a1 is a value per unit time (for example, 1 minute), the value obtained by dividing the remaining power amount RP, which is the remaining capacity of the battery 20a, by the median OM can be calculated as the workable time (minutes) of the work apparatus of which the type is not specified. In other words, the workable time (minutes) of the work apparatus of which the type is not specified = remaining power amount RP / median OM.

[0050] The control device 25 ends this process after S43, S46, S49, or S51. Returning to FIG. 3, the control device 25 judges whether or not to end the process after S4 (S5). For example, if it is detected that the ignition key is turned off, it judges that the process is to end (S5, Yes) and ends the process. On the other hand, if it is not detected that the ignition key is turned off (S5, No), the control device 25 proceeds to S1 and judges whether or not a predetermined timing has occurred (S1).

[0051] The work vehicle 1 of the first embodiment described above comprises a vehicle body 2, a coupling section 8 provided on the vehicle body 2 to which a working device 9 can be attached and detached, an electric motor 12 for operating the working device 9, a battery 20a (storage battery) for supplying power to at least the electric motor 12, a BMU 20a1 (detection device) for detecting the output value of the battery 20a, a storage device 26 for pre-storing data associating work performed by the working device 9 with an output range value ORV of the battery 20a when the work is being performed, a determination section 25a for determining that the working device 9 is working when the detection value detected by the BMU 20a1 is included in the output range value ORV, and a calculation section 25b for calculating a work available time based on the median value LM of the output range value ORV determined to include the detection value and the remaining capacity of the battery 20a when it is determined that the working device 9 is working. According to this configuration, it is possible to determine that the working device 9 is working, and the available work time is calculated based on the median LM of the output range value ORV of the battery 20a when the working device 9 is working (i.e., the median of power consumption) and the remaining capacity of the battery 20a, so that the available work time can be calculated taking into account the power consumption of the working device 9. Therefore, the available work time can be calculated more accurately compared to a configuration in which the power consumption of the working device 9 cannot be taken into account.

[0052] In addition, since the power consumption value of the working device generally varies widely, the available work time of the working device 9 cannot be accurately calculated even if the available work time is estimated based on the instantaneous measurement value of the working device. In contrast, the calculation unit 25b of the first embodiment calculates the available work time based on the median value LM of the output range value ORV including the detection value detected by the BMU 20a1 and the remaining capacity of the battery 20a. That is, the available work time of the working device 9 is calculated using the median value LM of the output range value ORV including the measurement value, rather than using the instantaneous measurement value of the working device 9 as it is, so that the available work time of the working device 9 can be accurately calculated. Furthermore, when the determination unit 25a determines that the working device 9 does not fall within any of the multiple tasks, the calculation unit 25b calculates the available work time based on the median value OM calculated by taking a moving average of the detection value detected by the BMU 20a1 and the remaining capacity of the battery 20a, so that the available work time of the working device 9 can be accurately calculated even if there is no corresponding task.

[0053] Furthermore, the storage device 26 prestores data for a plurality of tasks that associates tasks performed by the task device 9 with the output range value ORV of the battery 20a when the task is being performed, and the determination unit 25a determines whether the detection value detected by the BMU 20a1 is included in any of the output range values ​​ORV of the plurality of tasks (e.g., the first to nth output range values ​​ORV1 to ORVn), and when it is determined that the detection value is included, it determines that the task corresponding to the output range value ORV that is included is being performed by the task device 9. With this configuration, it is possible to determine which of the plurality of tasks the task device 9 is performing, and to determine that the task is being performed. The available work time can be calculated based on the median value LM of the output range value ORV of the battery 20a corresponding to the selected work and the remaining capacity of the battery 20a. This makes it possible to accurately calculate the available work time even when any one of a plurality of works is being performed by the working device 9.

[0054] Furthermore, when the determination unit 25a determines that the detected work does not fall within any of the multiple tasks, the calculation unit 25b calculates the available work time based on the median OM calculated by taking a moving average of the detection values ​​detected by the BMU 20a1 at the current time and the remaining capacity of the battery 20a. That is, the calculation unit 25b calculates the available work time at the current time based on the median OM calculated by taking a moving average of the detection values ​​detected by the BMU 20a1 at the current time and the remaining capacity of the battery 20a at the current time. With this configuration, even if the determination unit 25a cannot determine which of the multiple tasks performed by the maintenance device 9 the task is, the calculation unit 25b can calculate the available work time for a task other than the multiple tasks performed by the maintenance device 9. That is, the calculation unit 25b can calculate the available work time for a maintenance device whose type is not specified.

[0055] Further, the storage device 26 pre-stores, as the output range value ORV of the battery 20a, an average output range value having a median value LM between the upper limit value LU and the lower limit value LL of the average output of the battery 20a when work is being performed, and the determination unit 25a calculates a moving average value of the detection values ​​detected by the BMU 20a1 and determines that the working device 9 is working when this moving average value is included in the average output range value, and the calculation unit 25b calculates the workable time based on the median value LM of the average output range value determined to be included when it is determined that the working device 9 is working and the remaining capacity of the battery 20a. According to this configuration, the determination unit 25a calculates a moving average value of the detection values ​​detected by the BMU 20a1 and determines that the working device 9 is working when this moving average value is included in the average output range value pre-stored in the storage device 26, so that it is possible to more accurately determine that the working device 9 is working. In addition, the available work time is calculated based on the median LM of the average output range value of the battery 20a when the working device 9 is working (i.e., the median of the consumed output) and the remaining capacity of the battery 20a, so that the available work time can be calculated more accurately.

[0056] Furthermore, calculation unit 25b calculates the available work time when at least one of the following occurs: when the working device 9 is positioned at a predetermined position by the connecting unit 8, when output of power to the working device 9 is started, when the working device 9 is in operation and a calculation command is input, and when a predetermined period of time has passed while the working device 9 is in operation. According to this configuration, the available work time is calculated when at least one of the following occurs: when the working device 9 is positioned at a predetermined position, when output of power to the working device 9 is started, when the working device 9 is in operation and a calculation command is input, and when a predetermined period of time has passed while the working device 9 is in operation, so that the available work time can be calculated at an appropriate timing.

[0057] Moreover, the working implement 9 is, for example, an implement for performing agricultural work. With this configuration, in an agricultural work vehicle, it can be determined that the working implement 9 is working, and the available work time is calculated based on the median value LM of the output range value ORV of the battery 20a (i.e., the median value of power consumption) when the working implement 9 is working and the remaining capacity of the battery 20a, so that the available work time can be calculated more accurately compared to a configuration that cannot take into account the power consumption of the working implement 9.

[0058] The work vehicle 1 also includes a traveling device 4 provided on the vehicle body 2 and driven by an electric motor 12, an inverter 13 that controls the electric motor 12, and a PTO shaft 17 (output shaft) that outputs the power output by the electric motor 12 to a work implement 9 attached to a coupling portion 8. With this configuration, in the agricultural work vehicle 1, it is possible to determine whether the work implement 9, which is driven by power transmitted from the electric motor 12 via the PTO shaft 17, is in operation, and the available work time is calculated based on the median value LM of the output range value ORV of the battery 20a (i.e. the median value of power consumption) and the remaining capacity of the battery 20a when the work implement 9 is in operation, so that the available work time can be calculated more accurately compared to a configuration in which the power consumption of the work implement 9 cannot be taken into consideration.

[0059] [Second embodiment] 5 is a diagram showing an example of a data table DT2 stored in the storage device 26 of the second embodiment. The data table DT2 of the second embodiment differs from the data table DT1 of the first embodiment in that it includes data indicating the priority level pt. Note that the same reference numerals are used to designate the same components as those of the first embodiment, and the description thereof will be omitted.

[0060] The storage device 26 of the second embodiment prestores priorities for two or more tasks in which the output range values ​​ORV of the battery 20a (storage battery) overlap among a plurality of tasks. Specifically, the fourth output range value ORV4 corresponding to the fourth work device W4 and the fifth output range value ORV5 corresponding to the fifth work device W5 partially overlap. That is, there is an overlapping portion between the fourth output range value ORV4 and the fifth output range value ORV5. For example, when the detection value detected by the BMU 20a1 (detection device) is included in the fourth output range value ORV4 or the fifth output range value ORV5, it is necessary to determine whether the detection value is included in the fourth output range value ORV4 or the fifth output range value ORV5. For this reason, the priority pt is prestored for the fourth and fifth output range values ​​ORV4 and ORV5 that partially overlap. For example, the first priority pt1 is associated with the fourth output range value ORV4 and stored. On the other hand, the fifth output range value ORV5 is stored in association with the second priority pt2. The first priority pt1 has a higher priority than the second priority pt2. Note that since the first output range value ORV1 does not overlap with the other second to n-th output range values ​​ORV2 to ORVn, no priority is stored as shown in FIG. 5. In other words, the priority pt corresponding to the first output range value ORV1 is "-".

[0061] The judgment unit 25a judges whether the detection value detected by BMU 20a1 (detection device) is included in any of the output range values ​​of a plurality of operations, and if it determines that the detection value is included in the output range values ​​ORV (here, the fourth and fifth output range values ​​ORV4, ORV5) of two or more overlapping operations, it judges that the operation with the higher priority pt among the two or more overlapping operations is being performed by the operation device 9.

[0062] Here, the calculation process of available work time in the second embodiment will be described with reference to Figs. 6 and 7A. Fig. 6 is a flowchart showing the calculation process of available work time in the second embodiment. Fig. 7A is a flowchart showing the calculation process of available work time in the second embodiment. Fig. 7B is a diagram showing an example in which the fourth and fifth output range values ​​ORV4 and ORV5 overlap. Since S41 to S51 in Fig. 6 are the same as in the first embodiment, only S60 in Fig. 6 and S61 to S67 in Fig. 7A which are different from the first embodiment will be described.

[0063] As shown in Fig. 6, the judgment unit 25a judges whether or not priority data is present in the data table DT2 stored in the storage device 26 (S60). For example, the judgment unit 25a judges whether or not the data table DT2 includes a priority pt. Here, since the data table DT2 includes a first priority pt1 and a second priority pt2, the judgment unit 25a judges that priority data is present (S60, Yes). On the other hand, if the data table DT2 does not include a priority pt, the judgment unit 25a judges that there is no priority data (S60, No) and proceeds to S41. S41 to S51 in Fig. 6 are the same as those in the first embodiment, and therefore the description here will be omitted.

[0064] As shown in FIG. 7A, the determination unit 25a determines whether or not the moving average value MA of the output power value of the battery 20a is included in the output range value ORV including the priority pt (S61). Specifically, when the moving average value MA of the output power value of the battery 20a is not included in either the fourth output range value ORV4 having the first priority pt1 or the fifth output range value ORV5 having the second priority pt2 (S61, No), the determination unit 25a proceeds to S41 shown in FIG. 6. On the other hand, when the determination unit 25a determines that the moving average value MA of the output power value of the battery 20a is included in either the fourth output range value ORV4 having the first priority pt1 or the fifth output range value ORV5 having the second priority pt2 (S61, Yes), the determination unit 25a determines whether or not the moving average value MA is included in the fourth output range value ORV of the first priority pt1 (S62). As shown in FIG. 7B, there is an overlapping portion OV between the fourth output range value ORV4 and the fifth output range value ORV5. If the moving average value MA is the moving average value MA1 or the moving average value MA2, it is determined that the moving average value MA is included in the fourth output range value ORV4. The moving average value MA1 is located in the overlapping portion OV of the fourth output range value ORV4. The moving average value MA2 is located outside the overlapping portion OV of the fourth output range value ORV4.

[0065] When the determining unit 25a determines that the moving average value MA is included in the fourth output range value ORV (S62, Yes), it identifies the work of the fourth work device W4 corresponding to the fourth output range value ORV4 (S63). For example, if the fourth work device W4 is a harvesting device, the work corresponding to the fourth output range value ORV4 is identified as harvesting work. When it is determined that the work device 9 is in operation, in this case when it is determined that the fourth work device W4 is in operation, the calculation unit 25b calculates the available work time based on the median value LM4 of the fourth output range value ORV4 determined to include the moving average value MA of the output power value of the battery 20a and the remaining capacity of the battery 20a (S64). For example, if the median value LM4 of the fourth output range value ORV4, which is the output power range value, is a value per unit time (for example, one minute), the remaining power amount RP, which is the remaining capacity of the battery 20a, divided by the median value LM4 can be calculated as the available work time (minutes). In other words, the available work time (minutes) of the fourth work device W4 = remaining power amount RP / median value LM4.

[0066] On the other hand, in S62, if the moving average value MA of the output power value of the battery 20a is not included in the fourth output range value ORV4 (S62, No), the determination unit 25a determines whether or not the moving average value MA of the output power value of the battery 20a is included in the fifth output range value ORV5 associated with the next second priority pt2 (S65). As shown in FIG. 7B, if the moving average value MA is the moving average value MA3, it is determined that it is included in the fifth output range value ORV5. The moving average value MA3 is located outside the overlapping portion OV of the fifth output range value ORV5. If the determination unit 25a determines that the moving average value MA of the output power value of the battery 20a is included in any of the fifth output range values ​​ORV5 (S65, Yes), it identifies the fifth working device W5 corresponding to the fifth output range value ORV5 as the work (S66). For example, if the fifth working device W5 is a mowing device, the work corresponding to the fifth output range value ORV5 is identified as mowing work.

[0067] When it is determined that the work device 9 is in operation, in this case when it is determined that the fifth work device W5 is in operation, the calculation unit 25b calculates the available work time based on the median value LM5 of the fifth output range value ORV5 determined to include the moving average value MA of the output power value of the battery 20a and the remaining capacity of the battery 20a (S67). For example, if the median value LM5 of the fifth output range value ORV5, which is the output power range value, is a value per unit time (for example, one minute), the remaining power amount RP, which is the remaining capacity of the battery 20a, divided by the median value LM5 can be calculated as the available work time (minutes). In other words, the available work time (minutes) of the fifth work device W5=remaining power amount RP / median value LM5. The control device 25 ends this process after S64 or after S67.

[0068] On the other hand, in S65, if the moving average value MA of the output power value of the battery 20a is not included in the fifth output range value ORV5 (S65, No), the determination unit 25a proceeds to S41 shown in FIG.

[0069] In the work vehicle 1 of the second embodiment described above, the storage device 26 prestores the priority pt for two or more tasks for which the output range values ​​ORV of the battery 20a overlap among the multiple tasks, and the determination unit 25a determines whether or not the detection value detected by the BMU 20a1 (detection device) is included in any of the output range values ​​ORV of the multiple tasks, and when it is determined that the detection value is included in the output range values ​​ORV of the two or more overlapping tasks, it determines that the task with the higher priority pt among the two or more overlapping tasks is being performed by the work device 9. According to this configuration, when determining which of the multiple tasks is being performed by the work device 9, if the detection value is included in the output range values ​​ORV of two or more tasks, it can be determined that the task is the one with the higher priority pt, and the available work time can be calculated based on the median value LM of the output range values ​​ORV of the battery 20a corresponding to the task with the higher priority pt determined to be in progress and the remaining capacity of the battery 20a. As a result, the available work time can be accurately calculated for two or more tasks for which the output range values ​​ORV of the battery 20a overlap. do.

[0070] [Third embodiment] In the second embodiment described above, when the detection value detected by the BMU 20a1 (detection device) is included in a plurality of output range values ​​ORV that partially overlap, the output range value ORV is identified based on the priority pt for each of the corresponding plurality of output range values ​​ORV. In contrast, in the third embodiment, when the detection value detected by the BMU 20a1 (detection device) is included in a plurality of output range values ​​ORV that partially overlap, it is determined that the work corresponds to the output range value ORV with the median value closest to the detection value among the medians of the corresponding plurality of output range values ​​ORV, which is different from the second embodiment described above. Note that the same reference numerals are used for the same configuration as the second embodiment, and the description thereof will be omitted.

[0071] FIG. 8A is a diagram showing an example of a data table DT21 stored in the storage device 26 of the third embodiment. As shown in FIG. 8A, the storage device 26 of the third embodiment stores the data table DT21 in advance. In this data table DT21, overlapping data DD is stored in advance for two or more tasks in which the output range values ​​ORV of the battery 20a (storage battery) overlap among a plurality of tasks. For example, a fourth output range value ORV4 corresponding to the fourth work device W4 and a fifth output range value ORV5 corresponding to the fifth work device W5 have an overlapping portion. For this reason, the fourth output range value ORV4 stores overlapping data DD4 (=ORV5) indicating that it overlaps with the fifth output range value ORV5. In addition, the fifth output range value ORV5 stores overlapping data DD5 (=ORV4) indicating that it overlaps with the fourth output range value ORV4. For example, when the detection value detected by the BMU 20a1 (detection device) is included in the fourth output range value ORV4 or the fifth output range value ORV5, it is necessary to determine whether it is included in the fourth output range value ORV4 or the fifth output range value ORV5. Note that since the first output range value ORV1 does not overlap with the other second to n-th output range values ​​ORV2 to ORVn, no overlap data DD is stored as shown in FIG. 8A. Therefore, the overlap data DD corresponding to the first output range value ORV1 is "-".

[0072] When the judgment unit 25a judges that the detection value detected by the BMU 20a1 (detection device) is included in the output range value ORV of two or more of the multiple tasks, it judges that the task corresponding to the output range value ORV of the median value LM whose detection value is closest among the two or more tasks is being performed by the task device 9. Here, the calculation process of the available work time in the third embodiment will be described with reference to Fig. 8B and Fig. 8C. Fig. 8B is a flowchart showing the calculation process of the available work time in the third embodiment. Fig. 8C is a flowchart showing the calculation process of the available work time in the third embodiment.

[0073] As shown in FIG. 8B, the determination unit 25a determines whether or not there is duplicate data DD for the data table DT21 stored in the storage device 26 (S70). For example, the determination unit 25a determines whether or not there is duplicate data DD using the data table DT21 shown in FIG. 8A. Here, in the data table DT21, the fourth output range value ORV4 corresponding to the fourth working device W4 has duplicate data DD4, and the fifth output range value ORV5 corresponding to the fifth working device W5 has duplicate data DD5, so the determination unit 25a determines that there is duplicate data (S70, Yes). On the other hand, when the data table DT21 does not include duplicate data DD, the determination unit 25a determines that there is no priority data (S70, No) and proceeds to S41. Since S41 to S51 in FIG. 8B are the same as those in the first embodiment, the description thereof will be omitted here.

[0074] As shown in Fig. 8C, the judgment unit 25a judges whether or not the moving average value MA of the output power value of the battery 20a is included in a plurality of output range values ​​ORV (S71). Specifically, if the moving average value MA of the output power value of the battery 20a is not included in two or more of the first to n-th output range values ​​ORV1 to ORVn (S71, No), the judgment unit 25a proceeds to S41 shown in Fig. 8B. On the other hand, if the judgment unit 25a judges that the moving average value MA of the output power value of the battery 20a is included in two or more of the first to n-th output range values ​​ORV1 to ORVn (S71, Yes), it judges the median value LM closest to the moving average value MA (S72). For example, the moving average When MA is included in the fourth output range value ORV4 and the fifth output range value ORV5, the judgment unit 25a judges whether the moving average value MA is closer to the median value LM4 of the fourth output range value ORV4 or the median value LM5 of the fifth output range value ORV5. The judgment unit 25a compares the absolute value of the difference between the moving average value MA and the median value LM4 with the absolute value of the difference between the moving average value MA and the median value LM5, and judges that the moving average value MA is closer to the smaller of the two absolute values.

[0075] The determination unit 25a identifies the work performed by the work implement corresponding to the output range value ORV of the median value LM closest to the moving average value MA (S73). For example, if the median value LM closest to the moving average value MA is the median value LM4, it is identified as the work performed by the fourth work implement W4 corresponding to the fourth output range value ORV4 of the median value LM4. If the fourth work implement W4 is a harvesting implement, the work corresponding to the fourth output range value ORV4 is identified as harvesting work.

[0076] The calculation unit 25b calculates the available work time based on the median value LM closest to the moving average value MA and the remaining capacity of the battery 20a (S74). For example, when it is determined that the work device 9 is working, in this case when it is determined that the fourth work device W4 is working, the calculation unit 25b calculates the available work time based on the median value LM4 of the fourth output range value ORV4 determined to include the moving average value MA of the output power value of the battery 20a and the remaining capacity of the battery 20a (S74). For example, if the median value LM4 of the fourth output range value ORV4, which is the output power range value, is a value per unit time (for example, one minute), the remaining power amount RP, which is the remaining capacity of the battery 20a, divided by the median value LM4 can be calculated as the available work time (minutes). In other words, the available work time (minutes) of the fourth work device W4 = remaining power amount RP / median value LM4. After S74, the process ends as shown in FIG. 8B.

[0077] In the work vehicle 1 of the third embodiment described above, when the determination unit 25a determines that the detection value detected by the BMU 20a1 (detection device) is included in the output range value ORV of two or more of the multiple tasks, the determination unit 25a determines that the work corresponding to the output range value ORV of the median value LM of the detection value that is closest to the detection value among the two or more tasks is being performed by the work device 9. According to this configuration, when determining which of the multiple tasks is being performed by the work device 9, if the detection value is included in the output range value ORV of two or more tasks, the determination unit 25a determines that the task is the one corresponding to the output range value ORV of the median value LM that is closest to the detection value, so that it is possible to narrow down the multiple tasks to the closest task. Then, the available work time is calculated based on the median value LM of the output range value ORV of the battery 20a that is closest to the detection value and the remaining capacity of the battery 20a, so that it is possible to calculate the available work time that suits the actual situation.

[0078] [Fourth embodiment] In the first to third embodiments described above, it is determined whether the detection value detected by the BMU 20a1 (detection device) is included in a plurality of output range values ​​ORV, it is determined that the work corresponding to the output range value ORV determined to be included is being performed, and the available work time is calculated from the median value LM of the output range values ​​ORV of the battery 20a in the work and the remaining capacity of the battery 20a. In contrast, the fourth embodiment differs from the first to third embodiments described above in that the work is specified based on the input use area, and the available work time is calculated from the median value LM of the output range values ​​ORV of the battery 20a in the specified work and the remaining capacity of the battery 20a. Note that the same reference numerals are used for the same configurations as the first to third embodiments, and the description thereof will be omitted.

[0079] As shown in FIG. 1, the display device 5 includes an input unit 5a that accepts the designation of an area (eg, an area of ​​use). FIG. 9 is a diagram showing an example of a data table DT3 stored in the storage device 26 of the fourth embodiment. As shown in FIG. 9, the storage device 26 of the fourth embodiment stores in advance data for a plurality of tasks that associates a predetermined use area, a task performed by the work device 9, and an output range value ORV of the battery 20a when the task is performed. Specifically, the storage device 26 of the fourth embodiment stores in advance a data table DT3. In this data table DT3, the use area is stored in association with each type of task. For example, the use area AR6 is associated with the sixth work device W6, and the use area AR7 is associated with the seventh work device W7. The sixth output range value ORV6 is associated with the sixth work device W6. The seventh working device W7 is associated with a seventh output range value ORV7. The sixth output range value ORV6 is a value indicating a range from a sixth upper limit value LU6 to a sixth lower limit value LL6, and is an average output range value having a sixth median value LM6 between the sixth upper limit value LU6 and the sixth lower limit value LL6. The seventh output range value ORV7 is a value indicating a range from a seventh upper limit value LU7 to a seventh lower limit value LL7, and is an average output range value having a seventh median value LM7 between the seventh upper limit value LU7 and the seventh lower limit value LL7.

[0080] The judgment unit 25a identifies the area of ​​use corresponding to the area specified by the input unit 5a, selects the work to be performed by the work device 9 and the output range value ORV of the battery 20a when the work is performed corresponding to the identified area of ​​use, judges whether the detection value detected by the BMU 20a1 (detection device) is included in the output range value ORV of the selected work, and if it is determined that the detection value is included, judges that the work corresponding to the output range value ORV that is determined to be included is being performed by the work device 9.

[0081] The available work time calculation process of the fourth embodiment will now be described with reference to Fig. 10. Fig. 10 is a flowchart showing the available work time calculation process of the fourth embodiment. 10, the determination unit 25a determines whether or not an area of ​​use has been input (S81). For example, when an area of ​​use is input to the input unit 5a of an input screen (not shown) displayed on the display device 5, the determination unit 25a determines that an area of ​​use has been input (S81, Yes). On the other hand, when a specified time has elapsed without an area of ​​use being input to the input unit 5a or when not inputting an area of ​​use is selected in the input unit 5a, the determination unit 25a determines that an area of ​​use has not been input (S81, No) and ends this process.

[0082] When the determination unit 25a determines that the area of ​​use has been input (S81, Yes), it determines whether or not the moving average value MA of the output power value of the battery 20a is included in the output range value ORV corresponding to the input area of ​​use (S82). For example, when the area of ​​use AR6 is input, the determination unit 25a determines whether or not the moving average value MA of the output power value of the battery 20a is included in the sixth output range value ORV6.

[0083] When the determination unit 25a determines that the moving average value MA of the output power value of the battery 20a is included in the output range value ORV corresponding to the inputted area of ​​use (S82, Yes), it identifies the work as corresponding to the output range value ORV corresponding to the inputted area of ​​use (S83). For example, when the determination unit 25a determines that the moving average value MA of the output power value of the battery 20a is included in the sixth output range value ORV6 corresponding to the inputted area of ​​use AR6, it identifies the work as work of a sixth work device W6 corresponding to the sixth output range value ORV6. For example, if the sixth work device W6 is a diffusion device, the work corresponding to the sixth output range value ORV6 is identified as diffusion work.

[0084] The calculation unit 25b calculates the available work time based on the median value LM of the output range value ORV and the remaining capacity of the battery 20a (S84). For example, when it is determined that the work device 9 is in operation, in this case when it is determined that the sixth work device W6 is in operation, the calculation unit 25b calculates the available work time based on the median value LM6 of the sixth output range value ORV6 determined to include the moving average value MA of the output power value of the battery 20a and the remaining capacity of the battery 20a (S84). For example, if the median value LM6 of the sixth output range value ORV6, which is the output power range value, is a value per unit time (for example, one minute), the remaining power amount RP, which is the remaining capacity of the battery 20a, divided by the median value LM6 can be calculated as the available work time (minutes). In other words, the available work time (minutes) of the sixth work device W6=remaining power amount RP / median value LM6. The control device 25 ends this process after S84.

[0085] On the other hand, in S82, when the moving average value MA of the output power value of the battery 20a is not included in the output range value ORV corresponding to the inputted use area (S82, No), the determination unit 25a determines that there is no corresponding work (S85). That is, it is determined that the work does not correspond to the work of the work device 9 corresponding to the use area pre-stored in the storage device 26. When the determination unit 25a determines that there is no corresponding work (S85), the calculation unit 25b calculates the available work time based on the median value OM calculated by taking the moving average of the detection values ​​detected by the BMU 20a1 and the remaining capacity of the battery 20a (S86). For example, if the median value OM calculated by taking the moving average of the detection values ​​detected by the BMU 20a1 is a value per unit time (for example, 1 minute), the remaining power amount RP, which is the remaining capacity of the battery 20a, divided by the median value OM can be calculated as the available work time (minutes) of the work device of which the type is not specified. In other words, the available work time (minutes) of the work device of which the type is not specified = remaining power amount RP / median value OM. After S86, the control device 25 ends this process.

[0086] The work vehicle 1 of the fourth embodiment described above is equipped with an input unit 5a that accepts the designation of an area (e.g., an area of ​​use), and the memory device 26 pre-stores data for a plurality of tasks that associates predetermined areas of use, tasks performed by the work device 9, and the output range value ORV of the battery 20a when the tasks are performed, and the determination unit 25a identifies the area of ​​use corresponding to the area specified by the input unit 5a, selects the task performed by the work device 9 and the output range value ORV of the battery 20a when the task is performed that correspond to the identified area of ​​use, determines whether the detection value detected by the BMU 20a1 (detection device) is included in the output range value ORV of the selected task, and if it is determined that the detection value is included, determines that the task corresponding to the output range value ORV that has been determined to be included is being performed by the work device 9.

[0087] According to this configuration, by designating an area in the input unit 5a, the work by the work apparatus 9 and the output range value ORV of the battery 20a corresponding to the use area corresponding to this area are selected, it is possible to determine whether the work apparatus 9 is working in the use area, and the available work time can be calculated based on the median value LM of the output range value ORV of the battery 20a determined to be working and the remaining capacity of the battery 20a. This makes it possible to easily calculate the available work time for the work apparatus 9 to be performed in the use area.

[0088] [Fifth embodiment] In the fourth embodiment described above, the work is specified based on the input area of ​​use, and the available work time is calculated from the median value LM of the output range value ORV of the battery 20a for the specified work and the remaining capacity of the battery 20a. In contrast, the fifth embodiment differs from the fourth embodiment described above in that the work is specified based on the input area of ​​use and time of use, and the available work time is calculated from the median value LM of the output range value ORV of the battery 20a for the specified work and the remaining capacity of the battery 20a. Note that the same reference numerals are used for the same configurations as the first to fourth embodiments, and the description thereof will be omitted.

[0089] The input unit 5a of the fifth embodiment receives designation of an area (eg, an area of ​​use) and a time (eg, a time of use). FIG. 11 is a diagram showing an example of a data table DT4 stored in the storage device 26 of the fifth embodiment. As shown in FIG. 11, the storage device 26 of the fifth embodiment stores in advance, for a plurality of tasks, data that associates a predetermined use area, a use time for the use area, a task by the work device 9, and an output range value ORV of the battery 20a when the task is performed. Specifically, the storage device 26 of the fifth embodiment stores in advance a data table DT4. In this data table DT4, the use area and the use time for the use area are stored in association with each type of task. For example, the use time SA1 in the use area AR6 is associated with the sixth work device W6, and the use time SA2 in the same use area AR6 is associated with the eighth work device W8. The use time SA1 and the use time SA2 are different times and do not overlap each other. Here, the use time SA2 is a time after the use time SA1. The sixth working device W6 is associated with a sixth output range value ORV6, and the eighth working device W8 is associated with an eighth output range value ORV8. The sixth output range value ORV6 is a value indicating a range from a sixth upper limit value LU6 to a sixth lower limit value LL6, and is an average output range value having a sixth median value LM6 between the sixth upper limit value LU6 and the sixth lower limit value LL6. The eighth output range value ORV8 is a value indicating a range from an eighth upper limit value LU8 to an eighth lower limit value LL8, and is an average output range value having a seventh median value LM8 between the eighth upper limit value LU8 and the eighth lower limit value LL8.

[0090] The determination unit 25a identifies a use area corresponding to the area specified by the input unit 5a, identifies a use time corresponding to the time specified by the input unit 5a for the identified use area, and determines the work by the work device 9 and the balance when the work is performed, corresponding to the identified use area and use time. The output range value ORV of the battery 20a is selected, and it is determined whether the detection value detected by the BMU 20a1 (detection device) is included in the output range value ORV of the selected operation. If it is determined that the detection value is included, it is determined that the operation corresponding to the output range value ORV that is determined to be included is being performed by the operation device 9.

[0091] The available work time calculation process of the fifth embodiment will now be described with reference to Fig. 12. Fig. 12 is a flowchart showing the available work time calculation process of the fifth embodiment. 12, the determination unit 25a determines whether or not the area of ​​use and the time of use have been input (S81). For example, when the area of ​​use and the time of use are input to the input unit 5a of the input screen (not shown) displayed on the display device 5, the determination unit 25a determines that the area of ​​use and the time of use have been input (S81A, Yes). On the other hand, when a specified time has elapsed without the area of ​​use and the time of use being input to the input unit 5a or when not inputting the area of ​​use and the time of use is selected in the input unit 5a, the determination unit 25a determines that the area of ​​use and the time of use have not been input (S81A, No) and ends this process.

[0092] When the determination unit 25a determines that the area of ​​use and the time of use have been input (S81A, Yes), it determines whether or not it is the time of use SA1 (S91). When the determination unit 25a determines that it is the time of use SA1 (S91, Yes), it determines whether or not the moving average value MA of the output power value of the battery 20a is included in the output range value ORV corresponding to the input area of ​​use and time of use (S82A). For example, when the area of ​​use AR6 and the time of use SA1 are input, the determination unit 25a determines whether or not the moving average value MA of the output power value of the battery 20a is included in the sixth output range value ORV6.

[0093] When the determination unit 25a determines that the moving average value MA of the output power value of the battery 20a is included in the output range value ORV corresponding to the inputted area of ​​use and time of use (S82A, Yes), it identifies the work as corresponding to the output range value ORV corresponding to the inputted area of ​​use and time of use (S83A). For example, when the determination unit 25a determines that the moving average value MA of the output power value of the battery 20a is included in the sixth output range value ORV6 corresponding to the inputted area of ​​use AR6 and time of use SA1, it identifies the work as work of the sixth working device W6 corresponding to the sixth output range value ORV6. For example, if the sixth working device W6 is a diffusion device, the work corresponding to the sixth output range value ORV6 is identified as diffusion work.

[0094] The calculation unit 25b calculates the available work time based on the median value LM of the output range value ORV and the remaining capacity of the battery 20a (S84A). For example, when it is determined that the work device 9 is working, in this case when it is determined that the sixth work device W6 is working, the calculation unit 25b calculates the available work time based on the median value LM6 of the sixth output range value ORV6 determined to include the moving average value MA of the output power value of the battery 20a and the remaining capacity of the battery 20a (S84A). For example, if the median value LM6 of the sixth output range value ORV6, which is the output power range value, is a value per unit time (for example, one minute), the remaining power amount RP, which is the remaining capacity of the battery 20a, divided by the median value LM6 can be calculated as the available work time (minutes). In other words, the available work time (minutes) of the sixth work device W6=remaining power amount RP / median value LM6. The control device 25 ends this process after S84A.

[0095] On the other hand, in S82A, if the moving average value MA of the output power value of the battery 20a is not included in the output range value ORV corresponding to the inputted use area (S82A, No), the determination unit 25a determines that there is no corresponding work (S85A). That is, it determines that it does not correspond to the work of the work device 9 corresponding to the use area pre-stored in the storage device 26. When the determination unit 25a determines that there is no corresponding work (S85A), the calculation unit 25b calculates the available work time based on the median value OM calculated by taking the moving average of the detection values ​​detected by the BMU 20a1 and the remaining capacity of the battery 20a (S86A). For example, if the median value OM calculated by taking the moving average of the detection values ​​detected by the BMU 20a1 is a value per unit time (for example, 1 minute), the remaining power amount RP, which is the remaining capacity of the battery 20a, divided by the median value OM can be calculated as the available work time (minutes) of the work device whose type is not specified. In other words, remaining work time (minutes) of a work tool of which type is not specified = remaining power amount RP / median value OM After S86A, the control device 25 ends this process.

[0096] On the other hand, in S91, when the determination unit 25a determines that the usage period is not SA1 (S91, No), it determines whether or not the usage period is SA2 (S92). When the determination unit 25a determines that the usage period is SA2 (S92, Yes), it determines whether or not the moving average value MA of the output power value of the battery 20a is included in the output range value ORV corresponding to the input usage area and usage period (S93). For example, when the usage area AR6 and usage period SA2 are input, the determination unit 25a determines whether or not the moving average value MA of the output power value of the battery 20a is included in the eighth output range value ORV8.

[0097] When the determination unit 25a determines that the moving average value MA of the output power value of the battery 20a is included in the output range value ORV corresponding to the inputted area of ​​use and time of use (S93, Yes), it identifies the work as corresponding to the output range value ORV corresponding to the inputted area of ​​use and time of use (S94). For example, when the determination unit 25a determines that the moving average value MA of the output power value of the battery 20a is included in the eighth output range value ORV8 corresponding to the inputted area of ​​use AR6 and time of use SA2, it identifies the work as the work of the eighth work device W8 corresponding to the eighth output range value ORV8. For example, if the eighth work device W8 is a grass collection device, the work corresponding to the eighth output range value ORV8 is identified as grass collection work.

[0098] The calculation unit 25b calculates the available work time based on the median value LM of the output range value ORV and the remaining capacity of the battery 20a (S95). For example, when it is determined that the work device 9 is in operation, in this case when it is determined that the eighth work device W8 is in operation, the calculation unit 25b calculates the available work time based on the median value LM8 of the eighth output range value ORV8 determined to include the moving average value MA of the output power value of the battery 20a and the remaining capacity of the battery 20a (S95). For example, if the median value LM8 of the eighth output range value ORV8, which is the output power range value, is a value per unit time (for example, one minute), the remaining power amount RP, which is the remaining capacity of the battery 20a, divided by the median value LM8 can be calculated as the available work time (minutes). In other words, the available work time (minutes) of the eighth work device W8=remaining power amount RP / median value LM8. The control device 25 ends this process after S95.

[0099] On the other hand, in S92, when the determination unit 25a determines that it is not the usage period SA2 (S92, No), the process proceeds to S85A. Also, in S93, when the determination unit 25a determines that the moving average value MA of the output power value of the battery 20a is not included in the output range value ORV corresponding to the input usage region and usage period (S93, No), the process proceeds to S85A.

[0100] The work vehicle 1 of the fifth embodiment described above is equipped with an input unit 5a that accepts the designation of an area and a time, and the memory device 26 pre-stores data for a plurality of tasks that associates a predetermined area of ​​use, a time of use for the area of ​​use, work by the work device 9, and an output range value ORV of the battery 20a when the work is performed, and the determination unit 25a identifies the area of ​​use corresponding to the area specified by the input unit 5a, identifies a time of use corresponding to the time specified by the input unit 5a for the identified area of ​​use, selects the work by the work device 9 and the output range value ORV of the battery 20a when the work is performed that correspond to the identified area of ​​use and time of use, determines whether the detection value detected by the BMU 20a1 is included in the output range value ORV of the selected task, and if it is determined that the detection value is included, determines that the task corresponding to the output range value ORV that has been determined to be included is being performed by the work device 9. According to this configuration, by designating an area and a time in the input unit 5a, the work by the working device 9 and the output range value ORV of the battery 20a corresponding to the use area and use time corresponding to this area are selected, it is possible to determine whether the working device 9 is working in the use area, and the available work time can be calculated based on the median value LM of the output range value ORV of the battery 20a determined to be working and the remaining capacity of the battery 20a. This makes it possible to easily calculate the available work time for the working device 9 in the use area and use time.

[0101] [Modification of the fifth embodiment] In the fourth embodiment, only the area of ​​use is input to the input section 5a, and in the fifth embodiment, the area of ​​use and the time of use are input to the input section 5a. However, in a modified example of the fifth embodiment, only the time of use may be input to the input section 5a. The storage device 26 associates a predetermined time of use with the work performed by the work device 9 and the output range value ORV of the battery 20a when the work is performed. The associated data is stored in advance for a plurality of tasks. That is, the storage device 26 may store a data table in which the data on the area of ​​use in the data table DT4 shown in FIG.

[0102] The determination unit 25a identifies a use time corresponding to the time specified by the input unit 5a, selects the work by the work device 9 and the output range value ORV of the battery 20a when the work is performed, corresponding to the identified use time, determines whether the detection value detected by the BMU 20a1 is included in the output range value ORV of the selected work, and if it is determined that it is included, determines that the work corresponding to the output range value ORV that is determined to be included is being performed by the work device 9. According to this configuration, by specifying a time in the input unit 5a, the work by the work device 9 and the output range value ORV of the battery 20a corresponding to the use time are selected, and it is possible to determine whether the work device 9 is performing work in the use area, and the available work time can be calculated based on the median value LM of the output range value ORV of the battery 20a determined to be working and the remaining capacity of the battery 20a. This makes it possible to easily calculate the available work time of the work device 9 in the use area and use time.

[0103] In the above-mentioned embodiments, the BMU 20a1 detects the output value (output power, output voltage, output current, etc.) of the battery 20a as the detection value, but is not limited thereto. For example, the output value (output power, output voltage, output current, etc.) of the inverter 13 may be the detection value. In addition, in each of the above embodiments, an example has been described in which the work vehicle 1 is a tractor, but the work vehicle 1 is not limited to a tractor, and may be any vehicle that is driven by electricity stored in the battery 20a. For example, the work vehicle 1 may be an agricultural machine such as a combine harvester, rice transplanter, or lawnmower, or may be a construction machine such as a backhoe, wheel loader, compact track loader, or skid steer loader, or may be an industrial machine such as a forklift.

[0104] Although the present invention has been described above, the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0105] 1 Work vehicle 2. Body 4 Running gear 5a Input section 11 Electrical Equipment 12 Electric motor 13 Inverter 20a battery 20a1 BMU (detection device) 25a Judgment part 25b Calculation part 26 Storage device ORV Output Range Value LM Median

Claims

1. The car body and a connecting portion provided on the vehicle body to which a working device can be attached and detached; an electric motor for operating the working device; A storage battery that supplies power to at least the electric motor; A detection device for detecting an output value of the storage battery; a storage device that stores in advance data associating an operation performed by the operating device with an output range value of the storage battery when the operation is performed; a determination unit that determines that the working device is in operation when a detection value detected by the detection device is within the output range value; a calculation unit that calculates a workable time based on a median of the output range value that is determined to include the detection value and the remaining capacity of the storage battery when it is determined that the work implement is in operation.

2. the storage device pre-stores data for a plurality of tasks that associates tasks performed by the work device with output range values ​​of the storage battery when the tasks are performed; 2. The work vehicle according to claim 1, wherein the determination unit determines whether a detection value detected by the detection device is included in any of the output range values ​​for the plurality of operations, and when it is determined that the detection value is included, determines that the operation corresponding to the output range value that is included is being performed by the work device.

3. the storage device pre-stores priorities for two or more tasks among the plurality of tasks in which the output range values ​​of the storage battery overlap; 3. The work vehicle according to claim 2, wherein the determination unit determines whether a detection value detected by the detection device is included in any of the output range values ​​of the plurality of operations, and when it is determined that the detection value is included in the output range value of the two or more overlapping operations, determines that the operation having the higher priority among the two or more overlapping operations is being performed by the work device.

4. 3. The work vehicle according to claim 2, wherein, when it is determined that the detection value detected by the detection device is included in the output range values ​​of two or more of the plurality of operations, the determination unit determines that the operation corresponding to the median output range value to which the detection value is closest among the two or more operations is being performed by the work device.

5. The work vehicle according to any one of claims 2 to 4, wherein when the determination unit determines that the work time does not fall within any of the plurality of tasks, the calculation unit calculates the available work time based on a median value calculated by taking a moving average of the detection values ​​detected by the detection device and the remaining capacity of the storage battery.

6. An input unit is provided for accepting a region designation, the storage device pre-stores data for a plurality of tasks that associates a predetermined area of ​​use, a task performed by the work device, and an output range value of the storage battery when the task is performed; The work vehicle according to any one of claims 2 to 4, wherein the determination unit identifies the area of ​​use corresponding to the area specified by the input unit, selects an operation to be performed by the work device and an output range value of the storage battery when the operation is performed corresponding to the identified area of ​​use, determines whether the detection value detected by the detection device is included in the output range value of the selected operation, and if it is determined that the detection value is included, determines that the operation corresponding to the output range value that is determined to be included is being performed by the work device.

7. An input unit is provided for accepting a time designation, the storage device pre-stores data for a plurality of tasks that associates a predetermined use time, a task performed by the working device, and an output range value of the storage battery when the task is performed; The work vehicle according to any one of claims 2 to 4, wherein the determination unit identifies the use period corresponding to the time specified by the input unit, selects an operation to be performed by the work device and an output range value of the storage battery when the operation is performed, corresponding to the identified use period, determines whether or not the detection value detected by the detection device is included in the output range value for the selected operation, and if it is determined that the detection value is included, determines that the operation corresponding to the output range value that is determined to be included is being performed by the work device.

8. An input unit is provided for receiving a designation of a region and a time period; the storage device pre-stores data for a plurality of tasks, the data associating a predetermined area of ​​use, a time of use in the area of ​​use, an operation performed by the operating device, and an output range value of the storage battery when the operation is performed; The work vehicle according to any one of claims 2 to 4, wherein the determination unit identifies the area of ​​use corresponding to the area specified by the input unit, identifies the time of use for the identified area of ​​use corresponding to the time specified by the input unit, selects an operation to be performed by the work device and an output range value of the storage battery when the operation is performed, corresponding to the identified area of ​​use and time of use, determines whether the detection value detected by the detection device is included in the output range value of the selected operation, and if it is determined that the detection value is included, determines that the operation corresponding to the output range value that is determined to be included is being performed by the work device.

9. the storage device pre-stores, as an output range value of the storage battery, an average output range value that indicates a range from an upper limit value to a lower limit value of an average output of the storage battery when the work is performed, and has a median value between the upper limit value and the lower limit value; the determination unit calculates a moving average value of the detection value detected by the detection device, and determines that the working device is in operation when the moving average value is included in the average output range value; The work vehicle according to any one of claims 1 to 4, wherein the calculation unit calculates the available work time based on a median of the average output range value determined to be included when it is determined that the work implement is in operation and a remaining capacity of the storage battery.

10. The work vehicle according to any one of claims 1 to 4, wherein the calculation unit calculates the available work time when at least one of the following occurs: when the working device is positioned at a predetermined position by the connection unit, when output of power to the working device is started, when the working device is in operation and a calculation command is input, and when a predetermined period of time has elapsed while the working device is in operation.

11. 5. The work vehicle according to claim 1, wherein the work implement is an implement for performing agricultural work.

12. a traveling device provided on the vehicle body and driven by the electric motor; an inverter for controlling the electric motor; The work vehicle according to claim 11 , further comprising: an output shaft that outputs the power output by the electric motor to the work device attached to the coupling portion.

Images