Work vehicle control system

Abstract

To ensure safety while multiple work vehicles are working autonomously.SOLUTION: A control system for a work vehicle (S) includes control means (Cb) which, when a first work vehicle (1B) completes a work in a field (21B) and another work vehicle (1A) is present in a field (21A) where the first work vehicle (1B) is to perform next work, does not move the first work vehicle (1B) to the field (21A) where the first work vehicle (1B) is to perform next work, but moves the first work vehicle (1B) to the field (21A) where the first work vehicle (1B) is to perform next work if the other work vehicle (1A) moves from the field (21A) where the first work vehicle (1B) is to perform next work.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a work vehicle control system that controls a work vehicle, and more particularly to a work vehicle control system that controls a plurality of work vehicles. [Background technology]

[0002] The technology described in Patent Document 1 below relates to a technology for determining the position of a work vehicle such as a tractor or a combine using a positioning device such as a GPS (Global Positioning System) while the work vehicle operates while traveling autonomously in a field without a driver.

[0003] Patent Document 1 (WO 2016 / 129671) describes a technology in which an unmanned tractor to be assigned to each of a number of fields, its working area, and the work content are preset, and the working area and work content for the field it is responsible for are transmitted to the unmanned tractor to have it work within the working area while its operating status is monitored. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2016 / 129671 (WO-A1-2016 / 129671) Summary of the Invention [Problem to be solved by the invention]

[0005] However, with the technology described in Patent Document 1, when the work vehicle moves to the field where work is to be performed, the work vehicle needs to be driven manually, which is time-consuming.

[0006] In addition, in the technology described in Patent Document 1, since the vehicle moves between fields manually, the worker must check and judge for himself whether it is possible to move to the next field where work will be performed or whether another work vehicle is currently working there and therefore cannot move. Therefore, there is a risk that the worker will move to an inaccessible field due to insufficient checking or misjudgment, causing the work vehicles to collide at the entrance and exit, resulting in an accident.

[0007] The technical object of this invention is to ensure safety while allowing a plurality of work vehicles to work autonomously. [Means for solving the problem]

[0008] The above-mentioned problems of the present invention are solved by the following solving means.

[0009] The invention described in claim 1 is A plurality of work vehicles (1); A positioning device (3) for acquiring position information of each work vehicle (1); No. When the first work vehicle (1B) finishes work in the field (21B), if another work vehicle (1A) is present in the field (21A) where the first work vehicle (1B) will next work, the first work vehicle (1B) is The farmer does not move the farmer to the next field (21A) where he / she will work. When other work vehicles (1A) have left the field (21A) where the first work vehicle (1B) will next work, the first work vehicle (1B) is moved to the field (21A) where the first work vehicle (1B) will next work. A control means (Cb); The present invention relates to a control system (S) for a work vehicle, comprising:

[0010] The invention described in claim 2 is The first work vehicle (1B), the control means (Cb) for causing the other work vehicles (1A, 1C) to give priority to work in other fields (21C, 21D) different from the field (21B) where the first work vehicle (1B) is waiting, when the first work vehicle (1B) is waiting without moving to the field (21A) where it will next be worked; The control system (S) for a work vehicle according to claim 1, further comprising:

[0011] The invention described in claim 3 is the control means (Cb) for preventing other work vehicles (1A, 1C) from moving to the field (21A) to which the first work vehicle (1B) is scheduled to move when the first work vehicle (1B) is waiting and not moving to the field (21A) to which the first work vehicle (1B) is scheduled to move; characterized in that it comprises 1 or 3 is a control system (S) for a work vehicle according to claim 2. Effect of the Invention

[0012] According to the invention described in claim 1, In the farm field (21A) to which the first work vehicle (1B) is to be moved This makes it possible to prevent the work vehicles (1) from bumping into each other, and ensures safety while allowing multiple work vehicles to work autonomously.

[0013] According to the invention described in claim 2, In a farm field (21B) where a first work vehicle (1B) is waiting This makes it possible to prevent the work vehicles (1) from bumping into each other, and ensures safety while allowing multiple work vehicles to work autonomously.

[0014] According to the invention described in claim 3, After the other work vehicle (1A) has left the farm field (21A) to which the first work vehicle (1B) is to be moved, Moving the first work vehicle (1B) This allows This can make operations more efficient. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is an explanatory diagram of a control system for a work vehicle according to the present invention. [Diagram 2] FIG. 2 is an explanatory diagram of the control unit of the control system for the work vehicle according to the embodiment. [Diagram 3] FIG. 3 is an explanatory diagram of an example of a farm field in which work is carried out using the control system for the work vehicle according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0017] FIG. 1 is an explanatory diagram of a control system for a work vehicle according to the present invention.

[0018] 1, a work vehicle control system S according to an embodiment of the present invention has a tractor 1 as an example of a work vehicle. The tractor 1 is a work vehicle capable of cultivating, plowing, leveling, sowing, fertilizing, etc., by attaching a work implement to the rear.

[0019] The tractor 1 is equipped with an obstacle sensor 2 that detects surrounding obstacles. A plurality of obstacle sensors 2 are installed on the tractor 1, and are configured to be able to detect surrounding obstacles, such as in front or to the sides. The obstacle sensor 2 may be any conventionally known sensor, such as one that uses light reflection, one that uses sound waves, or one that uses a camera to detect obstacles through image analysis.

[0020] The tractor 1 is also equipped with a GPS device 3 as an example of a positioning device. The GPS device 3 is capable of determining its own position through communication with a GPS satellite 4. The work vehicle control system S of the embodiment has a plurality of tractors 1, each of which is equipped with an obstacle sensor 2 and a GPS device 3.

[0021] The tractor 1 is connected to a server 6, which is an example of an information processing device, via a communication line such as a mobile phone line or an Internet line.

[0022] The server 6 is also connected to a tablet terminal 7, which is an example of an information processing device, via a communication line. The tablet terminal 7 is configured to enable a worker to view the displayed information and to input information.

[0023] (Explanation of the control unit) FIG. 2 is an explanatory diagram of the control unit of the control system for the work vehicle according to the embodiment.

[0024] In FIG. 2, the control unit Ca of the tractor 1 as an example of a control means, the control unit Cb of the server 6, and the control unit Cc of the tablet terminal 7 each have an input / output interface I / O for inputting and outputting signals with the outside. The control units Ca to Cc also have a ROM (read-only memory) in which programs and information for performing necessary processing are stored. The control units Ca to Cc also have a RAM (random access memory) for temporarily storing necessary data. The control units Ca to Cc also have a CPU (central processing unit) for performing processing according to the programs stored in the ROM or the like. Thus, the control units Ca to Cc in the embodiment are configured by an information processing device, a so-called computer. Thus, the control units Ca to Cc can realize various functions by executing programs stored in the ROM or the like.

[0025] (Signal input element connected to control unit Ca of tractor 1) In FIG. 2, a control unit Ca of a tractor 1 receives signals from an obstacle sensor 2, a GPS device 3, and other signal input members (not shown).

[0026] The obstacle sensor 2 detects obstacles around the tractor 1.

[0027] The GPS device 3 determines the position of the tractor 1 .

[0028] (Controlled element connected to control unit Ca of tractor 1) The control unit Ca of the tractor 1 outputs control signals to the engine 11, the steering wheel 12, the brake 13, the work implement 14, and other controlled elements (not shown) of the tractor 1.

[0029] (Explanation of the control unit Ca of the tractor 1) The control unit Ca of the tractor 1 has the following functions (functional means, program modules).

[0030] The obstacle detection means C1 detects an obstacle based on the detection result of the obstacle sensor 2.

[0031] The positioning means C2 measures the position of the tractor 1 based on the positioning result of the GPS device 3.

[0032] The communication means C3 transmits and receives information, i.e., communicates with the server 6. The communication means C3 in the embodiment transmits to the server 6 the results of obstacle detection, the position information of the tractor 1, and the status of the tractor 1 (working, moving, parked, etc.), and receives from the server 6 the position information of the field where work will be performed next, the work area and work content in the field, and instruction information for moving or stopping.

[0033] FIG. 3 is an explanatory diagram of an example of a farm field in which work is carried out using the control system for the work vehicle according to the embodiment.

[0034] The travel control means C4 controls the engine 11, the steering wheel 12, the brakes 13, etc. of the tractor 1 to control the travel of the tractor 1. When the server 6 instructs the travel control means C4 to move to the target field 21, the travel control means C4 in the embodiment controls the tractor 1 to move to the target field 21 along the travel route 22 transmitted from the server 6 (field-to-field travel mode). When the server 6 instructs the tractor 1 to work in the field 21, the travel control means C4 controls the tractor 1 to move along the work route 23 transmitted from the server 6 (work mode). When the server 6 instructs the tractor 1 to stop and wait, the travel control means C4 stops the tractor 1 (waiting mode). When the server 6 instructs the tractor 1 to move to a specific waiting position 24 and wait, the travel control means C4 moves the tractor 1 to the waiting position 24 and then stops the tractor 1. When the obstacle detection means C1 detects an obstacle, the travel control means C4 in the embodiment stops the tractor 1 (abnormal stop, emergency stop) and waits there (abnormal stop mode). When the work is completed, the travel control means C4 transitions from the work mode to the inter-field movement mode, and transmits a signal to the server 6 to the effect that the work has been completed.

[0035] The work machine control means C5 controls the work machine to perform work in the field 21. When the tractor 1 enters the work area 25 transmitted from the server 6, the work machine control means C5 in the embodiment operates the work machine to perform work. When the tractor 1 moves outside the work area 25, the work machine control means C5 stops the work machine. If the work machine is a tiller or plow, the work machine is lowered when working and raised when not working. When the obstacle detection means C1 detects an obstacle, the work machine control means C5 in the embodiment stops the work machine (abnormal stop, emergency stop).

[0036] (Signal input element connected to the control unit Cc of the tablet terminal 7) In FIG. 2, a control unit Cc of the tablet terminal 7 receives signals from a touch panel 7a, which is an example of a display unit and an example of an input unit, and other signal input members (not shown).

[0037] The touch panel 7a detects the position touched by the worker's finger.

[0038] (Controlled element connected to the control unit Cc of the tablet terminal 7) The control unit Cc of the tablet terminal 7 outputs control signals to the touch panel 7a and other controlled elements (not shown).

[0039] The touch panel 7a displays an image in response to a control signal transmitted from the server 6 or the control unit Cc.

[0040] (Explanation of the control unit Cc of the tablet terminal 7) The display control means C11 controls the touch panel 7a to display images. On the touch panel 7a, it is possible to display images showing the working status of the tractor 1, images for setting a work plan for the tractor 1 (field to be worked on, work content, work range, work route, etc.), and images for notifying of an abnormality such as an abnormal stop of the tractor 1.

[0041] The input detection means C12 detects the input contents based on the detection result of the position on the touch panel 7a touched by the finger and the displayed image.

[0042] The communication means C13 communicates with the server 6. The communication means C13 in the embodiment transmits information on a work plan inputted through the touch panel 7a to the server 6, and receives information on a work status and information on an abnormality transmitted from the server 6.

[0043] (Explanation of the control unit Cb of server 6) The control unit Cb of the server 6 has the following functions (functional means, program modules).

[0044] The field information storage means C21 stores field information, including field position information, field shape information, and field entrance / exit position information.

[0045] The work plan storage means C22 stores a work plan for the field by the tractor 1. In the work plan storage means C22 of the embodiment, the content of work to be performed in the field, the work range, and the work route are stored as the work plan. As the work content, work such as tilling, leveling, and sowing performed in the field 21 is stored. In addition, a specific area (including the entire area) in the field 21 set on the tablet terminal 7 is stored as the work area 25. Furthermore, a route along which the tractor 1 passes is stored as the work route 23. The work route 23 can be manually input by the worker from the tablet terminal 7, or the work route 23 along which the work implement 14 passes through the entire work area 25 according to the size and shape of the set work area 25 can be automatically created by software.

[0046] Therefore, as an example, when work such as tilling, leveling, and sowing is performed in a certain field 21 (21A), a tractor 1 (1A) equipped with a tilling implement 14, a tractor 1 (1B) equipped with a leveling implement 14, and a tractor 1 (1C) equipped with a sowing implement 14 enter the field in that order, and perform the work according to the work area 25 and work path 23 set for each work content, which is stored as a work plan. The order in which the work is performed is determined in advance, and as an example, the work is performed in the order of tilling, leveling, and sowing, and the order of the work is included in the work plan so that leveling, etc. is not performed before tilling.

[0047] The communication means C23 communicates with the tractor 1 and the tablet terminal 7. The communication means C23 receives information on the current position and current work status (work mode, standby mode, etc.) of the tractor 1 from the tractor 1, and transmits information on the next farm field 21 to be headed for and instruction information such as standby to the tractor 1. In addition, the communication means C23 receives input information on the work plan from the tablet terminal 7, and transmits information on the work status to the tablet terminal 7.

[0048] The work vehicle position acquisition means C24 acquires information on the position of each tractor 1 based on the position information transmitted from the tractor 1.

[0049] The work vehicle status acquisition means (abnormal stop detection means) C25 acquires the work status of each tractor 1 based on the position information and information on the work status (work mode, etc.) transmitted from each tractor 1. For example, the work status is acquired such that a certain tractor 1A is working in the field 21 in the work mode, another tractor 1B is moving in the inter-field movement mode and its current position is at the position detected by the GPS device 3, and yet another tractor 1C is waiting at the position detected by the GPS device 3. The work status is sequentially transmitted to the tablet terminal 7 so that it can be confirmed. Note that, for example, when the work vehicle status acquisition means C25 of the embodiment receives information from the tractor 1A that the tractor 1A is in the abnormal stop mode, it determines that the tractor 1A is in an abnormal stop state and transmits information that the tractor 1A is in an abnormal stop state to the tablet terminal 7 via the communication means C23.

[0050] In addition, the tractors 1 can be easily managed by grouping them by mode, and the color displayed on the tablet terminal 7 for each group can be changed to make it easier for the worker to understand visually.

[0051] The work status discrimination means C26 discriminates the completion status of work in each field 21 based on the work plan and the results of communication with the work vehicle 1. The work status discrimination means C26 in the embodiment discriminates, for each field 21, completed work (type of work implement of the tractor 1 that has shifted from work mode to inter-field movement mode) and ongoing work (type of work implement of the tractor 1 in work mode in that field 21) based on the work plan information and the work status transmitted from each tractor 1, and discriminates work that is neither completed nor ongoing as unperformed work.

[0052] The work instruction means C27 instructs each tractor 1 to perform work by transmitting information on the target field 21 where work will be performed next, the movement route 22 to the field 21, and the work (work area 25, work route 23) to each tractor 1 based on the work implement 14 equipped on each tractor 1 and the work plan to be performed in each field. When a tractor (e.g., tractor 1B) moves to the next field 21 after completing a work, the work instruction means C27 in the embodiment instructs tractor 1B to move to the next field and perform the work after the movement if there is no other tractor (e.g., tractor 1A) in the field 21 to which the tractor is scheduled to move.

[0053] In addition, when a tractor (for example, tractor 1B) moves to the next field 21 (for example, field 21A) after completing a task, if another tractor (for example, tractor 1A) is present in the field 21A to which the tractor is to move, the tractor 1B is made to wait at the standby position 24 of the field 21B. That is, if the other tractor 1A is working, moving between fields, waiting, or stopped due to an abnormality in the field 21A to which the tractor is to move, the tractor 1B does not start moving toward the field 21A to which the tractor is to move, but waits at the standby position of the original field 21B. Note that when the tractor 1A has left the field 21A to which the tractor is to move, the tractor 1B shifts from the standby mode to the inter-field movement mode and starts moving toward the field 21A to which the tractor is to move.

[0054] When the tractor 1B is waiting at the waiting position 24, the work instruction means C27 instructs the other tractors 1A, 1C to give priority to the other fields 21A, 21C, 21D over the field 21B where the tractor 1B is waiting. At this time, it is preferable that the tractor 1B is given priority in the field to which the tractor 1B is scheduled to move next, and the other tractors 1A, 1C are not allowed to move.

[0055] Furthermore, when there is no field 21 to be worked on next after a certain tractor (for example, tractor 1B) has completed work, that is, when tractor 1B has completed work in all fields, the work instruction means C27 of the embodiment transitions to a standby mode at standby position 24. However, even when tractor 1B has completed work in all fields, if the work plan indicates that there is a tractor (for example, tractor 1C) that is still scheduled to work in field 21B where tractor 1B is currently located, the work instruction means C27 does not transition to a standby mode at standby position 24, but refers to the determination result by work status determination means C26 and determines whether there is any field 21 where work by other tractors 1A, 1C has been completed. If there is no field 21 where work by the other tractors 1A, 1C has been completed, the tractor 1B goes into standby mode, but if there is a field 21 where work by all the other tractors 1A, 1C has been completed, the tractor 1B is instructed to move (evacuate) to that field 21.

[0056] If there are multiple fields 21 where work by the other tractors 1A, 1C has been completed, an instruction is given to move (evacuate) to the closest field 21. Note that the distance is preferably determined based on the distance from the entrance / exit 31 of the field 21 where the tractor 1B is currently located to the entrance / exit of each of the searched fields 21, but it is also possible to determine the distance based on any parameter, such as the straight-line distance between the current position of the tractor 1B and the center position of the field.

[0057] Even if there is no field 21 where all the other tractors 1A, 1C have completed work, if there is a field 21 where the tractor 1C, which is to move next, has completed work in the field where the tractor 1B is currently located, it is possible to control the tractor 1B to move to that field 21 without going into standby mode. In this case, it is preferable to control the tractor 1B to move to a field 21 with a large number of completed work sites first.

[0058] In addition, in the farm field 21 where the tractor 1B is to be evacuated, it is desirable to stop the engine of the tractor 1B to reduce fuel consumption, but it is also possible to leave the engine on standby without stopping it. Even if the engine is not stopped, it is desirable to keep the engine load to a minimum. Furthermore, when leaving the tractor 1B on standby in the farm field 21 where the tractor is to be evacuated, it is desirable for safety reasons to control the clutch and brakes to disable forward and reverse movement. Furthermore, if the lights are on at night, etc., it is desirable to turn them off.

[0059] In the control system S for the work vehicle of the embodiment having the above configuration, each tractor 1 moves autonomously within the field 21 and between the fields 21 according to the work plan to perform work. In the embodiment, when the tractor 1 completes work and attempts to move to the next field 21 where work will be performed, if there is no tractor 1 in the next field 21, the tractor 1 moves, but if there is a tractor 1 working in the next field 21, the tractor 1 that has completed work is made to wait at the waiting position 24 of the field 21. Therefore, the possibility of two tractors 1 running into each other in the next field 21 is reduced, and the possibility of an accident is reduced. Therefore, in the control system S for the work vehicle of the embodiment, it is possible to ensure safety while making multiple tractors 1 work autonomously.

[0060] Furthermore, in the work vehicle control system S of the embodiment, when a tractor has completed work in all fields 21, if another tractor 1 is scheduled to work in the current field 21, the tractor moves to the field 21 where the work has been completed. This prevents the tractor 1 that has completed work in all fields 21 from interfering with the work of the other tractors 1 in the current field 21, making work smoother and more efficient overall.

[0061] Furthermore, in the embodiment of the work vehicle control system S, when there are multiple fields 21 to which the tractor 1 can move after completing work in all of the fields 21, the tractor 1 moves to the nearest field 21, thereby shortening the travel time of the tractor 1 and suppressing unnecessary fuel consumption, thereby making work more efficient overall.

[0062] In the above embodiment, the configuration is exemplified in which each process is distributed among the control units Ca to Cc of the tractor 1, the tablet terminal 7, and the server 6, but the present invention is not limited to this. For example, it is possible to configure the server 6 to process all the processes collectively, or to have the tractor 1 perform some of the processes that were previously performed by the server 6.

[0063] In the above embodiment, the tractor 1 that has completed work is made to wait at the waiting position 24 in the field 21 where the work has been completed (i.e., the field 21 where the tractor 1 is currently located), but this is not limiting. For example, the tractor 1 may wait at the waiting position 24 in the field 21 to which the tractor 1 is to move. [Explanation of symbols]

[0064] 1...Work vehicle, 1A, 1C: other work vehicles, 1B…First work vehicle, 3... Positioning device, 21, 21A, 21B…field, 24...standby position, Cb: control means; S…Control system.

Claims

1. A plurality of work vehicles (1); A positioning device (3) for acquiring position information of each work vehicle (1); When the first work vehicle (1B) has finished work in the field (21B), if another work vehicle (1A) is present in the field (21A) where the first work vehicle (1B) will next work, the first work vehicle (1B) is not moved to the field (21A) where the first work vehicle (1B) will next work, a control means (Cb) for moving the first work vehicle (1B) to the field (21A) where the first work vehicle (1B) will next work, when other work vehicles (1A) have left the field (21A) where the first work vehicle (1B) will next work; A work vehicle control system (S) comprising:

2. the control means (Cb) for causing the other work vehicles (1A, 1C) to give priority to work in other fields (21C, 21D) different from the field (21B) where the first work vehicle (1B) is waiting, when the first work vehicle (1B) is waiting without moving to the field (21A) where the next work is to be performed; 2. A control system (S) for a work vehicle according to claim 1, comprising:

3. The control means (Cb) for preventing other work vehicles (1A, 1C) from moving to the field (21A) to which the first work vehicle (1B) is scheduled to move when the first work vehicle (1B) is waiting without moving to the field (21A) to which the next work will be performed; 3. A control system (S) for a work vehicle according to claim 1 or 2, comprising:

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