Agricultural machinery communication system

Abstract

This communication system for an agricultural machine comprises an information terminal (110) for transmitting first information to an agricultural machine (1), a first communication device (75) that is provided to an unmanned aerial vehicle (70) and that receives the first information transmitted from the information terminal (110), and a second communication device (51) that is provided to the agricultural machine (1) and that receives the first information transmitted by the first communication device (75). The second communication device (51) transmits second information about the agricultural machine (1) to the first communication device (75), and the first communication device (75) transmits the second information to the information terminal (110).

Description

[Technical Field]

[0001] The present invention relates to a communication system for agricultural machinery such as a tractor, a combine harvester, a rice transplanter, etc. [Background technology]

[0002] Conventionally, a known technology for communication between an agricultural machine and a mobile terminal is disclosed in Patent Document 1. Patent Document 1 describes a control device including a control unit capable of controlling the automatic travel of a travelable work machine and a stop unit that stops the automatic travel control related to the automatic travel by the control unit, a communication device connected to the control device and capable of communicating with the outside, and a mobile terminal that transmits a release signal to the communication device to release the stop of the automatic travel control, and the mobile terminal has a plurality of switches and a communication unit that transmits a release signal to the communication device when the plurality of switches are operated. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2019-41593 Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, although automatic driving control can be stopped or canceled using a mobile terminal, the reality is that depending on the conditions of the agricultural machine and the mobile terminal, information sent from the mobile terminal to the agricultural machine may not reach the agricultural machine. In view of the above circumstances, an object of the present invention is to provide a communication system for an agricultural machine that can improve communication between the agricultural machine and an information terminal. [Means for solving the problem]

[0005] The agricultural machinery communication system No. 1an information terminal that transmits information; and a first communication device that is provided in the unmanned aerial vehicle and receives the first information transmitted from the information terminal; agriculture The first communication device is provided on the machine. from a second communication device that receives the transmitted first information; the second communication device transmits second information of the agricultural machine to the first communication device, the first communication device transmits the second information to the information terminal, and the unmanned aerial vehicle moves to a position where the first communication device can receive the first information from the information terminal and transmit the first information to the second communication device, and where the first communication device can receive the second information from the second communication device and transmit the second information to the information terminal. . Also, The unmanned aerial vehicle moves to a position where the first communication device can receive the first information from the information terminal and transmit the first information to the second communication device, and where the first communication device can receive the second information from the second communication device and transmit the second information to the information terminal, based on the first reception strength of the first information transmitted from the information terminal and the second reception strength of the second information transmitted from the second communication device.

[0006] The unmanned aerial vehicle also has a first control device that controls flight, and the first control device moves the unmanned aerial vehicle toward the information terminal when the first reception strength of the first information received by the first communication device from the information terminal is lower than the second reception strength of the second information received by the first communication device from the second communication device and the first reception strength is less than a threshold value, and moves the unmanned aerial vehicle toward the agricultural machine when the second reception strength is lower than the first reception strength and the second reception strength is less than the threshold value. In addition, the agricultural machine has a body and a running device that supports the body so that it can run, and the unmanned aerial vehicle has a first control device that controls flight, and the first control device causes the unmanned aerial vehicle to rise when a first reception strength of the first information received by the first communication device from the information terminal, or a second reception strength of the second information received by the first communication device from the second communication device, is less than a threshold value. Moreover, the information terminal transmits, as the first information, information including the start or stop of travel of the agricultural machine. [Effects of the Invention]

[0007] According to the present invention, it is possible to improve communication between an agricultural machine and an information terminal. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 2 is an overall plan view of the tractor. [Figure 2] FIG. 1 is an overall side view of a tractor. [Figure 3] FIG. [Figure 4] FIG. 2 is a control block diagram of a communication system for an agricultural machine. [Figure 5] FIG. 2 is an explanatory diagram illustrating automatic traveling of a tractor. [Figure 6] FIG. 10 is a diagram showing a screen for creating a planned travel line L1. [Figure 7A] FIG. 10 is a diagram showing an example of a unit task section A1. [Figure 7B] FIG. 10 is a diagram showing a modified example of unit task section A1. [Figure 8A] FIG. 1 is a plan view showing the unmanned aerial vehicle flying in cooperation (linkage) with a tractor. [Figure 8B] FIG. 10 is a side view showing the unmanned aerial vehicle flying in cooperation (linked) with a tractor in the first modified example. [Figure 9A]10 is a flowchart showing the process in which an unmanned aerial vehicle relays information communication between an information terminal and a tractor. [Figure 9B] 10 is a flowchart showing the process in which an unmanned aerial vehicle relays information communication between an information terminal and a tractor in the first modified example. [Figure 9C] 10 is a flowchart showing the process in which an unmanned aerial vehicle relays information communication between an information terminal and a tractor in the second modified example. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. 1 and 2 show the entire agricultural machine 1. The agricultural machine 1 is a tractor, a combine harvester, a rice transplanter, etc. The agricultural machine 1 will be described below using the tractor shown in FIGS. 1 and 2 as an example. As shown in Figures 1 and 2, the tractor 1 includes a vehicle body (traveling vehicle body) 3, a prime mover 4, and a transmission 5. The vehicle body 3 is provided with a traveling device 7. The traveling device 7 supports the vehicle body 3 so that it can travel, and has front wheels 7F and rear wheels 7R. In this embodiment, the front wheels 7F and rear wheels 7R are tire-type wheels, but they may also be crawler-type wheels. The prime mover 4 is an engine (diesel engine, gasoline engine), an electric motor, or the like. The transmission 5 is capable of switching the propulsion force of the traveling device 7 by changing gears, and can also switch the traveling device 7 between forward and reverse travel. The vehicle body 3 is provided with a driver's seat 10. The driver's seat 10 is protected by a protective device 9. The protective device 9 is a cabin that protects the driver's seat 10, or a protective device that protects the driver's seat 10 by covering at least the upper part of the driver's seat 10, or the like.

[0010] 2, the protection device 9 includes a plurality of pillars 9a fixed to the vehicle body 3, and a roof 9b supported by the plurality of pillars 9a and disposed above the driver's seat 10. When the protection device 9 is a cabin, glass, doors, etc. are provided between the plurality of pillars 9a, and the driver's seat 10 is covered by the glass, doors, etc. Below the protection device 9, a fender 13 is attached, and the fender 13 covers the upper part of the rear wheel 7R.

[0011] As shown in FIG. 1 , the vehicle body 3 has a body frame 20. The body frame 20 includes a body frame 20L provided on the left side and a body frame 20R provided on the right side. The body frames 20L and 20R each extend forward from the transmission 5 side and support the lower part of the engine 4. The body frames 20L and 20R are spaced apart in the vehicle width direction. The front ends of the body frames 20L and 20R are connected by a front connecting plate 20F. The middle portions of the body frames 20L and 20R are connected by a middle connecting plate 20M. The body frames 20L and 20R support a front axle case 29. A front axle that rotatably supports a front wheel 7F is housed within the front axle case 29. That is, in this embodiment, the body frame 20 is a front axle frame that supports the front axle. The body frame 20 may be a frame that supports a structure other than the front axle case 29 (a frame other than a front axle frame).

[0012] As shown in FIGS. 1 and 2, a hood 25 is provided above the body frame 20. The hood 25 extends in the front-rear direction along the body frame 20. The hood 25 is located in front of the center of the protection device 9 in the width direction. The hood 25 has a left side wall 25L provided on the left side, a right side wall 25R provided on the right side, and an upper wall portion 25U connecting the upper parts of the left side wall 25L and the right side wall 25R. The left side wall 25L, the right side wall 25R, and the upper wall portion 25U form an engine compartment, which houses the engine 4, a cooling fan, a radiator, a battery, etc. Front wheels 7F are located to the left of the left side wall 25L and to the right of the right side wall 25R.

[0013] A weight 26 is provided on the front side of the hood 25, i.e., on the front sides of the body frames 20L, 20R. The weight 26 is attached to a weight bracket (weight mounting portion) 27 provided at the front of the body 3. The weight bracket 27 is attached to the front connecting plate 20F of the body frame 20L with fasteners such as bolts. A coupling device 8 is provided at the rear of the vehicle body 3. The coupling device 8 is a device that detachably couples a working implement (such as an implement) 2 to the vehicle body 3. The coupling device 8 is a swing drawbar that connects the working implement 2 and the vehicle body 3 and does not raise or lower, or a lifting device that is composed of a three-point link mechanism or the like and raises or lowers the implement. The working implement 2 is a tilling device that tills, a fertilizer spreading device that spreads fertilizer, a pesticide spreading device that spreads pesticides, a harvesting device that harvests, a ridge forming device that makes ridges, a reaping device that harvests grass or the like, a spreading device that spreads grass or the like, a grass collecting device that collects grass or the like, a shaping device that shapes grass or the like, etc.

[0014] FIG. 3 shows a coupling device 8 made up of a lifting device. As shown in FIG. 3, the coupling device (lifting device) 8 has a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e. The front end of the lift arm 8a is supported at the upper rear part of the case (transmission case) that houses the transmission 5 so that it can swing upward or downward. The lift arm 8a swings (lifts up and down) when driven by the lift cylinder 8e. The lift cylinder 8e is made up of a hydraulic cylinder. The lift cylinder 8e is connected to a hydraulic pump via a control valve 36. The control valve 36 is an electromagnetic valve or the like, and extends and retracts the lift cylinder 8e.

[0015] The front end of lower link 8b is supported on the rear lower part of transmission 5 so as to be swingable upward or downward. The front end of top link 8c is supported on the rear part of transmission 5 above lower link 8b so as to be swingable upward or downward. Lift rod 8d connects lift arm 8a to lower link 8b. The working device 2 is connected to the rear part of lower link 8b and the rear part of top link 8c. When lift cylinder 8e is driven (extends and retracts), lift arm 8a rises and falls, and lower link 8b, which is connected to lift arm 8a via lift rod 8d, rises and falls. As a result, the working device 2 swings upward or downward (lifts and falls) with the front part of lower link 8b as a fulcrum.

[0016] As shown in Figures 1 and 2, the tractor 1 is equipped with a second position detection device 30. The second position detection device 30 is mounted in front of the roof 9b of the protection device 9 via a mounting body 31. However, the mounting position of the second position detection device 30 is not limited to the position shown in the figure, and the second position detection device 30 may be mounted on the roof 9b of the protection device 9 or in another location on the vehicle body 3. The second position detection device 30 may also be mounted on the work implement 2, such as the above-mentioned tillage implement.

[0017] The second position detection device 30 is a device that detects its own position (positioning information including latitude and longitude) using a satellite positioning system. That is, the second position detection device 30 receives signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from a positioning satellite and detects its position (latitude and longitude) based on the received signals. The second position detection device 30 may detect its own position (latitude and longitude) as a position corrected based on a signal such as a correction from a base station (reference station) that can receive signals from the positioning satellite. Alternatively, the second position detection device 30 may have an inertial measurement device such as a gyro sensor or an acceleration sensor, and detect the position corrected by the inertial measurement device as its own position. The second position detection device 30 can detect the position (traveling position) P1 of the body 3 of the tractor 1.

[0018] As shown in FIG. 1, the tractor 1 is equipped with a plurality of obstacle detection devices 45. Each of the plurality of obstacle detection devices 45 is capable of detecting an object present around the tractor 1, i.e., an obstacle 90. At least one of the plurality of obstacle detection devices 45 is provided in front of the protection device 9 and outside the hood 25. That is, at least one obstacle detection device 45 is disposed in an area in front of the protection device 9 of the tractor 1, in an area to the left of the left wall 25L of the hood 25 or an area to the right of the right wall 25R of the hood 25. In this embodiment, the plurality of obstacle detection devices 45 include an obstacle detection device 45L provided on the left side of the vehicle body 3 (left side of the hood 25) and an obstacle detection device 45R provided on the right side of the vehicle body 3 (right side of the hood 25).

[0019] The obstacle detection device 45 is a laser scanner 45A, a sonar 45B, or the like. The laser scanner 45A detects an object (obstacle) 90 by emitting a laser as a detection wave. The laser scanner 45A detects the distance to the obstacle 90 based on the time from when the laser is emitted to when it is received. The sonar 45B detects the object (obstacle) 90 by emitting a sound wave as a detection wave. Note that the multiple obstacle detection devices 45 in the above-described embodiment do not have to be provided outside the hood 25, and the arrangement of the multiple obstacle detection devices 45, etc., is not limited.

[0020] As shown in FIG. 4, the tractor 1 is equipped with a steering device 11. FIG. 4 shows a control block diagram of a communication system for agricultural machinery. The steering device 11 has a handle (steering wheel) 11a, a rotating shaft (steering shaft) 11b that rotates in conjunction with the rotation of the handle 11a, and an assist mechanism (power steering mechanism) 11c that assists in steering the handle 11a. The assist mechanism 11c includes a hydraulic pump 21, a control valve 22 to which hydraulic oil discharged from the hydraulic pump 21 is supplied, and a steering cylinder 23 operated by the control valve 22. The control valve 22 is an electromagnetic valve that operates based on a control signal. The control valve 22 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 22 can also be switched by steering the steering shaft 11b. The steering cylinder 23 is connected to an arm (knuckle arm) that changes the direction of the front wheels 7F.

[0021] Therefore, by operating the steering wheel 11a, the switching position and opening degree of the control valve 22 are switched in accordance with the steering wheel 11a, and the steering cylinder 23 extends or contracts to the left or right in accordance with the switching position and opening degree of the control valve 22, thereby changing the steering direction of the front wheels 7F. Note that the above-described steering device 11 is an example, and the configuration of the steering device 11 is not limited to the above-described configuration.

[0022] As shown in FIG. 4, the tractor 1 includes a second control device 40, a display device 50, and a communication device (second communication device) 51. In other words, the agricultural machine communication system includes the communication device (second communication device) 51 provided in the tractor 1. The second control device 40 is composed of a CPU, an electric circuit, an electronic circuit, etc., and performs various controls of the tractor 1. The display device 50 has a liquid crystal panel, an organic EL panel, etc., and displays various information. The second communication device 51 is a device that communicates with the outside. The second communication device 51 is a communication device (communication module) that performs either direct communication or indirect communication with an external device, and can perform wireless communication using, for example, the IEEE802.11 series communication standards such as Wi-Fi (Wireless Fidelity, registered trademark), BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power Wide Area), and LPWAN (Low-Power Wide-Area Network). The second communication device 51 may also be a communication device (communication module) that performs wireless communication using a mobile phone communication network, a data communication network, etc.

[0023] As shown in Fig. 4, the second control device 40 controls the traveling system and the working system of the tractor 1. The second control device 40 includes a traveling control unit 40A and a lifting / lowering control unit 40B. The traveling control unit 40A and the lifting / lowering control unit 40B are configured by electric and electronic circuits provided in the second control device 40, programs stored in the second control device 40, etc. As shown in Fig. 5, the travel control unit 40A performs automatic travel control. Fig. 5 is an explanatory diagram illustrating automatic travel of the tractor 1. In automatic travel control, the travel control unit 40A sets the switching position and opening degree of the control valve 22 so that at least the travel position P1 of the vehicle body 3 (position detected by the second position detection device 30) coincides with a predetermined planned travel line (travel route) L1. In other words, the second control device 40 sets the movement direction and movement amount of the steering cylinder 23 (the steering direction and steering angle of the front wheels 7F) so that the travel position P1 of the tractor 1 coincides with the planned travel line L1.

[0024] In more detail, the cruise control unit 40A compares the travel position P1 of the vehicle body 3 with the planned travel line L1, and if the travel position P1 matches the planned travel position, it maintains the steering angle and steering direction of the handle 11a in the steering device 11 (the steering angle and steering direction of the front wheels 7F) without changing them (it maintains the opening degree and switching position of the control valve 22 without changing them).If the travel position P1 does not match the planned travel line L1, the cruise control unit 40A changes the steering angle and / or steering direction of the handle 11a in the steering device 11 (it changes the opening degree and / or switching position of the control valve 22) so that the deviation (amount of deviation) between the travel position P1 and the planned travel line L1 becomes zero.

[0025] In the above-described embodiment, the travel control unit 40A changes the steering angle of the steering device 11 based on the deviation between the travel position P1 and the planned travel line L1 during automatic travel control. However, if the orientation of the planned travel line L1 differs from the orientation (vehicle body orientation) of the tractor 1 (vehicle body 3) in the direction of travel (travel direction), the travel control unit 40A may set the steering angle so that the vehicle body orientation matches the orientation of the planned travel line L1. Furthermore, the travel control unit 40A may set the final steering angle during automatic travel control based on the steering angle calculated based on the deviation (position deviation) and the steering angle calculated based on the orientation deviation. Furthermore, the steering angle may be set by a method different from the method for setting the steering angle during automatic travel control described above.

[0026] In addition, during automatic driving control, the driving control unit 40A may control the rotation speed of the driving device 7, i.e., the front wheels 7F and / or rear wheels 7R, so that the actual vehicle speed of the tractor 1 (body 3) matches the vehicle speed corresponding to the predetermined planned driving line L1. Furthermore, the travel control unit 40A controls the automatic travel based on the result of obstacle detection by the obstacle detection device 45. For example, if the obstacle detection device 45 does not detect an obstacle 90, the automatic travel continues, and if the obstacle detection device 45 detects an obstacle 90, the automatic travel stops. More specifically, if the obstacle detection device 45 detects an obstacle 90, the travel control unit 40A stops the automatic travel by stopping the travel of the tractor 1 if the distance between the obstacle 90 and the tractor 1 is equal to or less than a predetermined threshold (stop threshold).

[0027] In the above-described embodiment, the driving control unit 40A stops the driving of the tractor 1 when the distance between the obstacle 90 and the tractor 1 is equal to or less than a predetermined threshold (stop threshold), but the tractor 1 may also be driven automatically to avoid the obstacle 90. Also, as shown in FIG. 4, the second control device 40 is connected to a seating detection device 43 that detects whether or not a driver is seated in the driver's seat 10, and the driving control unit 40A continues automatic driving if the seating detection device 43 detects that a driver is seated during automatic driving, and stops automatic driving if the seating detection device 43 detects that a driver is not seated.

[0028] The lift control unit 40B performs lift control. When the manual lift function is enabled and the lift operation member is operated in the lifting direction (upward), the lift control unit 40B controls the control valve 34 to extend the lift cylinder 8e and raise the rear end of the lift arm 8a (the end on the working device 2 side). In the lift control, when the manual lift function is enabled and the lift operation member is operated in the lowering direction (downward), the lift control unit 40B controls the control valve 34 to contract the lift cylinder 8e and lower the rear end of the lift arm 8a (the end on the working device 2 side). When the working device 2 is being raised by the connecting device (lifting device) 8, and the position of the working device 2, i.e., the angle of the lift arm 8a, reaches the upper limit (upper height limit value) set by the height setting dial, the lift operation of the connecting device (lifting device) 8 is stopped.

[0029] In the lift control, if the backup function is enabled, when the vehicle body 3 moves backward, the control valve 34 is automatically controlled to extend the lift cylinder 8e, thereby raising the rear end of the lift arm 8a (the end on the working device 2 side). In the lift control, if the auto-up function is enabled, when the steering angle of the steering device 11 reaches a predetermined value or more, the control valve 34 is automatically controlled to extend the lift cylinder 8e, thereby raising the rear end of the lift arm 8a (the end on the working device 2 side).

[0030] The display device 50 also includes a line creation unit 50A. The line creation unit 50A references a field map MP that has been registered in advance in the display device 50, and creates a driving line (planned driving line) L1 for the vehicle body 3 on the field map MP. As shown in Fig. 6, when a predetermined operation is performed on the display device 50, the line creation unit 50A displays a line setting screen Q1 on the display device 50. Fig. 6 is a diagram showing the screen (line setting screen Q1) for creating the planned driving line L1.

[0031] The line setting screen Q1 includes a line display section 85 that displays the planned travel line L1, and a width input section 86. Figure 7A is a diagram showing an example of a unit work section A1, and when the width (working width) W1 of the work implement 2 is input into the width input section 86, the line creation section 50A creates multiple unit work sections A1 on the field map MP in which work will be performed by the work implement 2 by dividing the field H1 on the field map MP vertically or horizontally by the work width W1, as shown in Figure 7A. In other words, the line creation section 50A creates multiple unit work sections A1 on the field map MP with the same width as the work width W1.

[0032] As shown in Figure 7B, the line creation unit 50A may create multiple unit work sections A1 on the field map MP, each with a width W3, which is the work width W1 minus the overlap width W2. Figure 7B is a diagram showing a modified example of a unit work section A1. The overlap width W2 can be entered on the line setting screen Q1. In other words, when the vehicle body 3 to which the work implement 2 is coupled is driven, the line creation unit 50A sets the smallest unit area in which work is performed on the field H1 by the work implement 2 as the unit work section A1.

[0033] The line creation unit 50A creates a straight section (straight line) L1a along which the vehicle body 3 moves straight, for each unit work section A1 on the field map MP. That is, the line creation unit 50A creates a straight straight section L1a connecting both longitudinal ends of the unit work section A1, for example, in the widthwise center of the unit work section A1. The line creation unit 50A also creates a turning section (turning line) L1b along which the vehicle body 3 turns. That is, the line creation unit 50A creates the turning section L1b by connecting the ends of adjacent straight sections L1a in an arc shape.

[0034] Also, as shown in FIG. 4, a state detection device 41 that detects the driving state of the tractor 1 is connected to the second control device 40, and the second communication device 51 can transmit the information detected by the state detection device 41 as second information. The state detection device 41 is, for example, a device that detects the state of the driving system, and detects the state of, for example, a crank sensor, a cam sensor, an engine rotation sensor, an accelerator sensor, a vehicle speed sensor, a steering angle sensor, the second position detection device 30, whether or not automatic driving is enabled, etc. The state detection device 41 also includes devices that detect the state of things other than the driving system, such as a lifting operation detection sensor that detects the operation direction and amount of the lifting operation member, a PTO rotation detection sensor, etc.

[0035] The second information transmitted by the second communication device 51 includes, for example, information as to whether the tractor 1 is continuing automatic traveling or has stopped automatic traveling, and in this embodiment, the second information includes the traveling position P1 detected by the second position detection device 30. Therefore, the second communication device 51 can transmit the position of the tractor 1. As shown in FIG. 4, the agricultural machine communication system includes an information terminal 110. The information terminal 110 is a terminal capable of transmitting various information (first information) to the tractor 1, i.e., the communication device (second communication device) 51. The information terminal 110 is a terminal carried by, for example, a manager who monitors the tractor 1, etc., and is an easily portable terminal. The information terminal 110 is configured from a remote control device, a smartphone (multi-function mobile phone), a tablet, etc. In this embodiment, a remote control device is adopted as the information terminal 110.

[0036] The information terminal 110 has a plurality of switches 111. The plurality of switches 111 are switches that can be switched ON / OFF, and include a first switch 111A, a second switch 111B, a third switch 111C, and a fourth switch 111D. The first switch 111A is a switch that commands the start of automatic driving. The second switch 111B is a switch that commands the suspension of automatic driving. The third switch 111C is a switch that commands the release of a lock. The fourth switch 111D is a switch that commands an emergency stop.

[0037] The information terminal 110 also has a communication unit (third communication device) 112. When at least one of the multiple switches 111 is operated, the communication unit 112 can transmit information corresponding to the operated switch to the tractor 1 (communication device) 51. The communication unit 112 is, for example, a wireless device that emits radio waves, and the communication unit 112 is stored in the housing of the remote control device. The communication unit 112 can also receive information transmitted from the second communication device 51. In other words, the information terminal 110 and the communication unit 112 can transmit and receive information to and from the tractor 1 and the unmanned aerial vehicle 70.

[0038] When the third switch 111C is operated from OFF to ON (the third switch 111C is kept ON), that is, when the first switch 111A is operated from OFF to ON while the third switch 111C is operated to keep the lock released, the communication unit 112 transmits a start signal indicating the start of automatic driving. When the second switch 111B is turned from OFF to ON, the communication unit 112 outputs an interruption signal indicating that the automatic traveling is interrupted. When the fourth switch 111D is turned from OFF to ON, the communication unit 112 transmits a stop signal to bring the tractor 1 to an emergency stop.

[0039] Therefore, the communication unit 112 outputs a start signal, an interrupt signal, and an emergency stop signal based on the operation of the first switch 111A, the second switch 111B, the third switch 111C, and the fourth switch 111D. That is, the information terminal 110 transmits the start of autonomous traveling of the tractor 1 or the stop of autonomous traveling as first information. That is, the information terminal 110 can transmit information relating to the control of the tractor 1 to the tractor 1 (second communication device 51) as the first information.

[0040] In addition to the above-described configuration, information terminal 110 may be provided with positioning device 113 capable of detecting its own position (terminal position P2). In such a case, the first information transmitted by communication unit 112 includes information on terminal position P2, and information terminal 110 can transmit its own position (terminal position P2). 4, the communication system for agricultural machinery includes a communication device (first communication device) 75 provided in an unmanned aerial vehicle (air vehicle) 70. The unmanned aerial vehicle 70 is, for example, a multicopter.

[0041] Below, the unmanned aerial vehicle 70 will be described using a multicopter as an example. The unmanned aerial vehicle (multicopter) 70 has a main body 70a, an arm 70b attached to the main body 70a, multiple rotors 70c attached to the arm 70b, and a skid 70d attached to the main body 70a. The multiple rotors 70c are devices that generate lift for flight. The unmanned aerial vehicle 70 is equipped with at least two, and preferably four or more, rotors 70c. Each of the multiple rotors 70c includes a rotor that applies rotational force and a blade (propeller) that rotates when driven by the rotor.

[0042] The unmanned aerial vehicle 70 has a power storage device 71, a sensing device 72, a first position detection device 73, a memory device 74, a first communication device 75, and a first control device 76. The power storage device 71 is a device that stores electric power, such as a battery or a capacitor. The power storage device 71 is, for example, inside the main body 70a or attached to the main body 70a. The sensing device 72 is composed of a CCD camera, an infrared camera, or the like, and is detachably attached to the bottom of the main body 70a, or is attached to the main body 70a via a bracket (not shown). The sensing device 72 is oscillatable vertically or horizontally relative to the bracket, allowing the sensing direction to be changed. The horizontal and vertical oscillations of the sensing device 72 can be controlled by the first control device 76. For example, when the unmanned aerial vehicle 70 is controlled by a remote control device, the first control device 76 receives a control signal transmitted from the remote control device via the first communication device 75 and causes the sensing device 72 to oscillate horizontally or vertically in accordance with the received control signal.

[0043] For example, when the unmanned aerial vehicle 70 is flown over a field H1, the field can be sensed by the sensing device 72. If the sensing device 72 is a CCD camera, for example, the field H1 can be photographed from the air from a height of about 100 m above the field H1, thereby capturing tens to hundreds of fragmentary images of the field H1. The multiple images photographed from the air, i.e., the multiple images photographed by the sensing device 72 (aerial images), are stored in a memory device 74 provided in the unmanned aerial vehicle 70. The multiple aerial images stored in the memory device 74 of the unmanned aerial vehicle 70 can be output to the outside by a first communication device 75.

[0044] Similarly to the second position detection device 30, the first position detection device 73 is a device that detects its own position (positioning information including latitude and longitude) P3 using a satellite positioning system, and has the same configuration as the second position detection device 30. The own position P3 detected by the first position detection device 73 is sometimes referred to as the "flight position." Furthermore, the first position detection device 73 can detect height information, i.e., altitude.

[0045] The communication device (first communication device) 75 is a communication device (communication module) that performs either direct communication or indirect communication with an external device such as the communication device (second communication device 51) of the tractor 1 or the information terminal 110, and can perform wireless communication using, for example, the IEEE802.11 series of communication standards such as Wi-Fi (Wireless Fidelity, registered trademark), BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wide Area), and LPWAN (Low-Power Wide-Area Network).The first communication device 75 may also be a communication device (communication module) that performs wireless communication using a mobile phone communication network, a data communication network, or the like.

[0046] The first control device 76 is a device that controls the multiple rotors 70c and is composed of a CPU, etc. When the unmanned aerial vehicle 70 has at least two rotors 70c, the first control device 76 outputs a control signal to the rotor to make the rotation speed of one blade slower than the rotation speed of the other blade, thereby causing the unmanned aerial vehicle 70 to move toward one of the blades, or to make the rotation speed of the other blade slower than the rotation speed of one blade, thereby causing the unmanned aerial vehicle 70 to move toward the other blade. In other words, the first control device 76 controls the direction of travel of the unmanned aerial vehicle 70 by making the rotation speed of the blade on the direction of travel slower than the rotation speed of the blade on the opposite side of the direction of travel. The first control device 76 also causes the unmanned aerial vehicle 70 to hover by keeping the rotation speed of the multiple blades constant.

[0047] The unmanned aerial vehicle 70 may be an aerial vehicle controlled by a remote control device or an aerial vehicle that flies independently, and is not limited to this. As shown in FIG. 8A, the unmanned aerial vehicle 70 can fly in cooperation (linkage) with the tractor 1. FIG. 8A is a plan view showing a state in which the unmanned aerial vehicle 70 is flying in cooperation with the tractor 1. Specifically, when the tractor 1 is performing autonomous driving, the unmanned aerial vehicle 70 flies around the tractor 1 or around the field H1. The unmanned aerial vehicle 70 relays information communication between the information terminal 110 and the tractor 1. For example, the first communication device 75 of the unmanned aerial vehicle 70 receives first information, such as the start or stop of autonomous driving of the tractor 1, transmitted from the information terminal 110, and transmits the received first information (the start or stop of autonomous driving of the tractor 1) to the second communication device 51 of the tractor 1. In other words, the first communication device 75 temporarily stores the received first information and then transmits (relays) the stored first information to the second communication device 51.

[0048] Furthermore, the first communication device 75 of the unmanned aerial vehicle 70 receives the second information (the tractor 1 is continuing its automatic traveling, the automatic traveling has been stopped) transmitted from the second communication device 51 of the tractor 1, and transmits the received second information (the tractor 1 is continuing its automatic traveling, the automatic traveling has been stopped) to the information terminal 110. In other words, the first communication device 75 temporarily stores the received second information, and then transmits (relays) the stored second information to the information terminal 110. Furthermore, the unmanned aerial vehicle 70 flies so as to be able to relay information communication between the information terminal 110 and the tractor 1.

[0049] More specifically, the first communication device 75 of the unmanned aerial vehicle 70 monitors the first reception strength of the first information transmitted from the information terminal 110 and the second reception strength of the second information transmitted from the second communication device 51 of the tractor 1. As shown in FIG. 8A , when the first reception strength is lower than the second reception strength and the first reception strength is less than a threshold, the first control device 76 flies the unmanned aerial vehicle 70 toward the information terminal 110 from the current position P30. On the other hand, when the second reception strength is lower than the first reception strength and the second reception strength is less than a threshold, the first control device 76 flies the unmanned aerial vehicle 70 toward the tractor 1 from the current position P30. Note that existing technologies such as RSSI (Received Signal Strength Indication) can be applied as a method for determining the first reception strength and the second reception strength. Furthermore, the above-mentioned threshold may be a value pre-stored in the first control device 76 and may be arbitrarily changeable by operating a terminal (e.g., the information terminal 110) communicatively connected to the first communication device 75.

[0050] In this embodiment, when the unmanned aerial vehicle 70 flies towards the information terminal 110 or towards the tractor 1, the unmanned aerial vehicle 70 (first control device 76) confirms the position of the information terminal 110 or the tractor 1 based on the terminal position P2 detected by the positioning device 113 possessed by the information terminal 110 and the traveling position P1 detected by the second position detection device 30. Note that the method by which the unmanned aerial vehicle 70 confirms the position of the information terminal 110 or the tractor 1 is one example and is not limited to the above method; for example, the position of the information terminal 110 or the tractor 1 may be confirmed by sensing the information terminal 110 and the tractor 1 from the sky using the sensing device 72. 9A, a series of steps will be described below in which the unmanned aerial vehicle 70 flies so as to be able to relay information communication between the information terminal 110 and the tractor 1. FIG. 9A is a flowchart showing the process in which the unmanned aerial vehicle 70 relays information communication between the information terminal 110 and the tractor 1.

[0051] First, the first control device 76 checks whether the first communication device 75 is receiving the first information (S1). If the first control device 76 checks that the first communication device 75 is receiving the first information (S1, Yes), the first control device 76 determines the reception strength (first reception strength) of the first information received by the first communication device 75 (S2). After determining the first reception strength (S2), the first control device 76 determines (S3) the reception strength (second reception strength) of the second information being received by the first communication device 75. After determining the second reception strength (S3), the first control device 76 checks whether the first reception strength determined in S2 is lower than the second reception strength determined in S3 (S4). When the first control device 76 confirms that the first reception intensity is lower than the second reception intensity (S4, Yes), it determines whether the first reception intensity is less than the threshold value (S5).

[0052] When the first control device 76 determines that the first reception strength is less than the threshold (S5, Yes), it flies the unmanned aerial vehicle 70 toward the information terminal 110 from the current position P30 based on the flight position P3 detected by the first position detection device 73 and the terminal position P2 detected by the positioning device 113 (S6). Specifically, the first control device 76 flies the unmanned aerial vehicle 70 so that the flight position P3 detected by the first position detection device 73 approaches the terminal position P2 detected by the positioning device 113.

[0053] When the first control device 76 confirms that the first reception intensity is higher than the second reception intensity (S4, No), it determines whether the second reception intensity is less than the threshold value (S7). When the first control device 76 determines that the second reception intensity is less than the threshold value (S7, Yes), it causes the unmanned aerial vehicle 70 to fly toward the tractor 1 from the current position P30 based on the flight position P3 detected by the first position detection device 73 and the running position P1 detected by the second position detection device 30 (S8). Specifically, the first control device 76 causes the unmanned aerial vehicle 70 to fly so that the flight position P3 detected by the first position detection device 73 approaches the running position P1 detected by the second position detection device 30.

[0054] If the first control device 76 determines in S5 that the first reception intensity is not less than the threshold value (S5, No), 7 If it is determined in step S7 that the second reception intensity is not less than the threshold value (No in step S7), the process ends, and the process returns to START to resume. Furthermore, as shown in FIG. 8B, the first control device 76 may increase the altitude of the unmanned aerial vehicle 70 when the first reception strength is lower than the second reception strength and the first reception strength is below a threshold, or when the second reception strength is lower than the first reception strength and the second reception strength is below a threshold. FIG. 9B is a flowchart showing the process in which the unmanned aerial vehicle 70 relays information communication between the information terminal 110 and the tractor 1 in the first modified example shown in FIG. 8B. As shown in FIG. 9B, the first modified example differs in that S6A is processed instead of S6, and S8A is processed instead of S8. For this reason, a description of S1 to S4 in the first modified example will be omitted.

[0055] That is, in the first modified example, when the first control device 76 determines that the first reception strength is less than the threshold (S5, Yes), it raises flight position P3 above current position P30 based on flight position P3 detected by the first position detection device 73 (S6A). Furthermore, when the first control device 76 determines that the second reception strength is less than the threshold (S7, Yes), it raises flight position P3 above current position P30 based on flight position P3 detected by the first position detection device 73 (S8A). As a result, the unmanned aerial vehicle 70 rises above the obstacle 90, allowing it to receive the first information or the second information.

[0056] Note that the first control device 76 may perform the processing shown in Figure 9C by combining the above-described embodiment and the modified example. Figure 9C is a flowchart showing the processing in which the unmanned aerial vehicle 70 relays information communication between the information terminal 110 and the tractor 1 in the second modified example. As shown in Figure 9C, the second modified example differs in that S6B is performed instead of S6 and S6A, and S8B is performed instead of S8 and S8A. For this reason, the description of S1 to S4 in the second modified example will be omitted.

[0057] That is, in the second modified example, when the first control device 76 determines that the first reception strength is less than the threshold (S5, Yes), it flies the unmanned aerial vehicle 70 toward the information terminal 110 from the current position P30, while raising flight position P3 from the current position P30 (S6B). Also, in the modified example, when the first control device 76 determines that the second reception strength is less than the threshold (S7, Yes), it flies the unmanned aerial vehicle 70 toward the tractor 1 from the current position P30, while raising flight position P3 from the current position P30 (S8B).

[0058] As described above, the unmanned aerial vehicle 70 moves to a position where the first information or the second information can be transmitted and received. In the above-described embodiment, communication is facilitated by flying the unmanned aerial vehicle 70 toward the information terminal 110 or the tractor 1 or by changing its altitude, but it is also possible to both fly toward the information terminal 110 or the tractor 1 and change its altitude. Furthermore, the information terminal 110 is a terminal that transmits the start or stop of automatic driving of the tractor 1, but is not limited to this and may be a terminal that receives various information regarding the tractor 1 (operation information, driving position P1, etc.) or issues commands other than automatic driving to the tractor 1, and is not limited to this.

[0059] The agricultural machine communication system includes an information terminal 110 that transmits first information to the agricultural machine (tractor 1), a first communication device 75 that is provided in the unmanned aerial vehicle 70 and receives the first information transmitted from the information terminal 110, and a second communication device 51 that is provided in the agricultural machine (tractor 1) and receives the first information transmitted by the first communication device 75. According to this, the first information transmitted from the information terminal 110 is received by the first communication device 75 of the unmanned aerial vehicle 70, and then transmitted to the second communication device 51 of the agricultural machine (tractor 1), so that the unmanned aerial vehicle 70 can function as a wireless relay station, thereby improving communication between the agricultural machine (tractor 1) and the information terminal 110.

[0060] The second communication device 51 transmits the second information of the agricultural machine (tractor 1) to the first communication device 75, and the first communication device 75 transmits the second information to the information terminal 110. In this way, the second information transmitted from the agricultural machine (tractor 1) can also be transmitted to the information terminal 110 via the unmanned aerial vehicle 70. The unmanned aerial vehicle 70 moves to a position where the first information or the second information can be transmitted and received. As a result, even if there is an obstacle 90 such as a building, utility pole, or tree between the information terminal 110 and the agricultural machine (tractor 1), the first information or the second information can be received by the movement of the unmanned aerial vehicle 70.

[0061] The unmanned aerial vehicle 70 moves to a position where the first information or the second information can be transmitted and received based on the first reception strength of the first information transmitted from the information terminal 110 and the second reception strength of the second information transmitted from the second communication device 51. This allows the unmanned aerial vehicle 70 to be moved to a location where information communication can be easily performed based on the reception strength (first reception strength, second reception strength). The information terminal 110 transmits, as the first information, information including the start or stop of traveling of the agricultural machine (tractor 1). This makes it possible to reliably start or stop traveling of the agricultural machine (tractor 1) using the first information transmitted from the information terminal 110.

[0062] Although the embodiments of the present invention have been described above, the embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined 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]

[0063] 1: Agricultural machinery (tractors) 51: Second communication device 70: Unmanned aerial vehicle 75: First communication device 110: Information terminal

Claims

1. An information terminal that transmits first information; a first communication device provided in the unmanned aerial vehicle and configured to receive the first information transmitted from the information terminal; a second communication device that is provided in the agricultural machine and that receives the first information transmitted from the first communication device; Equipped with the second communication device transmits second information of the agricultural machine to the first communication device; the first communication device transmits the second information to the information terminal; A communication system for agricultural machinery in which the unmanned aerial vehicle moves to a position where the first communication device can receive the first information from the information terminal and transmit the first information to the second communication device, and where the first communication device can receive the second information from the second communication device and transmit the second information to the information terminal.

2. The agricultural machinery communication system described in claim 1, wherein the unmanned aerial vehicle moves to a position where the first communication device can receive the first information from the information terminal and transmit the first information to the second communication device, and where the first communication device can receive the second information from the second communication device and transmit the second information to the information terminal, based on a first reception strength of the first information transmitted from the information terminal and a second reception strength of the second information transmitted from the second communication device.

3. The unmanned aerial vehicle has a first control device that controls flight, The first control device When a first reception strength of the first information received by the first communication device from the information terminal is lower than a second reception strength of the second information received by the first communication device from the second communication device and the first reception strength is less than a threshold, the unmanned aerial vehicle is moved toward the information terminal; A communication system for agricultural machinery as described in claim 2, wherein when the second reception strength is lower than the first reception strength and the second reception strength is less than the threshold, the unmanned aerial vehicle is moved toward the agricultural machinery.

4. The agricultural machine has a body and a traveling device that supports the body so that it can travel, the unmanned aerial vehicle has a first control device that controls flight; The agricultural machinery communication system described in claim 2, wherein the first control device causes the unmanned aerial vehicle to rise when the first reception strength of the first information received by the first communication device from the information terminal or the second reception strength of the second information received by the first communication device from the second communication device is less than a threshold value.

5. 5. The agricultural machine communication system according to claim 1, wherein the information terminal transmits, as the first information, information including a start or stop of travel of the agricultural machine.

Images