surveillance system

Abstract

To provide a monitoring system which can easily monitor a storage device for storing an energy source for driving a work machine.SOLUTION: A monitoring system includes: a battery 6 for storing an energy source for driving a work machine 101; and a monitoring device 100 including an area setting part 110 for setting an area 150B for the battery 6, and a first monitoring part 112 for performing notification of the battery 6 or restriction of the battery 6, and thereby monitoring the battery 6, when the battery 6 is not positioned in the set area 150B. Thus, when the battery 6 is not positioned in the area 150B defined for the battery 6, notification or restriction is performed. Accordingly, the battery 6 can be easily monitored.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a monitoring system for a storage device that stores an energy source for driving a work machine, such as an agricultural machine, a construction machine, or the like. [Background technology]

[0002] Conventionally, the monitoring system of Patent Document 1 is known as a system for monitoring agricultural machinery and other working machines. The monitoring system of Patent Document 1 includes a notification unit that notifies the user of a working body based on whether the working body is located in an area defined for the working body. This allows the user to easily monitor the working body by notifying the user of the working body when it is determined that the working body is located outside the area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2021-106555 A (Claim 1, etc.) Summary of the Invention

[0004] In recent years, the trend toward electrification and emission regulations has been accelerating in the field of work machines. For example, a motor may be used as a prime mover. In such cases, a battery or the like is often used to supply electrical energy to the prime mover.

[0005] Some of these types of batteries are replaceable. When replacing a battery, for efficient work, it is conceivable that a new replacement battery may be left in advance in a field or that a used battery may be left in a field. That is, the battery may be left in a location different from the location of the working machine. In such cases, there is a strong demand for monitoring the battery. There is also a strong demand for monitoring the battery even when the battery is attached to the working machine. The technology described in Patent Document 1 above has difficulty meeting these demands.

[0006] SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to provide a monitoring system that can easily monitor a storage device that stores an energy source for driving a work machine. [Means for solving the problem]

[0007] The technical means of the present invention for solving this technical problem is characterized as follows: The monitoring system of the present invention includes a monitoring device including a storage device that stores an energy source for driving a work machine, an area setting unit that sets an area for the storage device, and a first monitoring unit that monitors the storage device by notifying or restricting the storage device when the storage device is not located in the set area.

[0008] The storage device is detachable from the work machine, and the first monitoring unit notifies the storage device when the storage device that is not attached to the work machine is not located in the set area.

[0009] The storage device is detachable from the work machine, and the first monitoring unit limits the replenishment of the energy source to the storage device when the storage device that is not attached to the work machine is not located in the set area.

[0010] The storage device is detachable from the work machine, and the first monitoring unit limits the supply of the energy source from the storage device to the work machine when the storage device attached to the work machine is not located in the set area.

[0011] The storage device is detachable from the work machine, and the first monitoring unit restricts detachment of the storage device from the work machine when the storage device attached to the work machine is not located in the set area.

[0012] The storage device is detachable from the work machine and can be transported when not attached to the work machine, and the first monitoring unit cancels the monitoring when a storage device is transported to replace the storage device attached to the work machine, and starts the monitoring when the replacement storage device is attached to the work machine while the monitoring is canceled.

[0013] The first monitoring unit maintains the monitoring when the monitoring is started, and cancels the monitoring when the storage device that is not attached to the work machine is transported while the monitoring is being maintained.

[0014] The storage device attached to the work machine is replaced so that the energy source for maintaining the monitoring remains.

[0015] The monitoring device includes a second monitoring unit that monitors whether the work machine is located within an area, the area setting unit sets an area for the storage device based on the position of the work machine, and the first monitoring unit performs monitoring of the storage device when monitoring of the work machine is performed by the second monitoring unit. [Effects of the Invention]

[0016] According to the present invention, a storage device that stores an energy source for driving a work machine can be easily monitored. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is an overall view showing a monitoring system according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a functional block diagram of electronic devices provided in the work machine and the battery, respectively. [Figure 3] FIG. 2 is a perspective view of a lifting device provided in the work machine. [Figure 4] 3A and 3B are perspective views of a battery mounting section provided in the work machine and diagrams for explaining an operation when replacing the battery. [Figure 5]FIG. 10 is a diagram illustrating an example of a setting screen displayed on a display unit of a computer. [Figure 6] FIG. 4 is a diagram showing an example of area information set by an area setting unit of the monitoring device. [Figure 7] 10A and 10B are diagrams showing an example of areas set corresponding to work machines and batteries, and a state in which the work machines and batteries are located inside and outside each area. [Figure 8] This figure shows an example of deleting and setting an area, and the state in which batteries are located inside and outside the area, in an operation in which battery monitoring is stopped when the battery is delivered from a delivery center to a field, and battery monitoring is resumed when the battery is replaced. [Figure 9] 10A and 10B are diagrams illustrating an example of area deletion in an operation in which battery monitoring is stopped when the battery is retrieved from a farm field. [Figure 10] 10 is a part of a flowchart showing the flow of the monitoring system starting monitoring of a battery, stopping monitoring, and notifying the user through monitoring. [Figure 11] 11 is a part of the flowchart continuing from FIG. 10, showing the flow of the start of battery monitoring by the monitoring system, the end of monitoring, and notification by monitoring. [Figure 12] 12 is a part of the flowchart continuing from FIG. 11, showing the flow of the start of battery monitoring by the monitoring system, the end of monitoring, and notification by monitoring. [Figure 13] FIG. 10 is a functional block diagram of a battery in a monitoring system according to a second embodiment of the present invention. [Figure 14] FIG. 10 is a functional block diagram of a monitoring device in a monitoring system according to a second embodiment of the present invention. [Figure 15] FIG. 10 is a functional block diagram of a work machine and a battery in a monitoring system according to a third embodiment of the present invention. [Figure 16] FIG. 10 is a functional block diagram of a monitoring device in a monitoring system according to a third embodiment of the present invention. [Figure 17] FIG. 10 is a functional block diagram of a work machine and a battery in a monitoring system according to a fourth embodiment of the present invention. [Figure 18] 10A and 10B are diagrams for explaining an unlocked state and a locked state of a battery mounting portion of a work machine. [Figure 19] FIG. 10 is a functional block diagram of a monitoring device in a monitoring system according to a fourth embodiment of the present invention. [Figure 20] FIG. DETAILED DESCRIPTION OF THE INVENTION

[0018] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0019] [First embodiment] FIG. 1 shows a monitoring system that monitors a work machine and its battery. This monitoring system includes a monitoring device 100. The monitoring device 100 is a device that monitors a work machine 101 and a battery 6. The work machine 101 includes an agricultural machine 101a such as a tractor, combine harvester, rice transplanter, etc., and an implement 101b that can be connected to the agricultural machine 101a (see FIG. 20). The monitoring device 100 is a stationary computer such as a server, or a portable computer such as a smartphone, tablet, or laptop. In this embodiment, the description will proceed assuming that the monitoring device 100 is a server. Note that the work machine 101 may be a construction machine or the like instead of the agricultural machine 101a.

[0020] <Work equipment> 20 is a side view showing a tractor, which is one type of agricultural machine 101a, and an implement 101b that can be attached to the tractor. In the following description, the front side of the driver seated in the driver's seat 10 of the tractor will be referred to as the front, the rear side of the driver will be referred to as the rear, the left side of the driver will be referred to as the left side, and the right side of the driver will be referred to as the right side. In addition, the horizontal direction that is perpendicular to the fore-and-aft direction of the tractor will be referred to as the vehicle body width direction.

[0021] As shown in FIG. 20 , the tractor (agricultural machine 101a) includes a body 3, a prime mover 4, a transmission 5, and a battery (storage device) 6. The body 3 has a traveling device 7 and is capable of traveling. The traveling device 7 is a device having front wheels 7F and rear wheels 7R. The front wheels 7F may be of either a tire type or a crawler type. The rear wheels 7R may also be of either a tire type or a crawler type. In this embodiment, the prime mover 4 is an electric motor. The prime mover 4 is driven by electrical energy (energy source) supplied from a battery 6. The prime mover 4 and the battery 6 are disposed at the front of the body 3, and the battery 6 is detachable from a battery mounting section 19 provided on the body 3 (see FIG. 4 ). The battery 6 mounted in the battery mounting section 19 is replaceable, and details thereof will be described later. The transmission 5 can change the speed to switch the propulsive force of the traveling device 7 and also to switch the traveling device 7 between forward and reverse. A driver's seat 10 is provided at the rear of the vehicle body 3. A handle (steering wheel) 30 is provided in front of the driver's seat 10.

[0022] Further, a connecting section formed of a three-point link mechanism or the like is provided at the rear of the vehicle body 3. The connecting section is a lifting device 8 to which a working implement 101b can be attached and detached and which allows the working implement 101b to travel. By connecting the implement 101b to the lifting device 8, the implement 101b can be towed by the vehicle body 3. Note that the connecting section may also be a towing device that does not raise and lower the implement 101b. The implement 101b is a tilling device that tills, a ridge forming device that forms ridges, a planting device that plants crops, a fertilizer spreading device that spreads fertilizer, a pesticide spreading device that spreads pesticides, a harvesting device that harvests, a reaping device that reaps 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.

[0023] As shown in Figure 2, the transmission 5 includes a main shaft (propeller shaft) 5a, a main transmission section 5b, an auxiliary transmission section 5c, a shuttle section 5d, a PTO power transmission section 5e, and a front transmission section 5f. The propeller shaft 5a is rotatably supported in a housing case (transmission case) of the transmission 5, and power is transmitted to the propeller shaft 5a from the crankshaft of the prime mover 4. The main transmission section 5b has multiple gears and a shifter that changes the connections of the gears. The main transmission section 5b changes and outputs (shifts the speed of) the rotation input from the propeller shaft 5a by appropriately changing the connections (meshing) of the multiple gears using the shifter.

[0024] Like the main transmission unit 5b, the sub-transmission unit 5c has multiple gears and a shifter for changing the connection of the gears. The sub-transmission unit 5c changes and outputs (changes speed) the rotation input from the main transmission unit 5b by appropriately changing the connection (meshing) of the multiple gears using the shifter. The shuttle unit 5d has a shuttle shaft 12 and a forward / reverse switching unit 13. The power output from the sub-transmission unit 5c is transmitted to the shuttle shaft 12 via gears or the like. The forward / reverse switching unit 13 is composed of, for example, a hydraulic clutch or the like, and switches the rotation direction of the shuttle shaft 12, i.e., the forward and reverse movement of the tractor, by engaging and disengaging the hydraulic clutch. The shuttle shaft 12 is connected to a rear wheel differential device 20R. The rear wheel differential device 20R rotatably supports a rear axle 21R to which the rear wheels 7R are attached.

[0025] The PTO power transmission section 5e has a PTO propeller shaft 14 and a PTO clutch 15. The PTO propeller shaft 14 is rotatably supported and can transmit power from the propeller shaft 5a. The PTO propeller shaft 14 is connected to a PTO shaft 16 via gears or the like. The PTO clutch 15 is composed of, for example, a hydraulic clutch, and by engaging and disengaging the hydraulic clutch, the state switches between transmitting the power of the propeller shaft 5a to the PTO propeller shaft 14 and not transmitting the power of the propeller shaft 5a to the PTO propeller shaft 14.

[0026] The front transmission unit 5f has a first clutch 17 and a second clutch 18. The first clutch 17 and the second clutch 18 can transmit power from the propeller shaft 5a, and for example, the power of the shuttle 12 is transmitted via gears and transmission shafts. The power from the first clutch 17 and the second clutch 18 can be transmitted to the front axle 21F via a front transmission shaft 22. Specifically, the front transmission shaft 22 is connected to a front wheel differential device 20F, and the front wheel differential device 20F rotatably supports the front axle 21F to which the front wheels 7F are attached.

[0027] The first clutch 17 and the second clutch 18 are configured with hydraulic clutches or the like. An oil passage is connected to the first clutch 17, and the oil passage is connected to a first operating valve 25 to which hydraulic oil discharged from a hydraulic pump is supplied. The first clutch 17 is switched between an engaged state and a disengaged state depending on the opening degree of the first operating valve 25. An oil passage is connected to the second clutch 18, and the oil passage is connected to a second operating valve 26. The second clutch 18 is switched between an engaged state and a disengaged state depending on the opening degree of the second operating valve 26. The first operating valve 25 and the second operating valve 26 are, for example, two-position switching valves with solenoid valves, and are switched between the engaged state and the disengaged state by energizing or deenergizing the solenoid of the solenoid valve.

[0028] When the first clutch 17 is disengaged and the second clutch 18 is engaged, the power of the shuttle shaft 12 is transmitted to the front wheels 7F via the second clutch 18. As a result, the front wheels 7F and rear wheels 7R are driven by power, resulting in four-wheel drive (4WD), and the rotational speeds of the front wheels 7F and rear wheels 7R are approximately the same (4WD constant speed state). On the other hand, when the first clutch 17 is engaged and the second clutch 18 is disengaged, the vehicle is in four-wheel drive, and the rotational speed of the front wheels 7F is faster than the rotational speed of the rear wheels 7R (4WD accelerated speed state). Furthermore, when the first clutch 17 and the second clutch 18 are disengaged, the power of the shuttle shaft 12 is not transmitted to the front wheels 7F, resulting in two-wheel drive (2WD) in which the rear wheels 7R are driven by power.

[0029] As shown in FIGS. 2 and 3, the lifting device 8 includes 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 rear upper portion of a case (transmission case) that houses the transmission 5 so as to be able to swing upward or downward. The lift arm 8a swings (lifts and lowers) by driving the lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. The lift cylinder 8e is connected to a hydraulic pump via a control valve 27. The lift cylinder 8e is switched between an engaged state and a disengaged state depending on the opening of the control valve 27. The control valve 27 is, for example, a two-position switching valve with a solenoid valve, and is switched between an engaged state and a disengaged state by energizing or de-energizing the solenoid of the solenoid valve. When the control valve 27 is in the engaged state, the lift cylinder 8e is driven (extends and retracts) by the hydraulic pump, and when the control valve 27 is in the disengaged state, the drive of the lift cylinder 8e is restricted (locked).

[0030] The front end of the lower link 8b is supported on the rear lower part of the transmission 5 so as to be swingable upward or downward. The front end of the top link 8c is supported on the rear part of the transmission 5, above the lower link 8b, so as to be swingable upward or downward. The lift rod 8d connects the lift arm 8a to the lower link 8b. The implement 101b is connected to the rear part of the lower link 8b and the rear part of the top link 8c. When the lift cylinder 8e is driven (extends and retracts), the lift arm 8a rises and lowers, and the lower link 8b, which is connected to the lift arm 8a via the lift rod 8d, rises and lowers. As a result, the implement 101b swings upward or downward (lifts and lowers) with the front part of the lower link 8b as a fulcrum. When the drive of the lift cylinder 8e is restricted, the lifting and lowering of the implement 101b is also locked.

[0031] As shown in FIG. 4, the battery 6 includes a battery pack and an electrical unit (relays, fuses, etc.) inside a substantially rectangular parallelepiped casing. The battery pack is made up of multiple battery modules. The battery module is made up of multiple cells. The battery 6 configured in this manner is a battery capable of charging and discharging electrical energy, specifically a lithium-ion battery. The battery 6 is held by a holder 6a from the outside of the casing, and a grip 6b is provided at the front end of the holder 6a. The battery mounting section 19 of the vehicle body 3 includes a storage section 19a that is a space capable of accommodating the entire battery 6, an opening 19b provided on the front side of the storage section 19a in the vehicle width direction, and a flap-type lid 19c that can close the opening 19b. Normally, the battery 6 is stored in the storage section 19a, and the opening 19b is closed by the lid 19c, allowing the battery 6 to supply power to the tractor.

[0032] When replacing the battery 6, the cover 19c is opened to expose the opening 19b. While gripping the grip 6b of the installed battery 6, the holder 6a is pulled toward the user, sliding the installed battery 6 toward the user in the vehicle width direction and removing it from the storage section 19a. The rear end of a new replacement battery 6 is inserted into the empty storage section 19a through the opening 19b. Next, while gripping the grip 6b of the new replacement battery 6, the holder 6a is pushed toward the user, sliding the new replacement battery 6 toward the user in the vehicle width direction. After the new replacement battery 6 is entirely housed in the storage section 19a, the cover 19c is closed to close the opening 19b. The battery 6 is replaced in the manner described above. The configuration of the battery 6 and the battery mounting section 19 is merely an example, and any configuration may be adopted as long as the battery 6 can be attached to and detached from the battery mounting section 19.

[0033] In this embodiment, the battery 6 is replaceable, but instead, a package capable of storing an energy source may be replaceable. This package may be, for example, a hydrogen tank or an LPG (Liquefied Petroleum Gas) tank. When a hydrogen tank is installed, for example, a fuel cell that generates electricity using hydrogen and oxygen in the air may be installed in the tractor, and hydrogen from the tank may be supplied to the fuel cell. When an LPG tank is installed, for example, a generator that generates electricity using a gas engine may be installed in the tractor, and gas from the tank may be supplied to the gas engine.

[0034] As shown in FIG. 2, the tractor is equipped with a steering device 29. The steering device 29 has a steering wheel 30, a rotating shaft (steering shaft) 31 that rotates in conjunction with the rotation of the steering wheel 30, and an assist mechanism (power steering mechanism) 32 that assists in steering the steering wheel 30. The assist mechanism 32 includes a hydraulic pump 33, a control valve 34 to which hydraulic oil discharged from the hydraulic pump 33 is supplied, and a steering cylinder 35 that is operated by the control valve 34. The control valve 34 is an electromagnetic valve that operates based on a control signal. The control valve 34 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 34 can also be switched by steering the steering shaft 31. The steering cylinder 35 is connected to an arm (knuckle arm) that changes the direction of the front wheels 7F.

[0035] Therefore, when the steering wheel 30 is operated, the switching position and opening degree of the control valve 34 are switched in response to the steering wheel 30, and the steering cylinder 35 extends or contracts to the left or right in response to the switching position and opening degree of the control valve 34, thereby changing the steering direction of the front wheels 7F. Note that the above-described steering device 29 is an example, and is not limited to the above-described configuration.

[0036] As shown in FIG. 2 , the tractor is equipped with a positioning device 40A. The positioning device 40A can detect its own position (positioning information including latitude and longitude) using a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Beidou, Galileo, or Michibiki. That is, the positioning device 40A receives satellite signals (positions of the positioning satellites, transmission times, correction information, etc.) transmitted from the positioning satellites and detects its position (e.g., latitude and longitude) based on the satellite signals. The positioning device 40A includes a receiving device 41 and an inertial measurement unit (IMU) 42. The receiving device 41 has an antenna and the like and receives satellite signals transmitted from the positioning satellites, and is attached to the vehicle body 3 separately from the IMU 42. In this embodiment, the receiving device 41 is attached to a cabin 9 provided on the vehicle body 3. Note that the attachment location of the receiving device 41 is not limited to that described in the embodiment.

[0037] The inertial measurement unit 42 has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, etc. The inertial measurement unit 42 is provided on the vehicle body 3, for example, below the driver's seat 10, and can detect the roll angle, pitch angle, yaw angle, etc. of the vehicle body 3.

[0038] As shown in FIG. 2, the tractor includes a communication device 45A. The communication device 45A is connected to the positioning device 40A, the control device 60, operation members (levers, switches, dials, etc.), and sensors via an in-vehicle communication network N1, and receives electrical signals. The communication device 45A can communicate with an external network (external) different from the in-vehicle communication network N1. The communication device 45A can perform wireless communication using, for example, the IEEE 802.11 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 communication device 45A can also perform wireless communication using, for example, a mobile phone communication network or a data communication network. The communication device 45A transmits the vehicle position (tractor position) detected by the positioning device 40A to the monitoring device 100. In addition, the communication device 45A transmits to the monitoring device 100 a work machine monitoring signal for monitoring whether the work machine 101 is within the area, a battery monitoring signal for monitoring whether the battery 6 is within the area, and a battery monitoring cancellation signal for canceling monitoring of the battery 6.

[0039] As shown in FIG. 2, the battery 6 is equipped with a positioning device 40B. The positioning device 40B has the same configuration as the positioning device 40A. That is, the positioning device 40B receives satellite signals (positions of the positioning satellites, transmission times, correction information, etc.) transmitted from positioning satellites and detects a position (e.g., latitude and longitude) based on the satellite signals. The positioning device 40B has a receiving device 41B and an inertial measurement unit 42B, and determines a position using the receiving device 41B and the inertial measurement unit 42B. The receiving device 41B is a device that has an antenna and receives satellite signals transmitted from positioning satellites, and is attached to the battery 6 separately from the inertial measurement unit 42B. In this embodiment, the receiving device 41B is attached to the outer surface of the battery 6. Note that the attachment location of the receiving device 41B is not limited to the embodiment.

[0040] The battery 6 is equipped with a communication device 45B. The communication device 45B is capable of communicating with an external network (external) different from the in-vehicle network N1. The communication device 45B 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 communication device 45B can also perform wireless communication using, for example, a mobile phone communication network or a data communication network. The communication device 45B transmits the position (position of the battery 6) detected by the positioning device 40B to the monitoring device 100. In this embodiment, the positioning device 40B and the communication device 45B are provided in both the battery 6 installed in the tractor and the battery 6 not installed, i.e., a new replacement battery 6 and a used battery 6. Furthermore, the positioning device 40B and the communication device 45B are supplied with electric energy from the battery 6 in which they are installed. That is, as long as the battery 6 has electric energy remaining, the detected position of the battery 6 can be transmitted to the monitoring device 100.

[0041] As shown in Fig. 2, the tractor is equipped with a control device 60. The control device 60 includes a calculation unit (such as a CPU) and a storage unit (memory), and executes predetermined control based on a program stored in the storage unit. More specifically, the control device 60 controls the tractor's traveling system and working system based on operation signals received when operating members (such as levers, switches, dials, etc.) installed around the driver's seat 10, and detection signals from various sensors mounted on the vehicle body 3.

[0042] When the shuttle lever 43a, which switches the vehicle body 3 between forward and reverse, is operated to forward, the control device 60 switches the forward / reverse switching unit 13 to forward, thereby moving the vehicle body 3 forward. When the shuttle lever 43a is operated to reverse, the control device 60 switches the forward / reverse switching unit 13 to reverse, thereby moving the vehicle body 3 backward.

[0043] When the ignition switch 43b is turned ON, the control device 60 starts the prime mover 4 through a predetermined process, and when the ignition switch 43b is turned OFF, the control device 60 stops the driving of the prime mover 4.

[0044] When the PTO switch 43c is operated while the prime mover 4 is being driven, the control device 60 switches the position of the PTO clutch 15 to one of the neutral position, the ON position, or the OFF position, thereby turning on and off the drive of the PTO shaft 16. When the PTO shift lever 43d is operated, the control device 60 changes the rotation speed of the PTO shaft 16 (referred to as the PTO rotation speed) by switching the PTO shift gear built into the transmission 5.

[0045] When the speed change switch 43e is switched to automatic speed change, the control device 60 automatically switches between the main speed change unit 5b and the sub speed change unit 5c in accordance with the state of the tractor, and automatically changes the gear stage (speed change level) of the transmission 5 to a predetermined gear stage (speed change level).When the speed change switch 43e is switched to manual speed change, the control device 60 automatically switches between the main speed change unit 5b and the sub speed change unit 5c in accordance with the gear stage (speed change level) set by the speed change lever 43f, and changes the gear stage of the transmission 5.

[0046] When the accelerator lever 43g is operated, the control device 60 changes the vehicle speed (velocity) of the vehicle body 3 by changing the rotation speed of the prime mover 4 (referred to as prime mover rotation speed) in accordance with the amount of operation of the accelerator lever 43g.

[0047] When the hydraulic lever 43h is operated in an upward direction (upward side) while the prime mover 4 is in operation, the control device 60 controls the control valve 27 to extend the lift cylinder 8e and raise the rear end portion (the end portion on the implement 101b side) of the lift arm 8a. When the hydraulic lever 43h is operated in a downward direction (downward side) while the prime mover 4 is in operation, the control device 60 controls the control valve 27 to contract the lift cylinder 8e and lower the rear end portion (the end portion on the implement 101b side) of the lift arm 8a.

[0048] The control device 60 is set to automatic driving mode when the driving selector switch 43i is turned ON, and is set to manual driving mode when the driving selector switch 43i is turned OFF. When set to automatic driving mode, the control device 60 performs automatic driving of the tractor. Under automatic driving conditions, the control device 60 automatically changes the rotation angle of the steering shaft (rotating shaft) 31 based on the deviation between the detected vehicle body position and the set planned driving route. The control device 60 also automatically changes the gear position of the transmission 5, the rotation speed of the prime mover 4, etc. so that the current vehicle speed matches the vehicle speed corresponding to the planned driving route. This enables the vehicle body 3 to be automatically driven along the planned driving route.

[0049] The control device 60 acquires the remaining charge of the installed battery 6 based on the potential detected by the potential sensor 43j of the battery 6, the rotation speed of the prime mover 4, the vehicle speed of the vehicle body 3, etc. When the control device 60 determines that the installed battery 6 needs to be replaced based on the acquired remaining charge of the battery 6, it controls the communication device 45A to transmit the battery monitoring release signal to the monitoring device 100. Furthermore, when the control device 60 determines that the installed battery 6 has been replaced with a replacement battery 6 based on the potential detected by the potential sensor 43j of the battery 6, it controls the communication device 45A to transmit the battery monitoring signal to the monitoring device 100. Specific aspects of the transmission of the battery monitoring signal and the battery monitoring release signal based on the potential sensor 43j will be described later.

[0050] The control device 60 controls the communication device 45A to transmit the work machine monitoring signal when the work machine monitoring switch 43k is operated. The work machine monitoring switch 43k may be configured as a switch that can be turned ON / OFF, and the control device 60 may transmit the work machine monitoring signal when the work machine monitoring switch 43k is ON, and transmit a work machine monitoring cancellation signal to the monitoring device 100 to cancel monitoring of the work machine 101 when the work machine monitoring switch 43k is OFF.

[0051] <Battery replacement and battery delivery / recovery> In this embodiment, as described above, the prime mover 4 is driven by the battery 6. As the tractor travels and the work of the work implement 101b progresses, the remaining charge of the attached battery 6 decreases. To continue work in the field, the battery 6 is replaced in the field. The battery 6 may be replaced, for example, in an area A that is outside the work area of ​​the field F and adjacent to the farm road R (see Figures 7, 8, 9, etc.). In particular, if the work implement 101b is a device that uses materials, the above-mentioned "area A adjacent to the farm road R" can be an area for replenishing materials to the work implement 101b. When replenishing materials, the work implement 101 in operation is moved to the area A. Similarly, the work implement 101 in operation may be moved to the area A to replace the battery 6. In other words, the area for replenishing materials can be used as the area for replacing the battery 6.

[0052] In this embodiment, it is assumed that the unused batteries 6 are stored at a delivery base (distribution center) away from the field F. At this delivery base, replacement batteries 6 to be delivered to the field F can be stored, or used batteries 6 collected at the field F can be charged. Delivery of replacement batteries 6 and collection of used batteries 6 are carried out by a transport vehicle such as a truck that can carry and transport the batteries 6. A replacement battery 6 is a battery that is sufficiently charged, for example, a battery that has a charge level of 80% or more when the maximum charge level of a battery is 100%. Note that the charge level is not limited to 80% or more.

[0053] When a replacement battery 6 is delivered to a field F, for example, the replacement battery 6 stored at a delivery base is loaded onto a transporter T, and as shown in FIG. 8(a), the transporter T travels from the delivery base toward the field F and arrives at area A of the field F adjacent to a farm road R. Then, as shown in FIG. 8(b), in area A (for example, an area for supplying materials), the battery 6 loaded onto the transporter T is unloaded as a replacement battery 6. Meanwhile, the battery 6 detached from the work implement 101 is stored in area A as a used battery 6, and the replacement battery 6 that was already stored there is attached to the work implement 101. After unloading, the transporter T heads to another field to collect the other battery, and then returns to the delivery base.

[0054] When collecting a used battery 6 from area A, as shown in FIG. 9, the used battery 6 that has been stationary is loaded onto a transporter T that arrives at area A via a farm road R, and the transporter T then travels toward the delivery base. Note that the unloading of the battery 6 from the transporter T and the loading of the battery 6 onto the transporter T may be performed by the driver of the transporter T. The detachment of the battery 6 currently installed from the work implement 101 and the loading of a replacement battery 6 onto the work implement 101 may be performed by the driver of the tractor, or may be performed by the driver of the transporter T as a service provided by the delivery base.

[0055] As shown in FIG. 1, a computer 106 is installed at a delivery base (delivery center). The computer 106 and the communication device 45A of the work machine (tractor) 101 can communicate via a network or the like. The computer 106 acquires various information related to delivery (hereinafter referred to as delivery information) and controls various devices and apparatuses installed at the delivery base (delivery center) based on the acquired delivery information. The delivery information includes an instruction signal (request signal) for requesting delivery of the battery 6, an instruction signal (recovery signal) for requesting collection of the battery 6, and the body position of the work machine (tractor) 101. The request signal, the recovery signal, and the body position are transmitted from the communication device 45A of the work machine (tractor) 101, for example, and received (acquired) by the computer 106.

[0056] More specifically, if the control device 60 determines that the remaining charge of the attached battery 6 is lower than a predetermined value and that the attached battery 6 needs to be replaced while the work machine 101 is in operation, it instructs the communication device 45A to send a request signal and the vehicle position, and the communication device 45A transmits the request signal and the vehicle position to the computer 106 (delivery base). The computer 106 receives the request signal and the vehicle position, and displays a message that "battery delivery requested" and the vehicle position on a display unit 106A such as a monitor of the computer 106. At the delivery base, an operator checks the display on the display unit 106A, and instructs the delivery driver to deliver a replacement battery 6 to the field corresponding to the vehicle position.

[0057] Furthermore, if the control device 60 determines that the potential of the battery 6 has temporarily become zero due to the removal and attachment of the battery 6 while the work machine 101 is stopped, and then the remaining charge has returned due to the attachment of the battery 6, and that the attached battery 6 has been replaced with a replacement battery 6, it instructs the communication device 45A to transmit a collection signal and the vehicle position, and the communication device 45A transmits the collection signal and the vehicle position to the computer 106 (delivery base). The computer 106, having received the collection signal and the vehicle position, displays a message that "battery collection has been requested" and the vehicle position on the display unit 106A, such as a monitor of the computer 106. At the delivery base, an operator checks the display on the display unit 106A, and instructs the delivery driver to head to the field corresponding to the vehicle position to collect the used battery 6.

[0058] Furthermore, when the automatic driving mode is set, if the control device 60 determines that the remaining charge of the attached battery 6 is lower than a predetermined value and that the attached battery 6 needs to be replaced while the work implement 101 is in operation, the control device 60 controls the steering device 29 and the prime mover 4 to automatically move the tractor to area A (for example, a material supply area) of the field F adjacent to the farm road R and stop it in area A. When the automatic driving mode is not set, if the control device 60 determines that the remaining charge of the attached battery 6 is lower than a predetermined value and that the attached battery 6 needs to be replaced while the tractor is in operation, the control device 60 performs control to activate the tractor's buzzer, for example. This makes it possible to prompt the tractor driver to move the tractor to area A of the field F adjacent to the farm road R.

[0059] In this embodiment, the battery 6 attached to the work machine 101 is replaced so that an energy source remains to maintain the operation of the positioning device 40B and the communication device 45B when the battery 6 is detached and placed in area A. This allows the position of the battery 6 placed in area A to be transmitted to the monitoring device 100, and monitoring of the battery 6 by the monitoring device 100 is maintained.

[0060] <Monitoring device> As described above, in order to replace the battery 6 in area A of the farm field F adjacent to the farm road R, the delivered replacement battery 6 is left in area A before the replacement, and the used battery 6 to be collected is left there after the replacement. It is preferable to monitor these batteries 6 to prevent theft, etc. For this reason, the monitoring device 100 is configured to monitor the work machine 101 and the battery 6.

[0061] As shown in FIG. 1, the monitoring device (server) 100 includes an area setting unit 110 and an area storage device 111. The area setting unit 110 is configured with an electric / electronic circuit provided in the monitoring device 100, a program stored in the monitoring device 100, etc. The area storage device 111 is configured with a non-volatile memory, etc. The area setting unit 110 sets an area 150A for the work machine 101 and an area 150B for the battery 6. Specifically, as shown in FIG. 1, a stationary computer 105 different from the monitoring device 100 is connected to the monitoring device 100. When a predetermined operation is performed on the stationary computer 105, a setting screen M1 is displayed on a display unit 105A, such as a monitor, of the stationary computer 105, as shown in FIG. 5. Note that although the computer 105 is stationary in this embodiment, it may also be a portable computer, such as a smartphone, tablet, or laptop.

[0062] The setting screen M1 includes a work implement input section 121 for inputting the work implement 101, a map display section 122 for displaying a map, a pointer 123 for selecting any point on the map, a work implement distance input section 124 for inputting distance L1, and a battery distance input section 125 for inputting distance L2. Identification information for identifying the work implement 101 can be input into the work implement input section 121. The identification information includes various information such as the serial number, name, model number, type, and manufacturing number of the work implement 101. The map display section 122 is a section that displays a map including work sites such as roads, farm roads, and fields, buildings, and the like. The map may be, for example, a map obtained from a map provider that provides map data, or may be a map created by a fixed computer 105 or the like, but is not limited thereto.

[0063] By inputting the work implement identification information, center O1, and distance L1 on the setting screen M1, the area 150A can be set for the work implement 101. In the above-described embodiment, the center of the area 150A is selected by the pointer 123, but it is also possible to select multiple positions (points) on the map by the pointer 123. In this case, the area setting unit 110 sets the area surrounded by the multiple positions (points) as the area 150A.

[0064] The area setting unit 110 also sets an area 150B for the battery 6 based on the position of the work implement 101. The batteries targeted for the area 150B include the battery 6 currently mounted on the tractor, batteries 6 not mounted on the tractor, replacement batteries 6, and used batteries 6. Specifically, the distance L2 is input on the setting screen M1, and the area setting unit 110 sets the area 150B having the center O2 and the distance L2, with the vehicle body position transmitted from the communication device 45A as the center O2. The center O2 may be a single point corresponding to a single vehicle body position transmitted from the communication device 45 at a predetermined timing, or may be updated sequentially as the vehicle body position changes while the vehicle body 3 is moving in a field or the like. In this embodiment, the area setting unit 110 sets the center O2 of the area 150B to the same position as the vehicle body position, but this is not limited thereto. For example, the center O2 of the area 150B may be set to a position spaced a predetermined distance from the vehicle body position.

[0065] As shown in Fig. 6, the area information of the tractor and battery 6 set by the area setting unit 110 (work implement identification information, information indicating area 150A, area 150B) is stored in the area storage device 111. Note that the area information shown in Fig. 6 is an example and is not limited thereto.

[0066] 1, the monitoring device 100 includes a first monitoring unit 112 and a second monitoring unit 113. The first monitoring unit 112 monitors the battery 6 by notifying the battery 6 when the battery 6 is not located in the area 150B set by the area setting unit 110. For this reason, the first monitoring unit 112 includes a notification unit 112A.

[0067] The notification unit 112A is configured with an electric / electronic circuit provided in the monitoring device 100, a program stored in the monitoring device 100, etc. The notification unit 112A notifies the battery 6 based on whether the battery 6 is located within an area 150B defined for the battery 6. As shown in FIGS. 7, 8, and 9, it is assumed that an area 150B is defined for the battery 6. The area 150B has a center O2 and a distance L2 defined so that the vehicle body 3 is located at the center. When the monitoring device 100 receives the location of the battery 6 transmitted by the communication device 45B of the battery 6, the notification unit 112A determines whether the location of the battery 6 is within the area 150B. The "battery 6" here refers to a battery 6 currently installed in a tractor, a battery 6 that is not installed, a replacement battery 6, and a used battery 6.

[0068] The second monitoring unit 113 monitors the work machine 101 by notifying the tractor when the work machine 101 (tractor) is not located in the area 150A set by the area setting unit 110. For this reason, the second monitoring unit 113 is provided with a notification unit 113A.

[0069] The notification unit 113A is configured with an electric / electronic circuit provided in the monitoring device 100, a program stored in the monitoring device 100, etc. The notification unit 113A issues a notification of the work implement 101 (tractor) based on whether the tractor is located within an area 150A defined for the work implement 101. As shown in FIGS. 7, 8, and 9, it is assumed that an area 150A is defined for the tractor. For example, the center O1 and distance L1 of the area 150A are set so that the garage G is located at the center. When the monitoring device 100 receives the vehicle body position transmitted by the communication device 45A of the work implement 101, the notification unit 113A determines whether the vehicle body position is within the area 150A.

[0070] 7(a), when the battery 6 is being mounted on the work machine 101 (tractor) and the tractor and battery 6 are being monitored, the notification unit 112A does not issue a notification if the mounted battery 6 is located within area 150B. The notification unit 113A does not issue a notification if the vehicle body position is within area 150A.

[0071] On the other hand, as shown in FIG. 7(b), it is assumed that the work machine 101 together with the battery 6 may depart from the areas 150A and 150B from the state shown in FIG. 7(a). In this case, the notification unit 112A determines that the position of the attached battery 6 is outside the area 150B and notifies the installed computer 105, etc., that "the battery has left the area." Also, in this case, the notification unit 113A determines that the vehicle body position is outside the area 150A and notifies the installed computer 105, etc., that "the tractor has left the area." Note that a similar notification is also given for an unattached battery 6 when it departs from the area 150B (see FIG. 8(c)).

[0072] That is, the notification unit 112A monitors the battery 6 by notifying the installed computer 105 or the like whether or not the battery 6 is in the area 150B defined for the battery 6. The notification unit 113A monitors the work machine 101 by notifying the installed computer 105 or the like whether or not the work machine 101 is in the area 150A defined for the work machine 101. If the battery 6 and the work machine 101 are outside the areas 150B and 150A for a long period of time, it can be determined that the battery 6 and the work machine 101 may have been stolen, and by monitoring the battery 6 and the work machine 101, the theft of the battery 6 and the work machine 101 can be prevented.

[0073] <Starting and canceling monitoring> The monitoring device 100 monitors the battery 6 and the work machine 101. However, there are cases where the battery 6 is transported outside the area 150B during monitoring, not due to theft but intentionally. For example, when the area 150B is set to include the area A adjacent to the farm road R, there are cases where a replacement battery 6 is delivered from a delivery base to the field F, or where a used battery 6 is collected from the field F (see FIGS. 8(a) and 9).

[0074] In such a case, if the battery 6 is monitored, the above-mentioned notification will be issued even if the battery 6 has not been stolen. In this way, even if the battery 6 is intentionally placed outside the area 150B, it is likely to be mistakenly determined to be stolen. Therefore, there is a high possibility that this will be confused with an actual theft, and if the user becomes accustomed to the above-mentioned notification, there is a high possibility that the user will overlook actual theft, which may result in a decrease in security.

[0075] For the above reasons, it would be preferable to be able to appropriately start and stop monitoring of the battery 6. For this reason, in this embodiment, the battery monitoring signal and the battery monitoring cancellation signal are transmitted to the monitoring device 100. Similarly, the work machine monitoring signal is also transmitted to the monitoring device 100. The transmission of the work machine monitoring signal, the battery monitoring signal, and the battery monitoring cancellation signal will be described below.

[0076] When the battery 6 and the work implement 101 are not being monitored, the tractor control device 60 controls the communication device 45A to transmit the work implement monitoring signal when the work implement monitoring switch 43k is operated. The work implement monitoring switch 43k may be installed, for example, on the console of the cabin and operated by the driver of the tractor.

[0077] 1, the first monitoring unit 112 and the second monitoring unit 113 of the monitoring device 100 are equipped with a monitoring start unit 112B and a monitoring start unit 113B, respectively. The monitoring start unit 112B and the monitoring start unit 113B are configured by electric and electronic circuits provided in the monitoring device 100, programs stored in the monitoring device 100, etc. The monitoring start unit 113B of the second monitoring unit 113 starts monitoring in area 150A of the work machine 101 when the work machine 101 is not being monitored and the work machine monitoring signal is received.

[0078] When the battery 6 is not being monitored and it is determined that the monitoring start unit 113B has started monitoring the work machine 101, the monitoring start unit 112A of the first monitoring unit 112 starts monitoring in the area 150B of the battery 6. In this way, the first monitoring unit 112 is configured to monitor the battery 6 when the second monitoring unit 113 is monitoring the work machine 101.

[0079] In addition, when the battery 6 is being monitored, if the tractor control device 60 determines that the remaining charge of the attached battery 6 is less than a predetermined value and that the attached battery 6 needs to be replaced while the work implement 101 is in operation, it controls the communication device 45A to send the battery monitoring cancellation signal.

[0080] 1, the first monitoring unit 112 of the monitoring device 100 includes a monitoring cancellation unit 112C. The monitoring cancellation unit 112C is configured by an electric / electronic circuit provided in the monitoring device 100, a program stored in the monitoring device 100, etc. When the monitoring cancellation unit 112C of the first monitoring unit 112 receives the battery monitoring cancellation signal while the battery 6 is being monitored, it deletes the set area for the battery 6.

[0081] When the battery 6 is not being monitored due to the deletion of the area of ​​the battery 6, if the tractor control device 60 determines that the potential has temporarily become zero due to the removal and attachment of the battery 6 while the work implement 101 is stopped, and then the remaining charge has returned due to the attachment of the battery 6, and the attached battery 6 has been replaced with a replacement battery 6, the tractor control device 60 controls the communication device 45A to transmit the battery monitoring signal.

[0082] 1, when the battery 6 is not being monitored and the monitoring start unit 112A of the first monitoring unit 112 receives the battery monitoring signal, the monitoring start unit 112A starts setting an area for the battery 6 by the area setting unit 110. As a result, the first monitoring unit 112 can cancel monitoring of the battery when a battery 6 is transported to replace the battery 6 attached to the work machine 101, and can start (restart) monitoring of the battery 6 when the replacement battery 6 is attached to the work machine 101 while monitoring is canceled.

[0083] Furthermore, when monitoring of the battery 6 is started (restarted), the first monitoring unit 112 maintains this monitoring, and when a battery 6 that is not attached to the work machine 101 is transported while monitoring is being maintained, the first monitoring unit 112 cancels monitoring of the battery 6. For example, when a recovery truck heads from a delivery base to a farm field to recover the battery 6, an operator of the computer 106 at the delivery base may operate the computer 106 to transmit the battery monitoring cancellation signal to the monitoring device 100.

[0084] <Actual operation> 10, 11, and 12 are flowcharts showing the flow of starting monitoring of the battery 6, stopping monitoring, and notification due to monitoring, and also showing the operation flow of the work machine 101, monitoring device 100, and delivery base computer 106. At the start of operation, it is assumed that neither monitoring of the work machine 101 nor monitoring of the battery 6 is being performed.

[0085] As shown in FIG. 7(a), when the work implement 101 performs work in a field F, it moves to the field F by self-propelling, for example, from a garage G via a farm road R. When the work implement 101 arrives at the field F, the driver operates the work implement monitoring switch 43k and operates the operation changeover switch 43i to turn ON (S1). As a result, a work implement monitoring signal is transmitted from the communication device 45A of the work implement 101 to the monitoring device 100, and is received by the monitoring device 100 (S2). Furthermore, work is performed by automatic operation of the work implement 101, and the remaining charge of the attached battery 6 decreases as the work progresses (S3).

[0086] The second monitoring unit 113 (monitoring start unit 113B) of the monitoring device 100 determines whether the work machine 101 is not being monitored and whether a work machine monitoring signal has been received. At the moment, the work machine 101 is not being monitored and a work machine monitoring signal has been received, so the determination is "Yes" (S4). The monitoring start unit 113B starts monitoring the work machine 101 in the area 150A of the work machine 101 set by the area setting unit 110 (S5).

[0087] The first monitoring unit 112 (monitoring start unit 112B) of the monitoring device 100 determines whether the battery 6 is not being monitored and whether monitoring of the work machine 101 has just been started. At the moment, the battery 6 is not being monitored and monitoring of the work machine 101 has just been started, so the determination is "Yes" (S6). The monitoring start unit 112B starts monitoring the battery 6 in the area 150B of the battery 6 set by the area setting unit 110 (S7).

[0088] The second monitoring unit 113 (notification unit 113A) of the monitoring device 100 receives the vehicle body position from the communication device 45A of the work implement 101 (S8), and determines whether the vehicle body position is outside the area 150A. As shown in FIG. 7(b), if the work implement 101 is located outside the area 150A, the determination is "Yes" (S9). The notification unit 113A notifies the computer 105 that "the tractor has left the area" (S10). On the other hand, as shown in FIG. 7(a), if the work implement 101 is located within the area 150A, the determination is "No" in S9, and the above notification is not made.

[0089] The first monitoring unit 112 (notification unit 112A) of the monitoring device 100 receives the location of the battery 6 from the communication device 45B of the battery 6 (S11), and determines whether the location of the battery 6 is outside the area 150B. As shown in FIG. 7(b), if the battery 6 is located outside the area 150B, the determination is "Yes" (S12). The notification unit 112A notifies the computer 105 that "the battery is outside the area" (S13). On the other hand, if the battery 6 is located within the area 150B as shown in FIG. 7(a), the determination is "No" in S12, and the notification is not made.

[0090] The connectors indicated by "1" and "2" at the bottom of the flowchart shown in Fig. 10 are connected to the connectors indicated by "1" and "2" at the top of the flowchart shown in Fig. 11. A determination is made as to whether the remaining charge of the battery 6 attached to the work implement 101 is equal to or less than a predetermined value (S14). Until the remaining charge of the battery 6 falls below the predetermined value, the determination is "No" and the process remains in S14, and when the remaining charge falls below the predetermined value, the determination is "Yes". If the determination is "Yes" in S14, a battery monitoring cancellation signal is transmitted from the communication device 45A of the work implement 101 to the monitoring device 100 and is received by the monitoring device 100 (S15).

[0091] The first monitoring unit 112 (monitoring cancellation unit 112C) of the monitoring device 100 determines whether or not the battery 6 is being monitored and a battery monitoring cancellation signal has been received. At the present time, the battery 6 is being monitored and a battery monitoring cancellation signal has been received, so the result is "Yes" (S16). The monitoring cancellation unit 112C deletes the area 150B of the battery 6 and cancels monitoring of the battery 6 (S17).

[0092] Furthermore, if the determination in S14 is "Yes," the request signal and the vehicle body position are transmitted from the communication device 45A of the work implement 101 to the computer 106 at the delivery base, and are received by the computer 106 (S18). The display unit 106A of the computer 106 displays a message that "battery delivery request has been made" and the vehicle body position (S19). Based on this, a replacement battery 6 is delivered from the delivery base to the field R where the work implement 101 is located.

[0093] As shown in FIG. 8(a), a replacement battery 6 is loaded on a transporter T heading from a delivery base to a field R. If an area 150B for the battery 6 is set, the replacement battery 6 is located outside the area 150B. However, in S17 above, the area 150B for the battery 6 is deleted, and monitoring of the battery 6 is canceled. Therefore, no notification is made for the replacement battery 6 or the battery 6 currently installed. The transporter T then arrives at area A of a field F adjacent to a farm road R, and the replacement battery 6 is unloaded in area A. Furthermore, if the determination in S14 is "Yes," the work implement 101 that has been working in the work area of ​​the field F moves by automatic driving to area A of the field F adjacent to the farm road R (S20).

[0094] It is determined whether the replacement of the battery 6 has been completed in the work machine 101 (S21). Until the battery 6 is replaced, the determination is "No" and the process remains in S21, and when the replacement is completed, the determination is "Yes." If the determination is "Yes" in S21, a battery monitoring signal is transmitted from the communication device 45A of the work machine 101 to the monitoring device 100 and is received by the monitoring device 100 (S22).

[0095] The first monitoring unit 112 (monitoring start unit 112B) of the monitoring device 100 determines whether the battery 6 is not being monitored and whether a battery monitoring signal has been received. At the moment, the battery 6 is not being monitored and a battery monitoring signal has been received, so the result is "Yes" (S23). The monitoring start unit 112B starts monitoring the battery 6 again in the area 150B of the battery 6 set by the area setting unit 110 (S24).

[0096] The first monitoring unit 112 (notification unit 112A) of the monitoring device 100 receives the location of the battery 6 from the communication device 45B of the battery 6 (S25), and determines whether the location of the battery 6 is outside the area 150B. As shown in FIG. 8(c), if the unattached battery 6 has been removed from area A of the field F adjacent to the farm road R and is now located outside the area 150B, the determination is "Yes" (S26). The notification unit 112A notifies the computer 105 that "the battery has left the area" (S27). On the other hand, as shown in FIG. 8(b), if the battery 6 is located within the area 150B, the determination is "No" in S26, and the above notification is not made.

[0097] The connectors indicated by "1," "2," and "3" at the bottom of the flowchart shown in Fig. 11 are connected to the connectors indicated by "1," "2," and "3" at the top of the flowchart shown in Fig. 12. Furthermore, if the determination in S21 is "Yes," a battery collection request signal and the vehicle body position are transmitted from the communication device 45A of the work implement 101 to the computer 106 at the delivery base, and are received by the computer 106 (S28). A message indicating "battery collection request received" and the vehicle body position are displayed on the display unit 106A of the computer 106 (S29). Based on this, the transporter T heads toward the field R where the work implement 101 is located to collect the used battery 6. A battery monitoring cancellation signal is transmitted from the computer 106 at the delivery base to the monitoring device 100, and is received by the monitoring device 100 (S30).

[0098] The first monitoring unit 112 (monitoring cancellation unit 112C) of the monitoring device 100 determines whether or not the battery 6 is being monitored and a battery monitoring cancellation signal has been received. At the present time, the battery 6 is being monitored and a battery monitoring cancellation signal has been received, so the result is "Yes" (S31). The monitoring cancellation unit 112C deletes the area 150B of the battery 6 and cancels monitoring of the battery 6 again (S32).

[0099] As shown in FIG. 9, a transport vehicle T arrives at a field F, is loaded with a used battery 6, and returns to the delivery center. If an area 150B for the battery 6 is set, the used battery 6 is located outside the area 150B. However, in S32, the area 150B for the battery 6 is deleted, and monitoring of the battery 6 is canceled. Therefore, no notification is made for the used battery 6 or the battery 6 currently installed. The transport vehicle T then arrives at the delivery center, where the used battery 6 is unloaded and stored.

[0100] If the determination in S4 is "No," monitoring of the work implement 101 is not started. Also, if the determination in S6 and S23 is "No," monitoring of the battery 6 is not started. Also, if the determination in S16 and S31 is "No," monitoring of the battery 6 is not canceled.

[0101] [Second embodiment] In the first embodiment, when the battery 6 is being monitored and it is determined that the battery 6 is located outside the area 150B, a notification of the battery 6 is made. Instead, the second embodiment differs from the first embodiment in that when the battery 6 is being monitored and it is determined that an unattached battery 6 is located outside the area 150B, charging of the battery 6 is restricted. Below, the differences between the second embodiment and the first embodiment will be mainly described.

[0102] Similar to the first embodiment, the battery 6 of the second embodiment is detachable from the work machine 101. The battery 6 can be charged while detached from the work machine 101. As shown in FIG. 13, the battery 6 includes a control device 60B and a charge limiting device 50B in addition to a positioning device 40B and a communication device 45B.

[0103] The control device 60B includes a calculation unit (e.g., a CPU) and a storage unit (memory), and executes predetermined control based on a program stored in the storage unit. More specifically, the control device 60B controls the charge limiting device 50B based on signals from the monitoring device 100. The charge limiting device 50B is interposed in the electrical path from the charging terminal of the battery 6 to the battery pack. The charge control device 50B is a device with a switching function, and may be any device that can disconnect or connect the electrical path based on a control signal from the control device 60B. The charge limiting device 50B normally connects the electrical path and allows charging of the battery 6. When the control device 60B determines that the communication device 45B has received a charging limit signal (described later), it controls the charge limiting device 50B to disconnect the connected electrical path. This restricts charging of the unattached battery 6.

[0104] 14, in the monitoring device 100 of the second embodiment, the first monitoring unit 112 includes a charge limiting unit 112D instead of the notification unit 112A of the first embodiment. The charge limiting unit 112D is configured by an electric / electronic circuit provided in the monitoring device 100, a program stored in the monitoring device 100, etc. The charge limiting unit 112D transmits a charge limiting signal to the battery 6 based on whether the battery 6 is located within an area 150B defined for the battery 6. When the monitoring device 100 receives the location of the battery 6 transmitted by the communication device 45B of an unattached battery 6 (a replacement or used battery 6), the charge limiting unit 112D determines whether the battery 6 is located within the area 150B.

[0105] 8(b), when the battery 6 is being monitored, the charge limiting unit 112D does not transmit a charge limiting signal if the unattached battery 6 is located within the area 150B. This allows charging of the battery 6.

[0106] On the other hand, as shown in FIG. 8(c), it is assumed that the unattached battery 6 may deviate from the area 150B from the state shown in FIG. 8(b). In this case, the charge limiting unit 112D determines that the position of the unattached battery 6 is outside the area 150B and transmits a charge limiting signal to the battery 6. This causes the charge limiting device 50B to cut off the electrical path, thereby restricting charging of the battery 6. In this way, in the second embodiment, the battery 6 is monitored so that charging of the unattached battery 6 is restricted.

[0107] In this embodiment, a battery 6 is used as a package capable of storing an energy source, and charging is restricted, but instead, for example, a hydrogen tank, an LPG tank, or the like may be used. When using these tanks, if it is determined that the tank is not located in the area, refilling of the energy source (hydrogen, LPG, etc.) into the tank may be restricted. Restriction on refilling of the energy source may be implemented, for example, by using a valve-type actuator that closes the tank fill port based on a signal from the monitoring device 100.

[0108] [Third embodiment] In the second embodiment described above, when the battery 6 is being monitored and it is determined that an unattached battery 6 is located outside area 150B, charging of that battery 6 is restricted. Instead, the third embodiment differs from the first and second embodiments described above only in that when the battery 6 is being monitored and it is determined that a battery 6 attached to a work machine 101 is located outside area 150B, power supply from that battery 6 to the prime mover 4 is restricted. Below, the differences between the third embodiment and the first and second embodiments will be mainly described.

[0109] The battery 6 of the third embodiment is detachable from the work machine 101, as in the first embodiment. As shown in Fig. 15, when the battery 6 is attached to the work machine 101, it is capable of supplying power to the prime mover 4 (electric motor) of the work machine 101 and the like. The work machine 101 is equipped with a power supply limiting device 50 in addition to various devices.

[0110] The control device 60 of the work machine 101 controls the power feed limiting device 50 based on signals from the monitoring device 100, etc. The power feed limiting device 50 is installed in the electrical path from the power supply terminal of the battery 6 to the prime mover 4. The power feed limiting device 50 may be, for example, an inverter for controlling the rotation speed of the prime mover 4, or any device that can connect or disconnect the above electrical path based on a control signal from the control device 60. The power feed limiting device 50 normally connects the above electrical path and allows power to be fed from the battery 6 to the prime mover 4. When the control device 60 determines that the communication device 45A has received a power feed limiting signal (described later), it controls the power feed limiting device 50 to disconnect the connected electrical path. This limits the power feed from the attached battery 6 to the prime mover 4, and also limits the drive of the prime mover 4.

[0111] 16, in the monitoring device 100 of the third embodiment, the first monitoring unit 112 includes a power feed limiting unit 112E instead of the charge limiting unit 112D of the second embodiment. The power feed limiting unit 112E is configured by an electric / electronic circuit provided in the monitoring device 100, a program stored in the monitoring device 100, etc. The power feed limiting unit 112E transmits a power feed limit signal to the work machine 101 based on whether the battery 6 is located within an area 150B defined for the battery 6. When the monitoring device 100 receives the location of the battery 6 transmitted by the communication device 45B of the attached battery 6, the power feed limiting unit 112E determines whether the battery 6 is located within the area 150B.

[0112] 7(a), when the battery 6 is being monitored, the power supply limiting unit 112E does not transmit a power supply limiting signal if the attached battery 6 is located within the area 150B. This allows the battery 6 to supply power to the motor 4, enabling the motor 4 to be driven.

[0113] On the other hand, as shown in FIG. 7(b), it is assumed that the attached battery 6 may deviate from area 150B from the state shown in FIG. 7(a). In this case, the power feed limiting unit 112E determines that the position of the attached battery 6 is outside area 150B and transmits a power feed limiting signal to the work machine 101. As a result, the power feed limiting device 50 cuts off the above-mentioned electrical path, restricts the power feed from the battery 6 to the prime mover 4, and also restricts the driving of the prime mover 4. In this way, in the third embodiment, the battery 6 is monitored so that the power feed from the attached battery 6 to the prime mover 4 is restricted.

[0114] In this embodiment, a battery 6 is used as a package capable of storing an energy source, and charging is restricted, but instead, for example, a hydrogen tank, an LPG tank, or the like may be used. When using these tanks, if it is determined that the vehicle is not located in the designated area, the supply of the energy source (hydrogen, LPG, etc.) from the tank to the fuel cell, engine, etc. may be restricted. The supply of the energy source may be restricted, for example, by using a valve-type actuator that closes a path for supplying the energy source based on a signal from the monitoring device 100.

[0115] [Fourth embodiment] In the third embodiment described above, when the battery 6 is being monitored and it is determined that the attached battery 6 is located outside area 150B, the power supply from the battery 6 to the prime mover 4 is restricted. Instead, the fourth embodiment differs from the first, second, and third embodiments described above only in that when the battery 6 is being monitored and it is determined that the battery 6 attached to the work implement 101 is located outside area 150B, the attachment and detachment of the battery 6 to the work implement 101 is restricted. Below, the differences between the fourth embodiment and the first, second, and third embodiments will be mainly described.

[0116] The battery 6 of the fourth embodiment is detachable from the work machine 101, similar to the first embodiment. As shown in Figures 17 and 18, the battery 6 can be housed in a battery mounting section 19, which is equipped with a locking section 19d. The locking section 19d is provided on the edge of the opening 19b and is configured to lock the edge of the lid section 19c when the lid section 19c is closing the opening 19b. The locking section 19d is a locking actuator that can switch between an unlocked state and a locked state in response to a control signal from the control device 60.

[0117] As shown in Figure 18(a), in the unlocked state, lid portion 19c closes opening 19b (see Figure 18(b)), but locking portion 19d can release lid portion 19c from its locking position, and opening 19b can be exposed via flap-type operation of lid portion 19c. This allows battery 6 to be removed from and attached to storage portion 19a, enabling battery 6 replacement.

[0118] As shown in FIG. 18(b), in the locked state, with the lid portion 19c closing the opening 19b, the locking portion 19d maintains the locking of the lid portion 19c, restricting the flap-type operation of the closed lid portion 19c. Therefore, the opening 19b cannot be exposed. This restricts the insertion and removal of the battery 6. The locking portion 19d is normally in the unlocked state, allowing the insertion and removal of the battery 6. When the control device 60 determines that the communication device 45A has received an insertion and removal restriction signal (described later), it controls the locking portion 19d to enter the locked state. This restricts the insertion and removal of the battery 6.

[0119] 19, in the monitoring device 100 of the fourth embodiment, the first monitoring unit 112 includes a detachment restriction unit 112F instead of the power supply restriction unit 112E of the third embodiment. The detachment restriction unit 112F is configured by an electric / electronic circuit provided in the monitoring device 100, a program stored in the monitoring device 100, etc. The detachment restriction unit 112F transmits a detachment restriction signal to the work machine 101 based on whether the battery 6 is located within an area 150B defined for the battery 6. When the monitoring device 100 receives the location of the battery 6 transmitted by the communication device 45B of the attached battery 6, the detachment restriction unit 112F determines whether the battery 6 is located within the area 150B.

[0120] 7(a), when the battery 6 is being monitored, the attachment / detachment restricting unit 112F does not transmit the attachment / detachment restricting signal if the attached battery 6 is located within the area 150B. This allows the battery 6 to be attached / detached to / from the work machine 101, and makes it possible to replace the battery 6.

[0121] On the other hand, as shown in FIG. 7(b), it is assumed that the attached battery 6 may deviate from the area 150B from the state shown in FIG. 7(a). In this case, the attachment / detachment restricting unit 112F determines that the position of the attached battery 6 is outside the area 150B and transmits an attachment / detachment restricting signal to the work machine 101. As a result, the locking unit 19d, which is in the unlocked state, is put into the locked state, and the attachment / detachment of the battery 6 is restricted. In this way, in the fourth embodiment, the battery 6 is monitored so that the attachment / detachment of the attached battery 6 is restricted.

[0122] <Modification: Battery Monitoring Mode> In each of the above embodiments, the mode of monitoring the battery 6 is one selected from notification of the battery 6 (first embodiment), charging restriction of the battery 6 (second embodiment), power supply restriction of the battery 6 (third embodiment), and attachment / detachment restriction of the battery 6 (fourth embodiment). Alternatively, for example, two or more modes selected from notification of the battery 6, charging restriction, power supply restriction, and attachment / detachment restriction may be combined. In this case, the first monitoring unit 112 of the monitoring device 100 includes two or more selected from a notification unit 112A, a charging restriction unit 112D, a power supply restriction unit 112E, and an attachment / detachment restriction unit 112F.

[0123] <Summary> A monitoring system according to an embodiment of the present invention includes a monitoring device 100 having a battery 6 that stores an energy source for driving a work machine 101, an area setting unit 110 that sets an area 150B for the battery 6, and a first monitoring unit 112 that monitors the battery 6 by issuing a notification or restricting the battery 6 when the battery 6 is not located in the set area 150B. According to this, when the battery 6 is not located in the area 150B defined for the battery 6, a notification or restriction is issued. Therefore, the battery 6 can be easily monitored.

[0124] In the first embodiment described above, in particular, the battery 6 is detachable from the work implement 101, and the first monitoring unit 112 issues a notification of the battery 6 when the battery 6 that is not attached to the work implement 101 is not located in the set area 150B. This makes it possible to use notifications to expand the scope of monitoring to include batteries 6 that are not attached to the work implement 101, such as replacement batteries 6 and used batteries 6. The battery 6 can be easily and reliably monitored even when the battery 6 is left stationary in the field.

[0125] In particular, in the second embodiment, the battery 6 is detachable from the work implement 101, and the first monitoring unit 112 restricts charging of the battery 6 (supplement of the energy source) when the battery 6 is not attached to the work implement 101 and is not located in the set area 150B. This makes it possible to expand the scope of monitoring by using charging restrictions to include batteries 6 that are not attached to the work implement 101, such as replacement batteries 6 and used batteries 6. The battery 6 can be easily and reliably monitored even when it is left stationary in the field.

[0126] In particular, in the third embodiment, the battery 6 is detachable from the work machine 101, and the first monitoring unit 112 limits the power supply (supply of energy source) from the battery 6 to the prime mover 4 of the work machine 101 when the battery 6 attached to the work machine 101 is not located in the set area 150B. This makes it possible to expand the scope of monitoring to include the battery 6 attached to the work machine 101 by using the power supply limit. The battery 6 can be easily and reliably monitored even when it is attached to the work machine 101. Furthermore, when the power supply from the battery 6 is limited, the drive of the prime mover 4 is also limited, which can prevent the work machine 101 from being stolen.

[0127] In particular, in the above fourth embodiment, the battery 6 is detachable from the work machine 101, and the first monitoring unit 112 restricts the attachment and detachment of the battery 6 from the work machine 101 when the battery 6 attached to the work machine 101 is not located in the set area 150B. This makes it possible to expand the scope of monitoring to include batteries 6 attached to the work machine 101 by using attachment and detachment restrictions. The battery 6 can be easily and reliably monitored even when it is attached to the work machine 101. Furthermore, restricting the attachment and detachment of the battery 6 restricts replacement of the battery 6 when the remaining charge of the battery 6 runs out, which also helps to prevent theft of the work machine 101.

[0128] In particular, in each of the above embodiments, the battery 6 is detachable from the work machine 101 and can be delivered as a replacement battery 6 by a transporter T or the like from a delivery base when it is not attached to the work machine 101. The first monitoring unit 112 cancels monitoring when a battery 6 is transported to replace the battery 6 attached to the work machine 101, and starts monitoring when the replacement battery 6 is attached to the work machine 101 while monitoring is canceled. According to this, monitoring can be canceled, for example, when the replacement battery 6 is loaded onto a transporter T or the like from a delivery base located remotely from the field F and delivered to the field F. Furthermore, when the battery 6 is replaced in the field F and the used battery 6 is left standing in the field F, the canceled monitoring can be resumed. Therefore, it is possible to prevent erroneous detection when the replacement battery 6 is delivered, and it is possible to monitor the used battery 6.

[0129] In particular, in each of the above embodiments, the first monitoring unit 112 maintains monitoring when monitoring is started when the battery 6 is attached to the work implement 101, and cancels monitoring when a used battery 6 that is not attached to the work implement 101 is collected while monitoring is being maintained. This makes it possible to maintain monitoring of the used battery 6, for example, when the battery 6 is replaced in the field F and the used battery 6 is left standing in the field F. Also, monitoring can be canceled when the used battery 6 is loaded onto a transport vehicle T or the like in the field F to collect the battery 6, and the battery 6 is collected from the field F. Therefore, it is possible to maintain monitoring of the used battery 6 left standing in the field F, and prevent erroneous detection when the used battery 6 is collected.

[0130] In particular, in each of the above embodiments, the battery 6 attached to the work machine 101 is replaced so as to retain an energy source for maintaining monitoring of the battery 6. In this way, the battery 6 is replaced, and an energy source for maintaining monitoring (for driving the positioning device 40B, the communication device 45B, etc.) can be retained in the used battery 6 that is detached from the work machine 101. Therefore, monitoring of the used battery 6 can be maintained using only the battery 6's own energy source.

[0131] In particular, in each of the above embodiments, the monitoring device 100 includes a second monitoring unit 113 that monitors whether the work machine 101 is located within the area 150A. The area setting unit 110 sets the area 150B for the battery 6 based on the position of the work machine 101. The first monitoring unit 112 monitors the battery 6 when the second monitoring unit 113 has performed monitoring of the work machine 101. This allows the work machine 101 to be monitored in addition to the battery 6. Because the area 150B is set based on the position of the work machine 101, for example, when the battery 6 is to be replaced in the work machine 101 located in the field F, the area 150B can be set so that it includes the replacement location. Furthermore, when monitoring of the work machine 101 is performed, monitoring of the battery 6 can be automatically performed. Therefore, the battery 6 can be appropriately monitored while also monitoring the work machine 101.

[0132] 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]

[0133] 3: Body 4: Prime mover 6: Battery 19: Battery compartment 19d: Lock section 43i: Potential sensor 43k: Work equipment monitoring switch 40A: Positioning device 40B: Positioning device 45A:Communication equipment 45B:Communication equipment 50: Power supply limiting device 50B: Charge limiting device 60: Control device 60B: Control device 100: Monitoring device 101: Work equipment 101a: Agricultural machinery 101b: Working equipment 110: Area setting section 112: 1st Monitoring Department 112A:Notification section 112B: Monitoring start part 112C: Monitoring release section 112D: Charging limit unit 112E: Power supply limiting unit 112F: Removable part 113:Second Monitoring Department 113A:Notification section 150A: Area 150B: Area A: Area F: Field N1: Vehicle communication network R: Farm road

Claims

1. a storage device that stores an energy source for driving the work machine; a monitoring device including an area setting unit and a first monitoring unit, the area setting unit sets an area for the storage device, The first monitoring unit monitors whether the storage device is located in a set area, and if the storage device is not located in the set area, performs one of the following: notifying a stationary computer that the storage device is not located in the set area; blocking an electrical path to the storage device to restrict charging; restricting replenishment of an energy source to the storage device; blocking an electrical path from the storage device to an electric motor to restrict power supply; restricting the supply of an energy source from the storage device to the work machine; and restricting attachment and detachment of the storage device to the work machine. The storage device is It is detachable from the work machine and can be transported when not attached to the work machine, The first monitoring unit When a storage device to replace the storage device attached to the work machine is transported, the monitoring is canceled, and when the storage device to replace the storage device attached to the work machine is attached while the monitoring is canceled, the monitoring is started. Surveillance system.

2. 2. The monitoring system according to claim 1, The storage device is It is detachable from the work machine, The first monitoring unit When the storage device that is not attached to the work machine is not located in the set area, the storage device notifies a stationary computer that the storage device is not located in the set area. Surveillance system.

3. 2. The monitoring system according to claim 1, The storage device is It is detachable from the work machine, The first monitoring unit When the storage device that is not attached to the work machine is not located in the set area, replenishment of the energy source to the storage device is limited. Surveillance system.

4. 2. The monitoring system according to claim 1, The storage device is It is detachable from the work machine, The first monitoring unit When the storage device attached to the work machine is not located in the set area, the supply of the energy source from the storage device to the work machine is limited. Surveillance system.

5. 2. The monitoring system according to claim 1, The storage device is It is detachable from the work machine, The first monitoring unit When the storage device attached to the work machine is not located in the set area, the storage device is restricted from being attached to or detached from the work machine. Surveillance system.

6. 2. The monitoring system according to claim 1, The first monitoring unit When the monitoring is started, the monitoring is maintained, and when the storage device not attached to the work machine is transported while the monitoring is being maintained, the monitoring is canceled. Surveillance system.

7. 7. The monitoring system according to claim 6, The storage device attached to the work machine is The energy source for maintaining the monitoring is replaced so as to remain Surveillance system.

8. A storage device for storing an energy source for driving a work machine; a monitoring device including an area setting unit and a first monitoring unit, the area setting unit sets an area for the storage device, The first monitoring unit monitors whether the storage device is located in a set area, and if the storage device is not located in the set area, performs one of the following: notifying a stationary computer that the storage device is not located in the set area; blocking an electrical path to the storage device to restrict charging; restricting replenishment of an energy source to the storage device; blocking an electrical path from the storage device to an electric motor to restrict power supply; restricting the supply of an energy source from the storage device to the work machine; and restricting attachment and detachment of the storage device to the work machine. The monitoring device a second monitoring unit that monitors whether the work machine is located within the area; The area setting unit setting an area for the storage device based on the position of the work machine; The first monitoring unit When the second monitoring unit monitors the work machine, it monitors whether the storage device is located in a set area. Surveillance system.

9. 2. The monitoring system according to claim 1, The monitoring device a second monitoring unit that monitors whether the work machine is located within the area; The area setting unit setting an area for the storage device based on the position of the work machine; The first monitoring unit When the second monitoring unit monitors the work machine, it monitors whether the storage device is located in a set area. Surveillance system.

10. 7. The monitoring system according to claim 6, The monitoring device a second monitoring unit that monitors whether the work machine is located within the area; The area setting unit setting an area for the storage device based on the position of the work machine; The first monitoring unit When the second monitoring unit monitors the work machine, it monitors whether the storage device is located in a set area. Surveillance system.

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