Work machine monitoring device

Abstract

To provide a monitoring device for a work machine capable of surely monitoring the work machine.SOLUTION: A monitoring device 100 of a work machine 101 includes a first monitoring unit 100A for monitoring the work machine 101 based on position information of the work machine 101 positioned by using a position measuring satellite 102, and a second monitoring unit 100B for monitoring the work machine 101 based on observation information of the work machine 101 in a range of an observation area 150B observed by using an observation satellite 103. For example, in a situation in which monitoring using the position measuring satellite 102 is not suitable, the second monitoring unit 100B can be used in place of the first monitoring unit 100A or together with the first monitoring unit 100A. Therefore, even under various situations, the observation information of the observation area 150B can be obtained by using the observation satellite 103, and the work machine 101 can be reliably monitored based on the observation information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a monitoring device for a work machine including, for example, an agricultural machine, a construction machine, and the like. [Background technology]

[0002] Conventionally, the monitoring system disclosed in Patent Document 1 is known as a system for monitoring agricultural machinery and other work machines. The monitoring system of Patent Document 1 includes a first communication device and a second communication device. The first communication device is provided on the work machine and is capable of outputting a beacon. The second communication device is installed in a storage location for the work machine or the like and is capable of receiving the beacon from the first communication device. The second communication device has a monitoring unit that outputs an alarm to the outside when it stops receiving the beacon after having received it. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6401002 (Claim 5, etc.) Summary of the Invention

[0004] In the system of Patent Document 1, if the monitoring unit is unable to receive the beacon signal due to, for example, the work machine being moved from its storage location during monitoring, an alarm is sent to the outside. This is expected to prevent the theft of the work machine. However, in situations where monitoring using a beacon is not suitable, such as when radio wave conditions make it difficult to receive the beacon signal due to the presence of radio wave obstructions, it is difficult to reliably monitor the work machine.

[0005] Furthermore, instead of using beacons, it is also possible to monitor a work machine based on its position detected using a positioning satellite. In this case, a satellite signal from the positioning satellite is transmitted to a receiving device of the work machine. However, in situations where monitoring using a positioning satellite is not suitable, such as under radio wave conditions where it is difficult to accurately detect the vehicle's position due to the presence of radio wave obstructions, it is difficult to reliably monitor the work machine. For these reasons, a technology for reliably monitoring a work machine is desired.

[0006] SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to provide a monitoring device that can reliably monitor 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 work machine monitoring device of the present invention comprises a first monitoring unit that monitors the work machine based on position information of the work machine measured by a positioning satellite, and a second monitoring unit that monitors the work machine based on observation information of the work machine within an area observed by an observation satellite.

[0008] The monitoring device for a work machine of the present invention includes a monitoring selection section that selects either the first monitoring section or the second monitoring section and uses it to monitor the work machine.

[0009] In the work machine monitoring device of the present invention, the monitoring selection unit selects either the first monitoring unit or the second monitoring unit based on the radio wave intensity of the positioning satellite for positioning the work machine.

[0010] In the work machine monitoring device of the present invention, the second monitoring unit notifies or restricts the work machine when the observed area includes at least the work machine and the observation recognizes that the work machine is located outside the range of the area set for the work machine.

[0011] In the monitoring device for a work machine of the present invention, the work machine is provided with an identification unit that enables the work machine to be identified in the observation information used for monitoring by the second monitoring unit.

[0012] In the work machine monitoring device of the present invention, the second monitoring unit notifies or restricts the work machine when the observed area includes at least the work machine and the observation recognizes that the change in the position of the work machine over time is greater than a predetermined degree.

[0013] In the monitoring device for a work machine of the present invention, the work machine is provided with an identification unit that enables the work machine to be identified in the observation information used for monitoring by the second monitoring unit.

[0014] In the work machine monitoring device of the present invention, the second monitoring unit notifies or restricts the work machine when the observed area includes at least a farm field and the observation recognizes that the work machine has entered the farm field.

[0015] In the monitoring device for a work machine of the present invention, the work machine is not provided with a receiving unit for receiving radio waves from the positioning satellite. [Effects of the Invention]

[0016] According to the present invention, it is possible to reliably monitor a work machine. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is an overall view showing a monitoring system including a monitoring device for a work machine according to a first embodiment of the present invention. [Figure 2] 2 is a functional block diagram of electronic devices provided in the work machine (tractor) shown in FIG. 1. FIG. [Figure 3] 2 is a perspective view of a lifting device provided in the work machine (tractor) shown in FIG. 1. FIG. [Figure 4] 2 is a diagram showing an example of a setting screen displayed on a display unit of the computer shown in FIG. 1. FIG. [Figure 5] 2 is a diagram showing an example of area information set by a first area setting unit of the monitoring device shown in FIG. 1. FIG. [Figure 6] 2 is a diagram showing an example of an area set corresponding to the work machine of FIG. 1, and a state in which the work machine is located inside and outside the area. FIG. [Figure 7] 2 is a diagram showing an example of a setting screen displayed on a display unit of the computer shown in FIG. 1. FIG. [Figure 8] 2 is a diagram showing an example of a setting screen displayed on a display unit of the computer shown in FIG. 1. FIG. [Figure 9] 2 is a diagram showing an example of an observation area setting unit of the monitoring device shown in FIG. 1 and area information set by the monitoring area setting unit. FIG. [Figure 10] 2 is an image of an observation area displayed on the display unit of the computer shown in FIG. 1, showing a state in which an identification unit is located inside and outside the monitoring area. [Figure 11] 3 is a flowchart showing the flow of monitoring of a work machine by the monitoring device shown in FIG. 1. [Figure 12] 10 is an image of an observation area showing a change over time in the position of an identification part, displayed on a display unit of a computer in a monitoring system including a monitoring device for a work machine according to a second embodiment of the present invention. [Figure 13] 10 is a flowchart showing the flow of monitoring a work machine by a work machine monitoring device according to a second embodiment of the present invention. [Figure 14] FIG. 11 is a diagram showing an example of a setting screen displayed on a display unit of a computer in a monitoring system including a monitoring device for a work machine according to a third embodiment of the present invention. [Figure 15] 10 is an image of an observation area that indicates whether or not there is a change in an image of a farm field, displayed on a computer display unit in a monitoring system that includes a monitoring device for a work machine according to a third embodiment of the present invention. [Figure 16] 10 is a flowchart showing the flow of monitoring a work machine by a work machine monitoring device according to a third embodiment of the present invention. [Figure 17] FIG. 2 is a side view of the work machine shown in FIG. [Figure 18]FIG. 2 is a top view of the work machine shown in 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] <Monitoring system> 1 is a schematic diagram of an entire monitoring system S equipped with a monitoring device 100 according to an embodiment of the present invention. In addition to the monitoring device 100, the monitoring system S has a positioning satellite 102, an observation satellite 103, a base station 104, and a terminal 105. In the monitoring system S, the monitoring device 100, the work machine 101, the base station 104, and the terminal 105 are capable of information communication via a communication network N.

[0020] The monitoring device 100 is a device that monitors a work machine 101. 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. 17). The monitoring device 100 and the terminal 105 are, for example, a stationary computer such as a server, or a portable computer such as a smartphone, tablet, or laptop. In this embodiment, the explanation will proceed assuming that the monitoring device 100 is a server and the terminal 105 is a stationary computer. Note that the work machine 101 may be a construction machine or the like instead of the agricultural machine 101a.

[0021] The positioning satellite 102 is a satellite that supports satellite positioning systems such as D-GPS, GPS, GLONASS, Beidou, Galileo, and Michibiki. The positioning satellite 102 transmits a satellite signal to the work implement 101 via radio wave oscillation toward the Earth's surface. Based on this satellite signal, the position of the work implement 101 on the Earth's surface can be determined. Positioning information of the work implement 101 is transmitted from the work implement 101 to the monitoring device 100.

[0022] The observation satellite 103 is an artificial satellite for observing the Earth's surface, such as an information gathering satellite, a weather observation satellite, or a commercial satellite. The observation satellite 103 is capable of observing the Earth's surface in various wavelength regions, such as radio waves, infrared light, and visible light. The observation satellite 103 acquires observation data (observation information) of the Earth's surface in a predetermined area using, for example, a synthetic aperture radar or an optical sensor. The acquired observation data is transmitted from the observation satellite 103 to the monitoring device 100 via the base station 104. Meanwhile, instruction signals related to observation by the monitoring device 100 are also transmitted to the observation satellite 103 via the base station 104. The observation satellite 103 acquires observation data of the Earth's surface in a predetermined area in response to instructions from the monitoring device 100.

[0023] In the monitoring system S, positioning information from positioning satellites 102 and observation information from observation satellites 103 are collected in a monitoring device 100. Based on this information, the monitoring device 100 can send information related to the monitoring of a work machine 101 to a terminal 105.

[0024] <Work equipment> 17 and 18 are a side view and a top 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 a driver seated in the driver's seat 10 of the tractor will be referred to as the front, the rear side of the driver as the rear, the left side of the driver as the left side, and the right side of the driver 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.

[0025] As shown in FIG. 17, the tractor comprises a body 3, a prime mover 4, and a transmission 5. 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. The prime mover 4 is a diesel engine, an electric motor, or the like, and in this embodiment is configured as a diesel engine. The transmission 5 can change the propulsive force of the traveling device 7 by changing the speed, and can also switch the traveling device 7 between forward and reverse travel. A driver's seat 10 is provided at the rear of the body 3. A steering wheel 11 is provided in front of the driver's seat 10.

[0026] 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.

[0027] As shown in FIG. 18 , a cabin 9 is provided at the upper rear of the vehicle body 3, between the left and right rear wheels 7R. A driver's seat 10 is provided inside the cabin 9 and is covered from above by a roof 9a of the cabin 9. The roof 9a is formed so that its outer top surface faces upward. An identification portion 9b is provided over the entire outer top surface of the roof 9a. The identification portion 9b enables the work implement 101 to be identified from the ground surface in observation using an observation satellite 103. For example, in an observation image of an area including the work implement 101, an image corresponding to the identification portion 9b can be identified from an image corresponding to the ground surface. More specifically, the identification portion 9b may have, for example, a pattern or color that is optically different from the pattern or color of the ground surface (such as the surface of a farm field or road). The identification portion 9b may also be a two-dimensional code that can store information.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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 the 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 34. The lift cylinder 8e is switched between an engaged state and a disengaged state depending on the opening of the control valve 34. The control valve 34 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 deenergizing the solenoid of the solenoid valve. When the control valve 34 is in the engaged state, the lift cylinder 8e is driven (extends and retracts) by the hydraulic pump, and when the control valve 34 is in the disengaged state, the drive of the lift cylinder 8e is restricted (locked).

[0035] 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.

[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 positioning satellites 102. That is, the positioning device 40A receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellites 102, and detects its position (e.g., latitude and longitude) based on the satellite signals. The positioning device 40A has a receiving device 41 and an inertial measurement unit (IMU) 42.

[0037] The receiving device 41 has an antenna and the like, and is a device that receives satellite signals transmitted from positioning satellites. The receiving device 41 is attached to the vehicle body 3 separately from the inertial measurement unit 42. In this embodiment, the receiving device 41 is attached to a cabin 9 provided in the vehicle body 3, and is configured to be able to receive radio waves of two frequencies (for example, the 1575.42 MHz band and the 1227.60 MHz band) from the positioning satellite 102. The receiving device 41 is provided with a radio wave intensity sensor 43i (described later), which is capable of detecting the radio wave intensity I received by the receiving device 41. Note that the attachment location of the receiving device 41 and the band of the received radio waves are not limited to those described in the embodiment. The form of the radio wave intensity sensor 43i is also arbitrary as long as it can detect the radio wave intensity I.

[0038] 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.

[0039] 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 is capable of communicating with an external communication network N 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, such as LTE (Long Term Evolution), a fourth- or fifth-generation communication system, etc. The communication device 45A transmits the vehicle position (tractor position) detected by the positioning device 40A to the monitoring device 100. The communication device 45A also transmits to the monitoring device 100 the radio wave intensity I that was sent from the positioning satellite 102 to the receiving device 41 and detected.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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 34 to extend the lift cylinder 8e and raise the rear end of the lift arm 8a (the end on the implement 101b side). 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 34 to contract the lift cylinder 8e and lower the rear end of the lift arm 8a (the end on the implement 101b side).

[0047] When the positioning device 40A is activated, the control device 60 calculates the radio wave intensity I received by the receiving device 41 based on the detection signal of the radio wave intensity sensor 43i. The control device 60 transmits a signal corresponding to the radio wave intensity I to the communication device 45A via the in-vehicle communication network N1.

[0048] <Monitoring device> 1, the monitoring device (server) 100 includes a first monitoring unit 100A, a second monitoring unit 100B, and a monitoring selection unit 100C. Below, the first monitoring unit 100A, the second monitoring unit 100B, and the monitoring selection unit 100C will be described in detail in this order.

[0049] <<First monitoring section>> The first monitoring unit 100A monitors the work machine 101 based on position information of the work machine 101 measured by a positioning satellite 102 capable of measuring the position of an object on the Earth's surface. The first monitoring unit 100A includes a first area setting unit 110A, a first storage device 111A, and a first notification unit 112A. The first area setting unit 110A and the first notification unit 112A are each composed of an electric / electronic circuit provided in the monitoring device 100, a program stored in the monitoring device 100, etc. The first storage device 111A is composed of a non-volatile memory, etc.

[0050] The first area setting unit 110A sets an area 150A for the work machine 101. Specifically, as shown in Fig. 1, a stationary computer 105 different from the monitoring device 100 is connected to the monitoring device 100, and 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. 4. Note that in this embodiment, the computer 105 is a stationary computer, but it may also be a portable computer such as a smartphone, tablet, or laptop computer.

[0051] 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, and a distance input section 124 for inputting a distance. The work implement input section 121 is configured to allow input of identification information for identifying the work implement 101. Various information such as the serial number, name, model number, type, and manufacturing number of the work implement 101 can be input as the identification information. The map display section 122 displays a map including work sites such as roads, farm roads, and fields, buildings, etc. The map may be, for example, a map obtained from a map provider that provides map data, or a map created by a stationary computer 105 or the like, but is not limited thereto. The map is a two-dimensional map viewed from above the ground surface, and it is possible to select an area by scanning and to zoom in and out of the selected area by operating the computer 105, etc. In this embodiment, the position of the work implement 101 is known in advance, and the range of the map is selected to be around the position of the work implement 101 so as to include the work implement 101. Therefore, although the work implement 101 is not displayed on the map display unit 124, the work implement 101 actually exists on the ground surface corresponding to the displayed map.

[0052] By inputting the work implement identification information, center O1, and distance L1 on the setting screen M1, the area 150A for the work implement 101 can be set. 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 first area setting unit 110A sets the area surrounded by the multiple positions (points) as the area 150A.

[0053] As shown in Fig. 5, the area information (work machine identification information, information indicating area 150A) set by first area setting unit 110A is stored in first storage device 111A. Note that the area information shown in Fig. 5 is an example and is not limited thereto.

[0054] The first notification unit 112A notifies the work machine 101 based on whether the work machine 101 is located within an area 150A defined for the work machine 101. As shown in FIG. 6(a), it is assumed that an area 150A is defined for a tractor T. A center O1 and a distance L1 are set for this area 150A so that the garage G is located at the center. When the first monitoring device 100A receives the vehicle body position (the position of the tractor T) transmitted by the communication device 45A, the first notification unit 112A determines whether the vehicle body position is within the area 150A.

[0055] As shown in FIG. 6(a), when the first monitoring unit 100A is monitoring the work machine 101, the first notification unit 112A does not issue a notification if the vehicle body position is within the area 150A (for example, the position of the garage G). On the other hand, as shown in FIG. 8(b), when the first monitoring unit 100A is monitoring the work machine 101, for example, the tractor T may be moved from the garage G, and the position of the tractor T may deviate from the area 150A. In this case, the first notification unit 112A determines that the vehicle body position is outside the area 150A and notifies the installed computer 105 or the like that "tractor T has left the area 150A." In other words, the first notification unit 112A monitors the work machine 101 by notifying the installed computer 105 or the like of whether the work machine 101 is in the area 150A defined for that work machine 101. Furthermore, if the work machine 101 is outside the area 150A for a long period of time, it can be determined that the work machine 101 may have been stolen, and theft of the work machine 101 can be prevented by monitoring the work machine 101.

[0056] <<Second Monitoring Department>> The second monitoring unit 100B monitors the work machine 101 based on observation information of the work machine 101 within the range of an area monitored by an observation satellite 103 that can observe the Earth's surface. In this embodiment, the second monitoring unit 100B notifies the work machine 101 when the observed area (observation area 150B) includes at least the work machine 101 and the observation recognizes that the work machine 101 is located outside the range of an area (monitoring area 150C) set for the work machine 101. Note that instead of notifying the work machine 101, restrictions on the work machine 101 may be implemented. As an example of restricting the work machine 101, an instruction signal may be remotely sent to the control device 60 to prevent the prime mover 4 of the work machine 101 from starting.

[0057] The second monitoring unit 100B includes an observation area setting unit 110B, a monitoring area setting unit 111B, a second storage device 112B, an observation instruction unit 113B, and a second notification unit 114B. The observation area setting unit 110B, the monitoring area setting unit 111B, the observation instruction unit 113B, and the second notification unit 114B are each composed of an electric / electronic circuit provided in the monitoring device 100, a program stored in the monitoring device 100, etc. The second storage device 112B is composed of a non-volatile memory, etc.

[0058] The observation area setting unit 110B sets the observation area 150B of the Earth's surface for observation satellite 103 and the period t for acquiring observation data. Specifically, as shown in Fig. 1, when computer 105 is connected to monitoring device 100 and a predetermined operation is performed on installed computer 105, a setting screen M2 is displayed on display unit 105A as shown in Fig. 7.

[0059] The setting screen M2 includes a map display unit 125 that displays a map, and an observation timing input unit 126. The map displayed on the map display unit 125 may be the same as the map set on the setting screen M1 described above, or it may be different. In this embodiment, the map display unit 125 displays the same map as the map set on the setting screen M1. Therefore, although the work implement 101 is not displayed on the map display unit 125, the work implement 101 is actually present on the ground surface corresponding to the displayed map. The observation timing input unit 126 allows the user to input the observation data acquisition period t.

[0060] Observation area setting unit 110B determines latitudes and longitudes LA1·LO1, LA2·LO2, LA3·LO3, and LA4·LO4 that correspond to the four corners of the map displayed on map display unit 125. A rectangular area defined by the determined latitudes LA1 to LA4 and longitudes LO1 to LO4 is set as observation area 150B. Observation area setting unit 110B also stores the determined latitudes LA1 to LA4 and longitudes LO1 to LO4 from map display unit 125, and the period t input to observation timing input unit 126, in second storage device 112B (see FIG. 9).

[0061] After the map display on setting screen M2 and input into observation timing input section 126 are completed, setting screen M3 is displayed on display unit 105A. As shown in Fig. 8, setting screen M3 includes a map display section 127 that displays a map, a pointer 128 for selecting any point on the map, and a distance input section 129 for inputting a distance. The map corresponding to observation area 150B set on setting screen M2 continues to be displayed on map display section 127.

[0062] The monitoring area setting unit 111B sets the monitoring area 150C for the work machine 101. By inputting the center O2 and distance L2 on the setting screen M3, the monitoring area 150C for the work machine 101 can be set. For example, a two-dimensional coordinate system may be constructed with one of the four corners (for example, the bottom left corner) of the map display unit 127 as the origin O, the horizontal axis X, and the vertical axis Y, and the outline of the monitoring area 150C may be defined based on the coordinates (X2, Y2) corresponding to the center O2 in the coordinate system. In this case, the outline of the monitoring area 150C is (X-X2) 2 +(Y-Y2) 2 =(L2) 2 In the above-described embodiment, the center of the monitoring area 150C is selected by the pointer 128, but the pointer 128 may be configured to select multiple positions (points) on the map. In this case, the monitoring area setting unit 111B sets the area surrounded by the multiple positions (points) as the monitoring area 150C. In this embodiment, the position of the center O2 is the same as the position of the center O1 set above, but may be different. The length of the distance L2 is the same as the length of the set distance L1 above, but may be different.

[0063] As shown in FIG. 9, information about the monitoring area 150C set by the monitoring area setting unit 111B (center O2, coordinates (X2, Y2), distance L2) is stored in the second storage device 112B. Note that the information about the observation area 150B and the monitoring area 150C shown in FIG. 9 is an example and is not limiting.

[0064] The observation instruction unit 113B reads the latitudes LA1-LA4, longitudes LO1-LO4, and period t stored in the second storage device 112B and transmits this information as an instruction signal to the base station 104 via the communication network N. The instruction signal is transmitted from the base station 104 to the observation satellite 103, which then captures and acquires images of the Earth's surface in a rectangular area defined by the four latitude and longitude points LA1-LO1, LA2-LO2, LA3-LO3, and LA4-LO4 at the set period t. The captured observation data of the Earth's surface is sequentially transmitted from the observation satellite 103 to the monitoring device 100 via the base station 104 each time it is acquired, i.e., at each period t. The observation data is then sequentially stored in the second storage device 112B.

[0065] 9, the second notification unit 114B converts each piece of observation data sequentially transmitted to the monitoring device 100 into an image. The image is displayed in a shape corresponding to the rectangular section, and a two-dimensional coordinate system with one of the four corners (for example, the lower left corner) as the origin O, the horizontal axis X, and the vertical axis Y is fitted to the image. Then, by performing predetermined image processing such as binarization on the image, the position corresponding to the identification part 9b of the tractor T (roof 9a) is identified, and the position of the tractor T is assigned coordinates (X1, Y1) in the two-dimensional coordinate system.

[0066] The second notification unit 114B detects that the coordinates (X1, Y1) of the recognition unit 9b are aligned with the outline ((X-X2)) of the monitoring area 150C having the coordinates (X2, Y2) as the center O2 in the two-dimensional coordinate system. 2 +(Y-Y2) 2 =(L2) 2 10(a), when the second monitoring device 100B receives observation data transmitted by the observation satellite 103 at every period t, the second notification unit 112B sequentially assigns coordinates (X1, Y1) to the position of the identification unit 9b through image conversion and image processing, and determines whether the coordinates (X1, Y1) in the two-dimensional coordinate system are within the contour of the monitoring area 150C.

[0067] As shown in FIG. 10(a), when the second monitoring unit 100B is monitoring the work machine 101, the second notification unit 112B calculates (X1-X2) 2 +(Y1-Y2) 2 ≦(L2) 2 If the relationship is as follows, the position of the identification unit 9b is determined to be within the contour of the monitoring area 150C (for example, the position of the center O2 corresponding to the garage G), and no notification is made. On the other hand, as shown in FIG. 10(a), when the second monitoring unit 100B is monitoring the work machine 101, for example, the tractor T may be moved from the garage G, and the position of the tractor T may deviate from the contour of the monitoring area 150C. In this case, the second notification unit 114B determines (X1-X2) 2 +(Y1-Y2) 2 >(L2) 2 Taking this relationship into account, if the position of the identification unit 9b is determined to be outside the contour of the monitoring area 150C, the stationary computer 105 or the like is notified that "tractor T has left the monitoring area 150C." In other words, the second notification unit 114B monitors the work machine 101 by notifying the stationary computer 105 or the like whether or not the work machine 101 is in the area monitoring area 150C defined for that work machine 101. If the work machine 101 is outside the monitoring area 150C for a long period of time, it can be determined that the work machine 101 may have been stolen, and by monitoring the work machine 101, the theft of the work machine 101 can be prevented.

[0068] <<Monitoring selection section>> The monitoring selection unit 100C selects one of the first monitoring unit 100A and the second monitoring unit 100B based on the radio wave intensity I of the positioning satellite 102 for positioning the working machine 101. The monitoring selection unit 100C is respectively constituted by an electric and electronic circuit provided in the monitoring device 100, a program stored in the monitoring device 100, etc. When the monitoring device 100 receives the radio wave intensity I transmitted by the communication device 45A, the monitoring selection unit 100C selects monitoring as follows. In the present embodiment, when the radio wave intensity I is smaller than the threshold value Ith, the monitoring of the working machine 101 by the first monitoring unit 100A is restricted while the monitoring of the working machine 101 by the second monitoring unit 100B is permitted. On the contrary, when the radio wave intensity I is greater than or equal to the threshold value Ith, the monitoring of the working machine 101 by the first monitoring unit 100A is permitted while the monitoring of the working machine 101 by the second monitoring unit 100B is restricted.

[0069] Here, the threshold value Ith is the minimum value of the radio wave intensity I at which the vehicle position can be accurately detected by the positioning device 40A. That is, when the reception state of the radio wave by the receiving device 41 from the positioning satellite 102 is in the relationship of I < Ith, it can be said that it is difficult to accurately detect the vehicle position. In this case, the monitoring selection unit 100C selects the monitoring of the working machine 101 by the second monitoring unit 100B using the observation satellite 103. On the other hand, when in the relationship of I ≧ Ith, it can be said that the vehicle position can be accurately detected. In this case, the monitoring selection unit 100C selects the monitoring of the working machine 101 by the first monitoring unit 100A using the positioning satellite 102.

[0070] <Actual operation> FIG. 11 is a flowchart showing the operation of the monitoring device 100. The positioning satellite 102 and the observation satellite 103 are each constantly driven, and it is assumed that the monitoring device 100, the working machine 101, the base station 104, and the computer 105 are already connected to the communication network N and can communicate information (see FIG. 1).

[0071] Via setting screens M1 to M3 displayed on the computer 105, the first area setting unit 110A sets the area 150A of the work machine 101, the observation area setting unit 110B sets the observation area 150B of the earth's surface by the observation satellite 103 and the period t for acquiring observation data, and the monitoring area setting unit 111B sets the monitoring area 150C for the work machine 101 (S1).

[0072] The radio wave intensity I of the satellite signal of the positioning satellite 102 is transmitted from the work implement 101 to the monitoring device 100 (S2), and the monitoring selection unit 100C determines whether I≧Ith (S3). If the determination in step S3 is "Yes," the monitoring selection unit 100C selects monitoring by the first monitoring unit 100A using the positioning satellite 102, and the body position of the tractor T, which has been positioned using the positioning satellite 102, is transmitted to the monitoring device 100 (S4). Based on the transmitted body position of the tractor T and the set area 150A, the first notification unit 112A determines whether the body position of the tractor T is outside the area 150A (S5).

[0073] If the determination in step S5 is "No," the first notification unit 112A does not issue a notification (see FIG. 6(a)). On the other hand, if the determination in step S5 is "Yes," the first notification unit 112A determines that the tractor T is outside the area 150A, and notifies the computer 105 that "the tractor T has left the monitoring area 150C" (S6) (see FIG. 6(b)).

[0074] If the determination in step S3 is "No," the monitoring selection unit 100C determines that it is difficult to detect the vehicle position with high accuracy, and selects monitoring by the second monitoring unit 100B using the observation satellite 103. The observation instruction unit 113B sends an instruction signal based on the set observation area 150B and period t to the observation satellite 103 via the base station 104 (S7). Observation data corresponding to the observation area 150B, including the tractor T, is acquired from the observation satellite 103 every period t (S8), and the acquired observation data is sequentially transmitted to the monitoring device 100 (S9).

[0075] The transmitted observation data is subjected to image conversion and image processing by the second notification unit 114B, and it is determined whether the position of the identification unit 9b is within the outline of the monitoring area 150C. More specifically, the second notification unit 114B assigns the coordinates (X1, Y1) of the position of the identification unit 9b, the coordinates (X2, Y2) of the center O2, and the distance L2 in the two-dimensional coordinate system, respectively, and the coordinates (X1-X2) of the position of the identification unit 9b correspond to the area outside the outline of the monitoring area 150C. 2 +(Y1-Y2) 2 >(L2) 2 It is determined whether or not the relationship is as follows (S10).

[0076] If the determination in step S10 is "No," the second notification unit 114B does not issue a notification (see FIG. 10(a)). On the other hand, if the determination in step S10 is "Yes," the second notification unit 114B determines that the tractor T is outside the contour of the monitoring area 150C, and notifies the computer 105 that "the tractor T has left the monitoring area 150C" (S11) (see FIG. 10(b)).

[0077] [Second embodiment] In the first embodiment described above, a monitoring area 150C is set, and when the second notification unit 114B determines that the position of the identification unit 9b of the tractor T is outside the contour of the monitoring area 150C, a notification is issued. In the monitoring device 100 according to the second embodiment of the present invention, when the second monitoring unit 100B recognizes through observation that the change over time in the position of the identification unit 9b of the tractor T is greater than a predetermined degree, a notification of the work implement 101 is issued. The second embodiment differs from the first embodiment only in this respect. The following describes the differences between the second embodiment and the first embodiment. Note that in the second embodiment, instead of notification of the work implement 101, restrictions on the work implement 101 similar to those described in the first embodiment may be implemented.

[0078] 12, the second notification unit 114B identifies a position corresponding to the recognition unit 9b and assigns coordinates (X1, Y1) in a two-dimensional coordinate system. In the two-dimensional coordinate system, the change in the position of the coordinates (X1, Y1) can be obtained as a trajectory from each piece of observation data acquired at the set period t. The second notification unit 114B obtains the change over time in the position of the recognition unit 9b based on this trajectory of the coordinates (X1, Y1).

[0079] More specifically, for example, using coordinates (X1, Y1) in the observation data at time θ=θ0 as a reference point, a moving distance D1 is determined based on coordinates (X1, Y1) in the observation data at time θ=θ0+t, when a period t has elapsed since θ0. Furthermore, a moving distance D2 is determined based on coordinates (X1, Y1) in the observation data at time θ=θ0+2t, when a period 2t has elapsed since θ0. In this manner, moving distances D1[θ=θ0+t], D2[θ=θ0+2t], . . . , Dn[θ=θ0+nt] are sequentially determined. Then, a change over time dD / dθ is determined based on each of the determined moving distances D1 to Dn and the following equation (1). Here, the value n is a natural number and may be adjusted as appropriate depending on the sensitivity of the change. For example, the value n may be adjusted so that it is larger as the period t becomes shorter.

[0080] dD / dθ=(D1+D2+···+Dn) / (n*t)···(1)

[0081] The second notification unit 114B issues a notification to the work implement 101 based on whether the determined change over time dD / dθ is within the threshold value (dD / dθ)th. If the change over time dD / dθ is large, there is a high possibility that the work implement 101 will move farther away from a storage location such as a garage G or a location where the work implement 101 should be located. In order to issue a notification in this case, the above-mentioned determination is made.

[0082] Here, the threshold value (dD / dθ)th is the minimum value of the change in dD / dθ over time at which the work implement 101 will not move far away from its current position in the future. An example of "not moving far away from its current position in the future" is an event in which, over a predetermined period of time, the work implement 101 moves to a distance equal to or less than distance L2 from the center O2 of the monitoring area 150C in the first embodiment. That is, when the relationship dD / dθ≦(dD / dθ)th holds, it is determined that there is little likelihood that the work implement 101 will move far away, and no notification is issued. On the other hand, when the relationship dD / dθ>(dD / dθ)th holds, it is determined that there is a high likelihood that the work implement 101 will move far away, and a notification that "the tractor T is moving fast" is sent to the stationary computer 105 or the like.

[0083] 13, in the flowchart showing the operation of the second embodiment, instead of step S1 in FIG. 11, the area 150A of the work machine 101 is set by the first area setting unit 110A via setting screens M1 and M2 displayed on the computer 105, and the observation area setting unit 110B sets the observation area 150B of the Earth's surface by the observation satellite 103 and the period t for acquiring observation data (S12). Then, immediately after step S9, the second notification unit 114B determines the change over time dD / dθ (S13), and then, instead of step S10 in FIG. 11, it is determined whether the change over time dD / dθ is greater than a threshold value (dD / dθ)th (S14).

[0084] If the determination in step S14 is "No", no notification is made. If the determination in step S14 is "Yes", instead of step S11 in FIG. 11, the second notification unit 114B determines that there is a high possibility that the work implement 101 will move farther away, and notifies the computer 105 that "the tractor T is moving fast" (S15) (see FIG. 12). Note that in FIG. 13, steps that are the same as those shown in FIG. 11 are given the same reference numerals, and explanations of their operations will be omitted.

[0085] [Third embodiment] In the second embodiment, the change over time dD / dθ in the position of the identification unit 9b is determined, and if the second notification unit 114B determines that the change over time dD / dθ is greater than the threshold value (dD / dθ)th, a notification is issued. In the monitoring device 100 according to the third embodiment of the present invention, the observed area includes at least the field F, and if the second monitoring unit 100B recognizes through observation that the work implement 101 has entered the field F, a notification of the work implement 101 is issued. The third embodiment differs from the first and second embodiments only in this respect. The following describes the differences between the third embodiment and the first and second embodiments. Note that in the third embodiment, instead of notification of the work implement 101, restrictions on the work implement 101 similar to those described in the first and second embodiments may be implemented.

[0086] As shown in FIG. 14, the monitoring area setting unit 111B sets the area of ​​the field F in a two-dimensional coordinate system via the setting screen M3. The area may be set by determining coordinates at the ends of the sections of the field F and connecting these coordinates. In this embodiment, for example, if the shape of the field F is rectangular, the coordinates of points F1, F2, F3, and F4 corresponding to the four corners are determined by operating the pointer 128. The determined coordinates of points F1 to F4 are stored in the second storage device 112B. Furthermore, in this embodiment, the range of the map set by the observation area setting unit 110B via the setting screen M2 is set by knowing the position of the field F in advance, and selecting a range around the position of the field F so as to include the field F.

[0087] As shown in FIG. 15, the second notification unit 114B converts each piece of observation data sequentially sent to the monitoring device 100 into an image and fits a two-dimensional coordinate system to the image. Then, in the image, the area surrounded by points F1 to F4 is used as an image of the field F for determining notification of the work implement 101. More specifically, for example, the second notification unit 114B performs machine learning of an image of the field F each time, using images of the observation area 150B generated at each period t. As shown in FIG. 15(a), an image in which the tractor T has not entered the field F and there is almost no change in the state recognized from the image of the field F is used as training data. The second notification unit 114B compares the results of the machine learning with the latest image of the field F to determine whether there has been a change in the state recognized from the image of the field F.

[0088] Here, a change in the image of the field F may be, for example, due to the formation of ruts FA by the tractor T, as shown in FIG. 15(b). If the tractor T enters the field F unintentionally, separate from its intended work, there is a high possibility that ruts FA that can be recognized in the image will be formed. For this reason, if there is no change in the image of the field F, it is determined that the tractor T has not entered the field F, and no notification is made. On the other hand, if there is a change in the image of the field F, it is determined that the tractor T has entered the field F, and a notification that "the tractor T has entered the field F" is sent to the stationary computer 105 or the like.

[0089] 16, in the flowchart showing the operation of the third embodiment, instead of step S12 in FIG. 13, the first area setting unit 110A sets the area 150A of the work implement 101 via setting screens M1 to M3 displayed on the computer 105, the observation area setting unit 110B sets the observation area 150B of the Earth's surface by the observation satellite 103 and the period t for acquiring observation data, and the monitoring area setting unit 111B sets the area of ​​the field F (S16). Then, immediately after step S9, instead of step S13 in FIG. 13, the second notification unit 114B performs machine learning on the image of the field F (S17), and then, instead of step S14 in FIG. 13, the learning results for the image of the field F are compared with the latest image of the field F to determine whether there has been a change in the image of the field F (S18).

[0090] If the determination in step S18 is "No", no notification is made (see FIG. 15(a)). If the determination in step S18 is "Yes", instead of step S15 in FIG. 13, the second notification unit 114B determines that there is a high possibility that the work implement 101 has entered the field F and notifies the computer 105 that "the tractor T has entered the field F" (S19) (see FIG. 15(b)). Note that in FIG. 16, steps that are the same as those shown in FIGS. 11 and 13 are given the same reference numerals, and explanations of their operations will be omitted.

[0091] In the embodiment described above, the area 150A of the work machine 101 is set in the first area setting unit 110A (setting screen M1), and then the observation area 150B and the cycle t for acquiring observation data are set in the setting screens M2 and M3. Alternatively, the observation area 150B may be set automatically without inputting setting values ​​in the setting screens M2 and M3. For example, the observation area setting unit 110B refers to the area 150A set in the first area setting unit 110A (setting screen M1), automatically sets the surrounding area including the area 150A as the observation area 150B, and determines the cycle t to a preset value.

[0092] Alternatively, the observation area setting unit 110B (setting screens M2, M3) may set the observation area 150B to be the same area as the area 150A of the work machine 101. For example, when the observation area setting unit 110B sets the observation area 150B, the first area setting unit 110A refers to the observation area 150B and automatically sets the area including the observation area 150B as the area 150A.

[0093] [summary] The monitoring device 100 for the work machine 101 includes a first monitoring unit 100A that monitors the work machine 101 based on position information of the work machine 101 measured by a positioning satellite 102, and a second monitoring unit 100B that monitors the work machine 101 based on observation information of the work machine 101 within an observation area 150B observed by an observation satellite 103. This makes it possible to use the second monitoring unit 100B, which monitors using the observation satellite 103, depending on the situation.

[0094] For example, in a situation where monitoring using the positioning satellite 102 is not suitable, the second monitoring unit 100B can be used in place of or together with the first monitoring unit 100A. Therefore, even under various circumstances, observation information of the observation area 150B can be obtained by using the observation satellite 103, and the work machine 101 can be reliably monitored based on the observation information.

[0095] The monitoring device 100 for the work machine 101 is equipped with a monitoring selection unit 100C that selects either the first monitoring unit 100A or the second monitoring unit 100B to use for monitoring the work machine 101. This makes it possible to selectively use the first monitoring unit 100A, which monitors using a positioning satellite 102, and the second monitoring unit 100B, which monitors using an observation satellite 103, depending on the situation. For example, in a situation where monitoring using a positioning satellite 102 is not suitable, monitoring can be performed using only the second monitoring unit 100B. On the other hand, in a situation where monitoring using an observation satellite 103 is not suitable, monitoring can be performed using only the first monitoring unit 100A.

[0096] Here, as the "situation where monitoring using the observation satellite 103 is not suitable", for example, there may be a case where the working machine 101 (tractor T) on the ground surface is optically shielded from above by clouds, roofs, etc., and it is difficult to sufficiently obtain the observation information of the working machine 101. In such a case, the monitoring selection unit 100C may select the first monitoring unit 100A instead of the second monitoring unit 100B. In this way, by properly using the first monitoring unit 100A and the second monitoring unit 100B under various situations, the working machine 101 can be more reliably monitored. Further, when monitoring the working machine 101, only one of the first monitoring unit 100A and the second monitoring unit 100B is selected and used, without using both, so that the calculation load of the monitoring device 100 can be reduced.

[0097] The monitoring selection unit 100C selects one of the first monitoring unit 100A and the second monitoring unit 100B based on the radio wave intensity I of the positioning satellite 102 for positioning the working machine 101. More specifically, for example, when it is determined that the radio wave intensity I of the positioning satellite 102 detected by the radio wave intensity sensor 43i is smaller than the threshold value Ith, it is considered that the radio wave situation is such that it is difficult to accurately detect the vehicle position. Then, the monitoring selection unit 100C selects the monitoring of the working machine 101 by the second monitoring unit 100B using the observation satellite 103. On the other hand, when in the relationship of I≧Ith, it is considered that the radio wave situation is such that it is possible to accurately detect the vehicle position, and the monitoring of the working machine 101 by the first monitoring unit 100A using the positioning satellite 102 is selected.

[0098] Here, as the "situation where monitoring using the positioning satellite 102 is not suitable", for example, there may be a case where the reception situation of the radio wave of the positioning satellite 102 is in the relationship of I<Ith, and it is difficult to accurately detect the vehicle position. Even in such a case, by using the observation satellite 103, the observation information of the observation area 150B can be obtained, and the working machine 101 can be reliably monitored based on the observation information.

[0099] The second monitoring unit 100B notifies or restricts the work machine 101 when the observation area 150B of the observation satellite 103 includes at least the work machine 101 and the observation recognizes that the work machine 101 is located outside the range of the monitoring area 150C set for the work machine 101. More specifically, for example, in an XY two-dimensional coordinate system, the coordinates (X1, Y1) of the position of the tractor T, the coordinates (X2, Y2) of the center O2, and the distance L2 are assigned, and correspond to the area outside the contour of the monitoring area 150C (X1-X2). 2 +(Y1-Y2) 2 >(L2) 2 It may be determined whether or not there is a relationship between the coordinates (X1, Y1) of the tractor T and the monitoring area 150C. If it is determined that the coordinates (X1, Y1) of the tractor T are outside the contour of the monitoring area 150C, notification or restriction of the work implement 101 is performed. This makes it easy to determine whether to notify or restrict the work implement 101, so that the work implement 101 can be monitored easily and reliably.

[0100] The second monitoring unit 100B notifies or restricts the work machine 101 when the observation area 150B of the observation satellite 103 includes at least the work machine 101 and recognizes through observation that the change in the position of the work machine 101 over time is greater than a predetermined degree. More specifically, for example, in an XY two-dimensional coordinate system, the change in the position of the coordinates (X1, Y1) of the work machine 101 is obtained as a trajectory from each piece of observation data acquired at each period t, and the change in the position of the coordinates (X1, Y1) over time dD / dθ is obtained based on the trajectory. The notification or restriction of the work machine 101 may be performed based on whether the change in time dD / dθ is within a threshold value (dD / dθ)th. If the relationship dD / dθ>(dD / dθ)th holds, it is determined that there is a high possibility that the work machine 101 will become farther away, and the notification or restriction of the work machine 101 is performed. This allows for easy determination of notification or restriction of the work machine 101 by taking into consideration when and where the work machine 101 is located, making it possible to monitor the work machine 101 easily and reliably.

[0101] The work implement 101 is provided with an identification unit 9b that enables the work implement 101 to be identified in the observation information used for monitoring by the second monitoring unit 100B. This allows the position of the identification unit 9b to be determined with high accuracy in, for example, an observation image. Therefore, a decision for notification or restriction of the work implement 101 can be made with high accuracy based on the position of the identification unit 9b in the observation image.

[0102] The second monitoring unit 100B issues a notification or restriction on the work machine 101 when the observation area 150B includes at least the field F and it is recognized through observation that the work machine 101 has entered the field F. More specifically, for example, an image in an XY two-dimensional coordinate system in which the tractor T has not entered the field F and there is almost no change in the state recognized from the image of the field F is used as training data for machine learning. The results of the machine learning may then be compared with the latest image of the field F, and the notification or restriction on the work machine 101 may be issued based on whether there has been a change in the state recognized from the image of the field F. If there is a change in the image of the field F, such as the formation of a rut FA that is recognizable in the image, it is determined that there is a high possibility that the tractor T has entered the field F, and the notification or restriction on the work machine 101 is issued. This allows for easy and reliable monitoring of the work machine 101, as it is possible to easily determine whether to notify or restrict the work machine 101 by focusing on changes in the image of the field F as the work machine 101 enters the field F.

[0103] [Variations] The work machine 101 to which the monitoring device 100 of the first, second, and third embodiments is applied is provided with a receiving device 41 (receiving unit) that receives radio waves from a positioning satellite 102. Alternatively, the work machine 101 may not be provided with a receiving device 41, in which case the monitoring selection unit 100C has the relationship radio wave intensity I<threshold Ith, and always selects monitoring by the second monitoring unit 100B using the observation satellite 103. This allows the second monitoring unit 100B to reliably monitor even a work machine 101 that is not provided with a receiving device 41, using the observation satellite 103.

[0104] 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]

[0105] 9b: Identification section 40A: Positioning device 41: Receiving device 43i: Radio wave intensity sensor 45A:Communication equipment 60: Control device 100: Monitoring device 100A: First monitoring unit 100B: 2nd monitoring department 100C: Monitoring selection section 101: Work equipment 101a: Agricultural machinery 102: Positioning satellite 103: Observation satellite 105: Computer 110A: Area setting section 110B: Observation area setting section 111B: Monitoring area setting section 112A: 1st Notification Department 113B: Observation control unit 114B:Second notification section 150A: Area 150B: Observation area 150C: Surveillance area dD / dθ: Change over time F: Field FA: Rut I: Radio wave strength Ith: threshold N: Information and communication network N1: Vehicle communication network S: Surveillance system t :period T: Tractor

Claims

1. a first monitoring unit that monitors the work machine based on position information of the work machine measured by a positioning satellite; a second monitoring unit that monitors the work machine based on observation information of the work machine within an area observed by an observation satellite; a monitoring selection unit that selects either the first monitoring unit or the second monitoring unit and uses the selected unit to monitor the work machine; Equipped with The monitoring selection unit selects either the first monitoring unit or the second monitoring unit based on the radio wave intensity of the positioning satellite for positioning the work machine. Work equipment monitoring device.

2. A first monitoring unit that monitors the work machine based on position information of the work machine measured by a positioning satellite; a second monitoring unit that monitors the work machine based on observation information of the work machine within an area observed by an observation satellite; Equipped with the second monitoring unit notifies or restricts the work machine when the observed area includes at least the work machine and the observation recognizes that the work machine is located outside the range of the area set for the work machine; The work machine is provided with an identification unit that enables the work machine to be identified in the observation information used for monitoring by the second monitoring unit. Work equipment monitoring device.

3. A first monitoring unit that monitors the work machine based on position information of the work machine measured by a positioning satellite; a second monitoring unit that monitors the work machine based on observation information of the work machine within an area observed by an observation satellite; Equipped with The second monitoring unit notifies or restricts the work machine when the observed area includes at least the work machine and the observation recognizes that a change in the position of the work machine over time is greater than a predetermined degree. Work equipment monitoring device.

4. 4. The monitoring device for a work machine according to claim 3, The work machine is provided with an identification unit that enables the work machine to be identified in the observation information used for monitoring by the second monitoring unit. Work equipment monitoring device.

5. 2. The monitoring device for a work machine according to claim 1, The second monitoring unit notifies or restricts the work machine when the observed area includes at least a farm field and the observation recognizes that the work machine has entered the farm field. Work equipment monitoring device.

Images