Work vehicle management system

Abstract

To set an appropriate planned work route including an appropriate work start point and work end point.SOLUTION: According to an embodiment, a management system of a work vehicle includes a work vehicle, a positioning device, and a control part. The work vehicle performs work while traveling in a farm field. The positioning device is mounted on the work vehicle to measure the position of the work vehicle. The control part controls the work vehicle so as to travel along the set planned work route. The control part has each information of work width of the work vehicle, the length of a short side of a rectangular farm field, and the position of an exit of the rectangular farm field, determines a reciprocation frequency of long side travel of the rectangular farm field by the work vehicle by comparing the work width of the work vehicle with the length of the short side of the rectangular farm field, and determines a work start point and a work end point on the basis of the determined reciprocation frequency of long side travel of the rectangular farm field and position of the exist of the rectangular farm field in the case that the work vehicle performs work in the vertically long rectangular farm field.SELECTED DRAWING: Figure 3B

Description

[Technical Field]

[0001] The present invention relates to a work vehicle management system. [Background technology]

[0002] Conventionally, when setting a planned work route for a work vehicle that performs work while traveling autonomously within a field, a technique is known in which the route is set to travel back and forth in a straight line, circling the headland area that goes around the periphery of the round-trip work area at the end of the work (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 11-266608 Summary of the Invention [Problem to be solved by the invention]

[0004] However, while the above-mentioned conventional technology makes it possible to set an appropriate planned work route when working in a field where normal open-field cultivation is carried out, it is sometimes not possible to reserve a headland area when working in, for example, a long, rectangular field (a field in which the short side is significantly shorter than the long side), making it difficult to set an appropriate planned work route that will enable work to be completed uniformly in a long, rectangular field.

[0005] The present invention has been made in consideration of the above, and aims to provide a work vehicle management system that can set an appropriate planned work route including an appropriate work start point and work end point. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, a work vehicle management system (1) according to an embodiment includes a work vehicle (10) that performs work while traveling within a field (F), a positioning device (40) that is mounted on the work vehicle (10) and that measures the position of the work vehicle (10), and a control unit (100) that sets a planned work route (R) and controls the work vehicle (10) to travel along the set planned work route (R), and the control unit (100) controls the work vehicle (10) to travel along a vertically long rectangular field (F LS When working in the rectangular field (F), the working width of the work vehicle (10) and the LS ) and the length of the short side (E2) of the rectangular field (F LS ) Exit (F I / O ) and the working width of the work vehicle (10) and the rectangular field (F LS ) by the work vehicle (10) by comparing the length of the short side (E2) of the rectangular field (F LS The number of round trips along the long side (E1) of the rectangular field (F LS ) and the number of round trips along the long side (E1) of the rectangular field (F LS ) Exit (F I / O ) and the rectangular field (F LS ) at the work starting point (P S ) and work end point (P E ) is determined. [Effects of the Invention]

[0007] According to the work vehicle management system of the embodiment, it is possible to set an appropriate planned work route including an appropriate work start point and work end point. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an outline of a management system for a work vehicle according to an embodiment. [Figure 2] FIG. 2 is a block diagram showing the configuration of the work vehicle management system according to the embodiment. [Figure 3A]FIG. 3A is an explanatory diagram (part 1) of a planned work route in the indoor work mode. [Figure 3B] FIG. 3B is an explanatory diagram (part 2) of a planned work route in the indoor work mode. [Figure 4A] Figure 4A is an explanatory diagram (part 1) of the escape route. [Figure 4B] Figure 4B is an explanatory diagram (part 2) of the escape route. [Figure 4C] Figure 4C is an explanatory diagram of the escape route (part 3). [Figure 4D] Figure 4D is an explanatory diagram (part 4) of the escape route. [Figure 5] FIG. 5 is an explanatory diagram of the recognition of the entrance to a structure. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a work vehicle management system disclosed in the present application will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the following embodiment.

[0010] <Overall configuration of the work vehicle management system> The overall configuration of a work vehicle management system 1 according to an embodiment will be described with reference to Figures 1 and 2. Figure 1 is an explanatory diagram illustrating an overview of the work vehicle management system 1 according to an embodiment. Figure 2 is a block diagram illustrating the configuration of the work vehicle management system 1 according to an embodiment. Note that Figures 1 and 2 show an example of a work vehicle 10 and its management system 1.

[0011] 1 also shows a three-dimensional Cartesian coordinate system including a Z-axis whose positive direction is vertically upward (upward). For this reason, hereinafter, the positive direction of the X-axis will be defined as the left, the negative direction of the X-axis as the right, the positive direction of the Y-axis as the forward direction, and the negative direction of the Y-axis as the backward direction, and the X-axis direction may be referred to as the left-right direction, the Y-axis direction as the front-back direction, and the Z-axis direction as the up-down direction.

[0012] As shown in FIG. 1, a work vehicle management system (hereinafter referred to as the management system) 1 includes a work vehicle 10. The work vehicle 10 travels within a field F and performs work in the field F. In the following, an agricultural tractor will be used as an example of the work vehicle 10. The agricultural tractor (hereinafter referred to as the tractor) 10, which is a work vehicle, is used by a driver (also referred to as a worker) to perform work in the field F, and also performs work in the field F through automatic driving by a control unit 100. The tractor 10 also travels within a field (rectangular field) F within a structure H (see FIG. 5), such as a greenhouse. LS Work with.

[0013] In the following description, the tractor 10 and the traveling vehicle body 20 described below may be referred to as the "machine body."

[0014] As shown in FIG. 1, the tractor 10 includes a traveling body 20 and a work implement 30. The traveling body 20 is capable of traveling within a field F and includes front wheels 21 and rear wheels 22. The front wheels 21 are provided in a pair on the left and right and are used for steering. The rear wheels 22 are provided in a pair on the left and right and are used for driving (drive wheels). Note that the traveling body 20 may include, for example, traveling crawlers instead of the wheels (front wheels 21 and rear wheels 22).

[0015] Rotational power generated by an engine E (see FIG. 2) serving as a drive source housed in a hood 23 is transmitted to rear wheels 22, which are drive wheels, after being appropriately reduced in speed by a speed change device (transmission) 55 (see FIG. 2) provided in a power transmission device (mission case) 24. The rear wheels 22 are driven by the rotational power transmitted from the engine E. The speed change device 55 switches the rotational power transmitted from the engine E to one of a plurality of gear stages.

[0016] The traveling vehicle body 20 is configured to be able to transmit power generated by the engine E and reduced in speed by the transmission 55 to the front wheels 21 via the 4WD clutch. In this case, when the 4WD clutch transmits power, the four wheels, the front wheels 21 and the rear wheels 22, are driven by the power transmitted from the engine E. When the 4WD clutch cuts off the transmission of power, only the two wheels, the rear wheels 22, are driven by the power transmitted from the engine E. In this way, the traveling vehicle body 20 is configured to be able to switch between two-wheel drive (2WD) and four-wheel drive (4WD).

[0017] A work implement 30 that performs work in the field F is coupled to the rear of the traveling vehicle body 20, and a PTO (Power take-off) device (not shown) having a PTO shaft (not shown) that transmits power to drive the work implement 30 is provided. A driver's seat 25 for a driver to sit in is provided in the center of the traveling vehicle body 20.

[0018] A steering wheel 26 for steering the front wheels 21 is provided in front of the driver's seat 25. Various operation pedals (such as an accelerator pedal, brake pedal, and clutch pedal, none of which are shown) are provided below the steering wheel 26 near the feet of the driver seated in the driver's seat 25.

[0019] A forward / reverse lever 27 for switching between forward and reverse travel is provided near the steering wheel 26. A gear change operating device (gear change lever) 28 is provided near the driver's seat 25 and is operated when shifting the transmission 55 (see FIG. 2), for example, from a low speed to a high speed.

[0020] The tractor 10 has an open area around the driver's seat 25. For this reason, the tractor 10 is provided with a safety frame 29 to ensure space around the driver's seat 25 in the event that the tractor 10 tips over, for example. The safety frame 29 is a structure that extends upward behind the driver's seat 25 and is switchable between an upright position that exercises its safety function and a folded position in which it is tilted (folded) rearward and downward from a hinge portion 291. The folded position is also the storage position when the tractor 10 is stored in a barn or the like.

[0021] A ground height sensor 60 that detects the height from the ground (for example, the height from the soil surface of the field F) is provided at the upper end of the safety frame 29. As shown in FIG. 1, for example, if the safety frame 29 is of a type that tilts backward, the ground height sensor 60 is provided at an upper corner of the front surface of the safety frame 29. Note that, for example, if the safety frame 29 is of a type that tilts forward, the ground height sensor 60 is provided at an upper corner of the rear surface of the safety frame 29.

[0022] Additionally, a lifting device 57 (see FIG. 2) that raises and lowers the work implement 30, which will be described later, is provided at the rear of the traveling vehicle body 20. The lifting device 57 includes a hydraulic lifting cylinder (not shown) and a lift arm (not shown). The lifting device 57 raises the work implement 30 to move it to a non-working position, and lowers the work implement 30 to move it to a ground work position.

[0023] The work implement 30 performs work in the field F. The work implement 30 is, for example, a rotary tiller. The rotary tiller plows the soil surface of the field F by rotating the tiller tines 31 using power transmitted from the PTO shaft of the PTO device. The work implement 30 is not limited to a rotary tiller.

[0024] The tractor 10 also includes a positioning device 40 (see FIG. 2). The positioning device 40 is provided, for example, on the upper part of the traveling body 20, and acquires position information of the traveling body 20 (tractor 10). The positioning device 40 is, for example, a GNSS (Global Navigation Satellite System), and can receive radio waves from a navigation satellite S orbiting in the sky to determine position and measure time.

[0025] The tractor 10 also includes a camera 70 (see FIG. 2). The camera 70 is provided on the traveling body 20 and captures images of the periphery of the traveling body 20 (tractor 10). The camera 70 includes a front camera that captures images in front of the traveling body 20 (tractor 10). The camera 70 may also include a rear camera that captures images behind the traveling body 20 (tractor 10) and left and right side cameras that capture images of the left and right sides of the traveling body 20 (tractor 10).

[0026] The tractor 10 also includes a control unit 100 (see FIG. 2), which will be described later. The control unit 100 controls the engine E and the traveling speed of the traveling vehicle body 20. The control unit 100 also controls the elevation of the work implement 30. Note that the control unit 100 does not have to be provided on the tractor 10 side, and may instead be provided on a remote control terminal (not shown) side that is capable of communicating with the tractor 10, for example.

[0027] 2, the control unit 100 includes an engine ECU (Electronic Control Unit) 101, a travel system ECU 102, and a work implement lifting system ECU 103. The engine ECU 101 controls the rotation speed of the engine E. The travel system ECU 102 controls the rotation of the drive wheels (rear wheels 22) to control the travel speed of the tractor 10. The work implement lifting system ECU 103 controls the lifting device 57 to control the lifting and lowering of the work implement 30.

[0028] The control unit 100 is capable of controlling each part through electronic control, and includes a processing unit (not shown) having a CPU (Central Processing Unit) and the like, as well as a memory unit (not shown) consisting of, for example, a hard disk, ROM (Read Only Memory), RAM (Random Access Memory), etc., in which various programs and necessary data are stored.

[0029] Also connected to the control unit 100 are sensors such as a positioning device 40, a direction sensor 51, an engine rotation speed sensor 52, a vehicle speed sensor 53, a gear change sensor 54, and a ground height sensor 60. Also connected to the control unit 100 are a camera 70. Also connected to the control unit 100 are an engine E, a gear change device 55, a steering device 56, an elevator device 57, and the like.

[0030] The orientation sensor 51 detects the orientation (azimuth angle) of the tractor 10. The orientation sensor 51 detects, for example, the absolute azimuth angle of the traveling direction of the tractor 10 (for example, "north" is 0° (360°), "east" is 90°, "south" is 180°, and "west" is 270°). The orientation sensor 51 detects the absolute azimuth angle at regular time intervals and transmits the detected absolute azimuth angle to the control unit 100 or the like. Note that in addition to the orientation sensor 51, it is also possible to detect the orientation of the tractor 10 using, for example, a geomagnetic sensor or the like.

[0031] The engine rotation speed sensor 52 detects the rotation speed of the engine E. The vehicle speed sensor 53 detects the traveling speed (vehicle speed) of the tractor 10. The gear change sensor 54 detects which of a plurality of gears in the transmission 55 is in. The ground height sensor 60 detects the height of the tractor 10 from the ground (for example, the height from the soil surface of the field F). The camera 70 is mounted on the traveling body 20 of the tractor 10 (see FIG. 1) and captures images in front of the tractor 10.

[0032] Sensors such as a steering angle sensor and a PTO rotation speed sensor (neither of which are shown) are also connected to the control unit 100. The steering angle sensor detects the steering angle of the front wheels 21 (see FIG. 1). The PTO rotation speed sensor detects the rotation speed of the PTO shaft.

[0033] The control unit 100 receives inputs of position information of the tractor 10 in the field F (see FIG. 1) from the positioning device 40, the rotation speed of the engine E from the engine rotation speed sensor 52, the traveling speed of the tractor 10 from the vehicle speed sensor 53, the current gear position from the gear change sensor 54, the height of the tractor 10 from the ground from the ground height sensor 60, and an image (camera image) from the camera 70. The control unit 100 also automatically steers the steering wheel 26 (see FIG. 1) while feeding back the turning angle of the front wheels 21 using the detection value of the turning angle sensor.

[0034] In the control unit 100, the engine ECU 101 is connected to the engine E, the travel system ECU 102 is connected to the transmission 55 and the steering system 56, and the work implement lifting system ECU 103 is connected to the lifting device 57. The work implement lifting system ECU 103 raises and lowers the work implement 30 via the lifting device 57.

[0035] Furthermore, when work is performed by automatic driving of the tractor 10, the control unit 100 sets a planned work route and controls the tractor 10 to travel along the set planned work route. In this case, the tractor 10 enters the field F from the entrance of the field F and performs, for example, tilling work along the planned work route. Note that the planned work route may include a route for entering the field F and a route for exiting the field F.

[0036] As a specific example of work within the field F, the tractor 10 performs tilling work by repeatedly moving straight ahead and turning from a work start point to a work end point in an area (work area) inside a predetermined area (headland area) on the inside from the edge of the field F. The tractor 10 then performs tilling work in this headland area while circling the headland area.

[0037] The control unit 100 also controls the tractor 10 to move the tractor 10 along a vertically long rectangular field F inside a structure H (see FIG. 5) such as a greenhouse. LS , that is, a vertically long rectangular field F surrounded on all sides by the side walls of the structure H LS When work is to be performed in the indoor work mode, the indoor work mode is executed.

[0038] Here, the control unit 100 receives information on the working width of the work implement 30 of the tractor 10, the rectangular field F LS The length information of the short side of the rectangular field F LS The location information of the entrance and exit of the rectangular field F LS When the entrance and exit are shared, the entrance F shown in Figure 3A etc. I / O The control unit 100 uses this information when executing the indoor work mode.

[0039] <Planned work route in greenhouse work mode> Next, the planned work route R in the greenhouse work mode will be described with reference to Figures 3A and 3B. Figures 3A and 3B are explanatory diagrams of the planned work route R in the greenhouse work mode. Note that Figures 3A and 3B show a rectangular field F LS 1A and 1B are schematic diagrams showing the steps of the tractor 10 traveling for work within the field.

[0040] As shown in FIGS. 3A and 3B, the tractor 10 is driven into a rectangular field F. LS When work is performed in the greenhouse, the control unit 100 (see FIG. 2) executes the in-house work mode. In this case, the control unit 100 determines the working width of the tractor 10 (the working width of the work implement 30 (see FIG. 1)) and the rectangular field F LS By comparing the length of the short side E2 of the rectangular field F by the tractor 10, LS Determine the number of round trips of the long side E1.

[0041] In addition, the control unit 100 determines whether the rectangular field F LS The number of round trips on the long side E1 and the rectangular field F LS Exit F I / O Based on the position of the rectangular field F LSThe starting point P S and the work end point P E Determine.

[0042] In the greenhouse work mode, before the tractor 10 starts automatic operation, for example, the operator inputs a work sequence (a sequence in which work (plowing) will be performed). The control unit 100 sets the planned work route R according to the input work sequence. The control unit 100 may also automatically determine the work sequence from information on the work implement 30 (see FIG. 1) that has been acquired in advance, and set the planned work route R.

[0043] Furthermore, when the camera 70 (see FIG. 2) includes a rear camera, the control unit 100 may automatically determine the work line from the image of the work implement 30 captured by the rear camera and set the planned work route R. LS The number of work rows in this case is either 3 or 4. Figures 3A and 3B show the case where the number of work rows is 3.

[0044] As shown in FIG. 3A, the control unit 100 controls the tractor 10 to I / O From rectangular field F LS When you enter inside, you will see Entrance F I / O Then, turn around (180°) and move it straight towards the short side E2 opposite to the short side E2 on the side where the work starts. S The control unit 100 causes the work start point P S The control unit 100 determines the work start point P S From there, proceed straight ahead along the straight route (planned work route R).

[0045] In this case, the control unit 100 maps an area in the already worked area that the tractor 10 will not pass through again in a later work process as a no-entry area (no-entry route) R1, overlays it with the image from the camera 70 (see Figure 2), and controls the tractor 10 so that it does not enter the no-entry area (no-entry route) R1.

[0046] When the tractor 10 is traveling along a straight path, the control unit 100 stops the tractor 10 at a preset distance from the wall (of the structure H) ahead. The distance from the wall can be set arbitrarily by the worker. When working on multiple structures H, it is also possible to set the distance for each structure H.

[0047] Next, the control unit 100 I / O The control unit 100 turns the tractor 10, i.e., turns it over, at a turning point near the short side E2 of the entrance F. I / O The control unit 100 then causes the tractor 10 to move backward to the short side E2 on the side of the road. Next, the control unit 100 causes the tractor 10 to travel along the escape route R2, moving from the first row L1 to the third row L3. Details of the escape route R2 will be described later with reference to Figures 4A to 4D.

[0048] Next, the control unit 100 detects the entrance F I / O The tractor 10 is then moved back to the short side E2 of the side of the tractor 10. When the tractor 10 is moved back, distance measuring sensors (not shown) such as ultrasonic sensors are provided at the four corners of the tractor 10, and the control unit 100 monitors the distance to the wall of the structure H (see FIG. 5), and when the distance to the wall of the structure H falls below a predetermined threshold, the control unit 100 stops the tractor 10, fine-tunes the position of the tractor 10 to ensure the distance, and then causes the tractor 10 to continue working.

[0049] Next, as shown in FIG. 3B, the control unit 100 controls the vehicle to travel from the starting point of straight travel to the entrance F I / O Next, the control unit 100 controls the tractor 10 to move straight toward the short side E2 opposite to the short side E2 on the side of the entrance F. I / O The tractor 10 is turned, i.e., turned over, at a turning point near the short side E2 opposite the short side E2 on the side of the tractor 10. When turning over the tractor 10, it is preferable to turn over the tractor 10 so as not to step over any work marks.

[0050] Next, the control unit 100 I / ONext, the control unit 100 moves the tractor 10 along the escape route R2 from the third row L3 to the second row L2. Next, the control unit 100 moves the tractor 10 along the escape route R2 from the entrance F I / O Next, the control unit 100 moves the tractor 10 backward from the straight travel start point to the entrance F along the straight travel path in the second row L2. I / O The work end point P is set on the short side E2 of the side E The tractor 10 is driven straight toward the target.

[0051] The control unit 100 determines whether the tractor 10 reaches the work end point. E When you reach the exit F I / O From rectangular field F LS The control unit 100 causes the tractor 10 to exit the rectangular field F. LS When the tractor 10 is moved outside, the indoor work mode is terminated.

[0052] According to this embodiment, the tractor 10 is driven in a vertically long rectangular field F such as a field inside a structure H such as a greenhouse. LS When working in a rectangular field F LS A suitable starting point P S and the work end point P E It is also possible to set an appropriate starting point P S and the work end point P E Specifically, when the tractor 10 finishes work, it is possible to set an appropriate planned work route R including the vertically long rectangular field F. LS It is possible to set a planned work route R that allows for smooth exit from the work site.

[0053] <Escape route> Next, the escape route R2 will be described with reference to Figs. 4A to 4D. Figs. 4A to 4D are explanatory diagrams of the escape route R2. Figs. 4A and 4B show the rectangular field F LS 1A and 1B are schematic diagrams showing the steps of the tractor 10 traveling for work within the field.

[0054] As described above, in the greenhouse work mode, the planned work route R includes the escape route R2. As shown in FIG. 4A, the control unit 100 controls the tractor 10, which has traveled straight along the straight route R3 from the straight travel start point, to turn around the turning point R as shown in FIG. 4B. T After turning from the starting position, the vehicle is retreated to the short side E2 on the extension of the straight path R3, as shown in FIG. 4C.

[0055] As shown in FIG. 4D, the control unit 100 controls the tractor 10 to move from the short side E2 to the turning point P T The control unit 100 moves the tractor 10 along an escape route R2 that allows the tractor 10 to escape from the working width of the straight path R3 while passing through the escape route R2. T Set a turning radius r2 that is larger than the turning radius r1 when turning from (r1 <r2)。

[0056] According to this embodiment, a vertically long rectangular field F LS When working with a vehicle, it is possible to work on unworked areas that arise when turning, and also to repair already-worked areas that would be damaged when working on unworked areas.

[0057] In addition, the turning radius r2 on the escape route R2 is T By making the turning radius larger than the turning radius r1 when turning from the straight path R3, it is possible to prevent work from being left unfinished and to prevent overloading of the work implement 30. Specifically, it is desirable for the tractor 10 to turn with a small turning radius when reversing (turning 180°) after working on the straight path R3, but on the escape path R2, if the turning radius is small, work may be left unfinished or excessive load may be placed on the work implement 30. Therefore, the turning radius r2 on the escape path R2 is set to be larger than the turning radius r1 when turning from the straight path R3. T By making the turning radius larger than the turning radius r1 when turning from the left, it is possible to prevent work from being left unfinished and to prevent overloading of the work implement 30.

[0058] <Structure entrance recognition> Next, the recognition of the entrance of the structure H will be described with reference to Fig. 5. Fig. 5 is an explanatory diagram of the recognition of the entrance of the structure H. Note that Fig. 5 also shows the entrance F of the structure H. I / O The tractor 10 enters the entrance F I / O This shows a view of the vehicle as it approaches the entrance.

[0059] In recognizing the entrance of the structure H, the control unit 100 recognizes the rectangular field F LS Before the tractor 10 (see FIG. 1) enters the rectangular field F LS Entrance F I / O The image captured by the camera 70 (see FIG. 2) at a predetermined distance from the position of the rectangular field F is analyzed. LS Entrance F I / O As shown in Figure 5, for example, the height information of the entrance F I / O This entrance F I / O A pole 80 having the same height as the entrance F is erected, and the control unit 100 detects the height of the pole 80. I / O Alternatively, height information may be acquired.

[0060] Next, the control unit 100 calculates the rectangular field F LS Entrance F I / O The height information of the tractor 10 is compared with the height of the tractor 10. As described above, the height of the tractor 10 is acquired from the ground height sensor 60 provided at the upper end of the safety frame 29 (see FIG. 1). Then, the control unit 100 determines whether the height of the tractor 10 is equal to or greater than the height of the rectangular field F. LS Entrance F I / O If the height is lower than the entrance F I / O From rectangular field F LS The tractor 10 enters the

[0061] In addition, the control unit 100 determines whether the height of the tractor 10 is a rectangular field F LS If the height of the entrance is higher than the height of the rectangular field F LS Stop entering the area.

[0062] Furthermore, the control unit 100 acquires information on the state in which the safety frame 29 is folded from the ground height sensor 60. This allows the control unit 100 to recognize that the safety frame 29 is in a folded state. When the safety frame 29 is in a folded state, the control unit 100 compares the detection value of the ground height sensor 60 with the height of the hinge portion 291 of the safety frame 29, and if the detection value of the ground height sensor 60 is higher, determines that this state is the height of the tractor 10.

[0063] According to this embodiment, there is a height restriction when the tractor 10 enters the structure H, so the tractor 10 can enter the vertically long rectangular field F LS Entrance F I / O By comparing the height of the structure H with the height of the tractor 10, safe entry into the structure H is possible.

[0064] In addition, since the height from the ground measured by the ground height sensor 60, i.e., the height of the safety frame 29, is the total height of the tractor 10, information on the height of the safety frame 29 can be obtained by acquiring information on the height of the tractor 10. By acquiring information on the height of the tractor 10, LS Entrance F I / O This allows the operator to appropriately determine whether or not to enter the area.

[0065] Furthermore, by acquiring information on the state in which the safety frame 29 is folded, the tractor 10 can be safely stored in a barn or the like.

[0066] In addition, when working on multiple structures H, the worker can, for example, launch a map from the app and select the entrance F of the structure H where the worker will work on the map. I / O Then, the control unit 100 designates the entrance F of the designated structure H. I / O Based on this, a planned work route R is set.

[0067] The control unit 100 also determines whether the tractor 10 is moving to the entrance F of the structure H. I / O From (for example, entrance F I / OIf entry is not possible (for example, because a door installed in the structure H is closed), the app may be instructed to issue a warning and the work on the structure H that cannot be entered may be skipped.

[0068] The above-described embodiment realizes the following work vehicle management system 1.

[0069] (1) The system includes a work vehicle 10 that performs work while traveling within a field F, a positioning device 40 that is mounted on the work vehicle 10 and measures the position of the work vehicle 10, and a control unit 100 that sets a planned work route R and controls the work vehicle 10 to travel along the set planned work route R. The control unit 100 controls the work vehicle 10 to travel along a vertically long rectangular field F. LS When working in a rectangular field F, the working width of the work vehicle 10 LS The length of the short side E2 and the rectangular field F LS Exit F I / O , and the working width of the work vehicle 10 and the rectangular field F LS The length of the short side E2 of the rectangular field F by the work vehicle 10 is compared with LS The number of round trips on the long side E1 of the rectangular field F is determined. LS The number of round trips on the long side E1 and the rectangular field F LS Exit F I / O Based on the position of the rectangular field F LS The starting point P S and the work end point P E Determine the work vehicle management system 1.

[0070] According to such a work vehicle management system 1, the work vehicle 10 is, for example, in a vertically long rectangular field F such as a field F inside a structure H such as a greenhouse. LS When working in a vertically long rectangular field F LS A suitable starting point P S and the work end point P E It is also possible to set an appropriate starting point P S and the work end point P ESpecifically, when the work vehicle 10 finishes work, it is possible to set an appropriate planned work route R including the following: LS It is possible to set a planned work route R that allows for smooth exit from the work site.

[0071] (2) In the above (1), the control unit 100 moves the work vehicle 10 along the planned work route R from the straight travel start point to the turning point P T After turning from the rectangular field F LS The robot is then driven back to the short side E2 on the extension of the straight path R3, and work is carried out from the short side E2 while turning around the turning point P T The work vehicle management system 1 includes an escape route R2 that passes through the straight route R3 and allows the work vehicle 10 to escape from within the working width of the work vehicle 10.

[0072] According to such a work vehicle management system 1, in addition to the effect of (1) above, LS When working with a vehicle, it is possible to work on unworked areas that arise when turning, and also to repair already-worked areas that would be damaged when working on unworked areas.

[0073] (3) In (2) above, the control unit 100 determines the turning radius r2 of the work vehicle 10 on the escape route R2 as the turning point P T A work vehicle management system 1 sets a turning radius larger than the turning radius r1 when turning from the starting position.

[0074] According to such a work vehicle management system 1, in addition to the effect of (2) above, the turning radius r2 on the escape route R2 is set to the turning point P TBy making the turning radius larger than the turning radius r1 when turning from the straight route R3, it is possible to prevent work from being left unfinished and to prevent overloading of the work implement 30. Specifically, it is desirable for the work vehicle 10 to turn with a small turning radius when reversing (turning 180°) after completing work on the straight route R3, but on the escape route R2, if the turning radius is small, work may be left unfinished or excessive load may be placed on the work implement 30. Therefore, the turning radius r2 on the escape route R2 is set to a value larger than the turning radius r1 when turning from the straight route R3. T By making the turning radius larger than the turning radius r1 when turning from the left, it is possible to prevent work from being left unfinished and to prevent overloading of the work implement 30.

[0075] (4) In any of the above (1) to (3), a camera 70 is mounted on the work vehicle 10 and photographs the area ahead of the work vehicle 10, and the work vehicle 10 is located in a rectangular field F surrounded on all sides by a structure H. LS The control unit 100 performs work in the rectangular field F LS Entrance F I / O and the height of the work vehicle 10. LS Before the work vehicle 10 enters the rectangular field F LS Entrance F I / O The image of the camera 70 is analyzed at a predetermined distance from the position of the rectangular field F LS Entrance F I / O The height information of the rectangular field F LS Entrance F I / O The height of the work vehicle 10 is compared with the height of the rectangular field F LS Entrance F I / O If the height is lower than the rectangular field F LS The height of the work vehicle 10 is rectangular. LS Entrance F I / O If it is higher than the height of the rectangular field F LS A work vehicle management system 1 that stops entry into a work area.

[0076] According to such a work vehicle management system 1, in addition to any of the effects (1) to (3) above, there is a height restriction when the work vehicle 10 enters a structure H such as a greenhouse, so that the work vehicle 10 can enter a vertically long rectangular field FLS Entrance F I / O By comparing the height of the entrance of the structure H such as a house with the height of the work vehicle 10, safe entry into the structure H such as a house is possible.

[0077] (5) In the above (4), a work vehicle management system 1 is provided with a safety frame 29 that extends upward on the work vehicle 10 to ensure space around the driver's seat 25 in the event of the work vehicle 10 tipping over, and a ground height sensor 60 that is provided at the upper end of the safety frame 29 to detect the height from the ground, and the control unit 100 acquires information on the height of the work vehicle 10 from the ground height sensor 60.

[0078] In addition to the effect of (4) above, such a work vehicle management system 1 has the advantage that the height from the ground measured by the ground height sensor 60, i.e., the height of the safety frame 29, is the overall height of the work vehicle 10, and so by acquiring information on the height of the safety frame 29, it is possible to acquire information on the height of the work vehicle 10. By acquiring information on the height of the work vehicle 10, LS Entrance F I / O (i.e., the entrance of the structure H such as a house) can be appropriately judged.

[0079] (6) In the above (5), the safety frame 29 can be folded downward, and the control unit 100 acquires information on the state in which the safety frame 29 is folded from the ground height sensor 60.

[0080] According to such a work vehicle management system 1, in addition to the effect of (5) above, by obtaining information on the state in which the safety frame 29 is folded, the work vehicle 10 can be safely stored in a barn or the like.

[0081] Further advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents. [Explanation of symbols]

[0082] 1 Management System 10 Work vehicles (tractors) 25 Driver's seat 29 Safety Frame 40 Positioning device 60 Ground clearance sensor 70 Camera 100 control section E1 long side E2 Short side F field F LS rectangular field F I / O entrance, exit H structure P S Starting point P E Work end point P T pivot point R Planned work route R2 Escape Route R3 Straight route r1 turning radius r2 turning radius

Claims

1. a work vehicle that performs work while traveling within a field; a positioning device mounted on the work vehicle to measure the position of the work vehicle; a control unit that sets a planned work route and controls the work vehicle to travel along the set planned work route; Equipped with The control unit When the work vehicle works in a vertically long rectangular field, The data includes information on the working width of the work vehicle, the length of the short side of the rectangular field, and the location of the exit of the rectangular field, The working width of the work vehicle is compared with the length of the short side of the rectangular field to determine the number of round trips that the work vehicle will make along the long side of the rectangular field, and a work start point and a work end point in the rectangular field are determined based on the determined number of round trips that the work vehicle will make along the long side of the rectangular field and the position of the exit of the rectangular field; The control unit The planned work route includes an escape route in which the work vehicle travels straight from a straight start point on a straight path, turns from a turning point, and then retreats to the short side of the rectangular field on an extension of the straight path, and passes through the turning point while working from the short side and escapes from within the working width of the work vehicle on the straight path. A work vehicle management system characterized by the above.

2. The control unit A turning radius of the work vehicle on the escape route is set to be larger than a turning radius when the work vehicle turns from the turning point after completing work on the straight route.

2. The work vehicle management system according to claim 1, wherein:

3. A work vehicle that performs work while traveling within a field; a positioning device mounted on the work vehicle to measure the position of the work vehicle; a control unit that sets a planned work route and controls the work vehicle to travel along the set planned work route; Equipped with The control unit When the work vehicle works in a vertically long rectangular field, The data includes information on the working width of the work vehicle, the length of the short side of the rectangular field, and the location of the exit of the rectangular field, The working width of the work vehicle is compared with the length of the short side of the rectangular field to determine the number of round trips that the work vehicle will make along the long side of the rectangular field, and a work start point and a work end point in the rectangular field are determined based on the determined number of round trips that the work vehicle will make along the long side of the rectangular field and the position of the exit of the rectangular field; A camera mounted on the work vehicle for capturing images in front of the work vehicle Equipped with The work vehicle is Work is carried out in the rectangular field surrounded by structures on all sides, The control unit The information includes the position of the entrance to the rectangular field and the height of the work vehicle, Before the work vehicle enters the rectangular field, the image of the camera is analyzed at a predetermined distance before the entrance position of the rectangular field to acquire height information of the entrance position of the rectangular field; The height of the entrance to the rectangular field is compared with the height of the work vehicle, and if the height of the work vehicle is lower than the height of the entrance to the rectangular field, the work vehicle enters the rectangular field, and if the height of the work vehicle is higher than the height of the entrance to the rectangular field, the work vehicle stops entering the rectangular field. A work vehicle management system characterized by the above.

4. a safety frame provided on the work vehicle and extending upward to ensure space around the driver's seat when the work vehicle rolls over; a ground height sensor provided at an upper end of the safety frame to detect the height from the ground; Equipped with The control unit Acquiring information about the height of the work vehicle from the ground height sensor 4. The work vehicle management system according to claim 3, wherein:

5. The safety frame includes: It can be folded downwards, The control unit Obtaining information on the folded state of the safety frame from the ground height sensor.

5. The work vehicle management system according to claim 4, wherein:

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