Work methods, work vehicles, and work systems

Abstract

To provide a work method, a work vehicle, and a work system that can acquire the degree of completion of work in a field and present it to a worker.SOLUTION: A tractor 1, which is a work vehicle, comprises a control device 13. The control device 13 is operated as a travel control unit 45 and a work control unit 46 that perform work travel in a field, and a completion detection unit 47 (detection unit) for detecting the degree of completion of work at each work position in the field where the work travel is performed.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a work method for performing work running of a work vehicle, a work vehicle, and a work system.

Background Art

[0002] A work vehicle such as a tractor is configured to perform work running in which it works with a work implement while traveling in a field. When the work vehicle controls the work implement to perform work, it is required to adjust the degree of completion of the work according to the operator's requirements.

[0003] For example, the tractor disclosed in Patent Document 1 includes a control device that permits traveling outside the field when it receives that the work implement is in the stored state and when the work implement is in the raised position. This tractor includes a harrow for tilling as a work implement, and a tilling cover is provided on the work implement. A tilling rotary shaft to which a plurality of tilling claws are connected is rotatably attached to the tilling cover, and a leveling board that is biased downward to level the field surface is rotatably disposed behind the tilling cover. Further, the work implement includes a leveling board rotation angle sensor, and the leveling board rotation angle sensor detects the rotation angle of the leveling board and can acquire information about the size of the soil clods remaining in the field after tilling based on the magnitude and frequency of the rotation of the leveling board rotation angle sensor.

Prior Art Documents

Patent Documents

[0004]

Patent Document Ⅰ

Summary of the Invention

Problems to be Solved by the Invention

[0005] Conventional work vehicles can acquire information about the size of the soil clods remaining in the field after tilling, but cannot acquire the degree of completion of work at each work position in the field, nor can they present the degree of completion to the operator.

[0006] The present invention aims to provide a work method, a work vehicle, and a work system that can acquire and present to the worker the degree of completion of work in the field. [Means for solving the problem]

[0007] To solve the above problems, the present invention provides a work method for a work vehicle, characterized by comprising: a work driving step of performing work driving in a field using the work vehicle; and a detection step of detecting the degree of completion of work at each work position in the field where the work driving has been performed.

[0008] Furthermore, in order to solve the above problems, the work vehicle of the present invention is characterized by comprising a driving control unit and a work control unit that perform work driving in the field, and a detection unit that detects the degree of completion of work at each work position in the field where the work driving has been performed.

[0009] Furthermore, in order to solve the above problems, the work system of the present invention is characterized by comprising a driving control unit and a work control unit that perform work driving in the field, and a detection unit that detects the degree of completion of work at each work position in the field where the work driving has been performed. [Effects of the Invention]

[0010] The present invention provides a work method, a work vehicle, and a work system that can acquire and present to the worker the degree of completion of work in the field. [Brief explanation of the drawing]

[0011] [Figure 1] This is a side view of a tractor according to an embodiment of the present invention. [Figure 2] This is a rear view of a tractor according to an embodiment of the present invention. [Figure 3] This is a block diagram of a tractor according to an embodiment of the present invention. [Figure 4]This is a plan view showing an example of a finished product confirmation screen displayed on a display device when working in the central area of ​​a tractor according to an embodiment of the present invention. [Figure 5] This is a plan view showing an example of a finish confirmation screen displayed on a display device when the degree of finish is detected in a tractor according to an embodiment of the present invention. [Figure 6] This is a plan view showing an example of a completion confirmation screen displayed on a display device when performing a second operation in a tractor according to an embodiment of the present invention. [Figure 7] This is a plan view showing an example of a finished confirmation screen displayed on a display device when a second automatic driving route is set in a tractor according to an embodiment of the present invention. [Figure 8] This is a plan view showing an example of a work screen displayed on a portable terminal of a tractor according to an embodiment of the present invention. [Modes for carrying out the invention]

[0012] The work vehicle of the present invention is designed to perform work while traveling in a field using an implement. A tractor 1, which is one embodiment of the work vehicle of the present invention, will be described with reference to the drawings. As shown in Figures 1 and 2, the tractor 1 comprises a body 2 and an implement 3, and is configured to perform work such as tilling using the implement 3 while traveling on the body 2. In the tractor 1, implements 3 such as rotary tillers, harrows, loaders, plows, and box scrapers for various tasks are attached to the body 2 as needed, and in this embodiment, as shown in Figures 1 and 2, an example in which a harrow for puddling is attached to the body 2 as the implement 3 will be described.

[0013] Tractor 1 is set to either manual driving mode or automatic driving mode. When manual driving mode is set, tractor 1 is driven manually in response to the operator's operation of various controls (steering wheel, accelerator pedal, shift lever). When automatic driving mode is set, tractor 1 is controlled by the control device 13 to automatically drive along the set automatic driving path 66 (see Figures 4-5), controlling the vehicle speed and steering. For example, when tractor 1 is driven automatically to perform work in a field, first, tractor 1 is driven around the outer perimeter of the field by manual driving or other means to acquire information about the outer shape of the field. Then, based on the acquired information, tractor 1 is driven automatically in the central area of ​​the field to perform work, and then driven automatically in a circle from the outside of the central area towards the outer perimeter of the field to perform work. After completing work in the entire area of ​​the field, tractor 1 is driven out of the field.

[0014] A pair of front wheels 10 are provided on the lower front of the vehicle body 2, and a pair of rear wheels 11 are provided on the lower rear of the vehicle body 2. A cabin 12 for the operator is provided on the upper part of the vehicle body 2, and the cabin 12 is equipped with a driver's seat and various control devices. The vehicle body 2 is also equipped with a control device 13, a display device 14, and a positioning unit 15 (see Figure 3). The display device 14 consists of a touch panel or monitor and is located inside the cabin 12. An engine 16 is built into the front of the vehicle body 2, and a transmission 17 is provided between the pair of rear wheels 11. The power of the engine 16 is shifted by this transmission 17 and transmitted to each of the front wheels 10 and each of the rear wheels 11.

[0015] At the rear of the transmission 17 are a pair of left and right lower links 18, a top link 19, and a PTO shaft 20, with each of the lower links 18, top link 19, and PTO shaft 20 extending to the rear. The work implement 3 is connected to the rear ends of each of the lower links 18, top link 19, and PTO shaft 20 and is driven by the PTO shaft 20.

[0016] At the rear of the vehicle body 2, a working machine lifting mechanism 21, a working machine angle changing mechanism 22, and a connecting member 23 are provided.

[0017] The working machine lifting mechanism 21 includes a pair of left and right lift arms 24 and a lift cylinder (working machine lifting part) 25 composed of a hydraulic cylinder. The tip of one lift arm 24 is connected to one lower link 18 via a link member 26, and the tip of the other lift arm 24 is connected to the other lower link 18 via a rolling cylinder 27. The working machine lifting mechanism 21 can change the height of the working machine 3 supported by the vehicle body 2 by driving the lift cylinder 25. The vehicle body 2 includes a working machine height sensor 28 (see FIG. 3) for detecting the height of the working machine 3, and the working machine height sensor 28 is composed of, for example, a sensor for detecting the position of the cylinder rod of the lift cylinder 25 (the length of the lift cylinder 25).

[0018] The working machine angle changing mechanism 22 includes a rolling cylinder 27 composed of a hydraulic cylinder. As described above, the rolling cylinder 27 is configured to connect the other lift arm 24 and the other lower link 18. The working machine angle changing mechanism 22 can change the inclination posture of the working machine 3 supported by the vehicle body 2 in the left - right direction by driving the rolling cylinder 27.

[0019] The connecting member 23 is configured to connect the lower link 18, the top link 19, and the working machine 3.

[0020] The working machine 3 is composed of a rotary tiller for performing rotary tilling work of crushing soil clods and leveling the field surface in a paddy field (field) filled with water. As shown in FIG. 1, the working machine 3 includes a connecting part 30 for connecting the working machine 3 to the connecting member 23 of the vehicle body 2. Note that the connecting part 30 may be configured to connect the lower link 18, the top link 19, and the working machine 3 without passing through the connecting member 23.

[0021] A tilling cover 31 extending in the left-right direction is provided behind the connecting section 30. A tilling rotary shaft 32 having a rotating shaft extending in the left-right direction is rotatably attached to the tilling cover 31, and the tilling rotary shaft 32 rotates by power transmitted from the PTO shaft 20. In addition, multiple tilling tines 33 are provided on the tilling rotary shaft 32 at intervals in the left-right direction. The tilling tines 33 rotate together with the tilling rotary shaft 32 and till the soil of the paddy field, thereby breaking up the soil clods in the paddy field.

[0022] A leveling plate 34 extending in the left-right direction is provided at the lower rear of the tilling cover 31. The leveling plate 34 has a rotating shaft extending in the left-right direction and is rotatably attached to the tilling cover 31. The leveling plate 34 is biased and pressurized downward by a biasing member such as a hydraulic cylinder or an electric motor, and by contacting the soil surface of the paddy field, the surface of the paddy field can be leveled. An extension leveling plate 35 (see Figure 2) to widen the leveling width may be provided on the left-right outer side of the leveling plate 34.

[0023] Furthermore, the work machine 3 is equipped with a leveling plate rotation angle sensor 36. The leveling plate rotation angle sensor 36 detects the vertical rotation angle of the leveling plate 34 during leveling, and consists of a potentiometer that detects, for example, the rotation angle of the leveling plate 34 or the rotation angle of a link attached to its rotation axis.

[0024] During puddling, if the soil clods remaining after tilling are large, the leveling plate 34 rotates significantly up and down. Conversely, if the soil clods remaining after tilling are small, the leveling plate 34 rotates only slightly up and down. Therefore, by detecting the magnitude and frequency of the leveling plate 34's rotation using the leveling plate rotation angle sensor 36, the size of the soil clods remaining in the field after tilling can be obtained, thereby allowing the degree of completion of the puddling work at each work position in the field to be detected. The degree of completion indicates the soil condition as a result of work already performed. The degree of finishing, described later, differs from the degree of completion and indicates the soil condition that is planned as a result of work to be performed in the future.

[0025] The positioning unit 15 is configured to acquire the position information (positioning point) of the tractor 1 using a satellite positioning system such as GNSS. It receives positioning signals from positioning satellites via a positioning antenna and acquires the position information of the positioning unit 15, i.e., the position information of the tractor 1, based on the positioning signals.

[0026] Next, the control device 13 will be described. The control device 13 is composed of a computer such as a CPU and, as shown in Figure 3, is connected to a storage unit 40 such as ROM, RAM, hard disk drive, and flash memory, and a communication unit 41 that communicates with external devices.

[0027] The memory unit 40 stores programs and data for controlling various components and functions of the tractor 1, and the control device 13 controls the various components and functions by performing calculations based on the programs and data stored in the memory unit 40. For example, the control device 13 obtains the position of the tractor 1 from the positioning unit 15.

[0028] Furthermore, the memory unit 40 stores field information and automatic travel routes 66 of the field that the tractor 1 is working on. The control device 13 receives the field information and automatic travel routes 66 from the mobile terminal 5 via the communication unit 41 and stores them in the memory unit 40. The field information includes, for example, the shape, size, and location information (coordinates, etc.) of the outer shape of the field, the shape, size, and location information (coordinates, etc.) of unworked areas 65 (see Figures 4 to 7) where work has not yet been performed in the field, and previously worked areas 64 (see Figures 4 to 7) where work has already been performed in the field.

[0029] Furthermore, the memory unit 40 stores the degree of completion of the work (puddling work) at each work position in the completed work area 64. The tractor 1 may perform work runs in the field multiple times, and the memory unit 40 may store the degree of completion of each work run, and at least the degree of completion of the previous work run. In addition, the tractor 1 may perform work runs in the field on a yearly or seasonal basis, and the memory unit 40 may store the degree of completion of the work runs for each year or season, and at least the degree of completion of the work runs for the previous year or season.

[0030] The communication unit 41 has the function of performing communication processing via wired or wireless communication with the work machine-side communication unit 37 (see Figure 3) installed on the work machine 3. The communication unit 41 also has the function of performing communication processing via wireless communication with external devices such as a portable terminal 5 held by the worker. The control device 13 controls the communication unit 41 to communicate with the work machine 3 and the portable terminal 5, and sends and receives various information between the work machine 3 and the portable terminal 5.

[0031] The control device 13 is connected to various sensors provided on the vehicle body 2 and inputs the detection results of these sensors, and also inputs the detection results of various sensors provided on the work equipment 3 via the communication unit 41. For example, the control device 13 inputs the height of the work equipment 3 (i.e., work equipment height) as the detection result of the work equipment height sensor 28 provided on the vehicle body 2, and inputs the rotation angle of the leveling plate 34 (i.e., leveling plate rotation angle) as the detection result of the leveling plate rotation angle sensor 36 provided on the work equipment 3.

[0032] The control device 13 operates as a driving control unit 45, a work control unit 46, a finish detection unit 47 (detection unit), and a display control unit 48 by executing a program stored in the storage unit 40. The driving control unit 45 and the work control unit 46 realize the work driving process and the automatic driving process in which the tractor 1 (work vehicle) performs work driving in the work method according to the present invention. The finish detection unit 47 realizes the detection process of the work method according to the present invention, and the display control unit 48 realizes the display process and setting process of the work method according to the present invention.

[0033] The driving control unit 45 controls the movement of the tractor 1. For example, when manual driving mode is set, the driving control unit 45 controls the vehicle speed and steering of the tractor 1 by controlling the engine 16, the transmission 17 and the steering system (not shown) in response to the operation of various controls provided in the cabin 12.

[0034] Furthermore, when the automatic driving mode is set, the driving control unit 45 acquires the automatic driving route 66 set for the field from the mobile terminal 5 or the like, acquires the position of the tractor 1 from the positioning unit 15, and controls the steering of the tractor 1 so that it automatically drives along the automatic driving route 66 based on the position of the tractor 1 and the automatic driving route 66. In addition, the driving control unit 45 controls the engine 16 and the transmission 17 to achieve a preset automatic driving speed.

[0035] When manual driving mode is set, the work control unit 46 controls the implement 3 in accordance with the operation of various control devices provided in the cabin 12, thereby performing puddling work on the field with the implement 3. When automatic driving mode is set, the work control unit 46 controls the implement 3 in accordance with the pre-set work settings, thereby performing puddling work on the field with the implement 3.

[0036] For example, the work control unit 46 controls the lift cylinder 25 by controlling a solenoid valve installed between the lift cylinder 25 and the hydraulic pump of the transmission 17, thereby changing the height of the implement 3 supported by the vehicle body 2 (implementation height). The work control unit 46 can change the implementation height between, for example, a lowered position, which is the height when working in a field, and an elevated position, which is higher than the lowered position and is the height when traveling. In addition, the work control unit 46 can change the left-right tilting posture of the implementation 3 supported by the vehicle body 2 by controlling the rolling cylinder 27 by controlling a solenoid valve installed between the rolling cylinder 27 and the hydraulic pump of the transmission 17. Furthermore, the work control unit 46 can change the rotation speed of the tilling rotation shaft 32 and the multiple tilling tines 33 by controlling the rotation speed of the PTO shaft 20.

[0037] In this embodiment, the travel control unit 45 and the work control unit 46 may be controlled to set the vehicle speed of the tractor 1 and the rotation speed of the implement 3 according to the degree of finishing set on the finish confirmation screen 60 (see Figure 4), which will be described later. Here, the rotation speed of the implement 3 is the rotation speed (rotational speed) of the PTO shaft 20, that is, the rotation speed (rotational speed) of the tilling rotation shaft 32 and the plurality of tilling tines 33 that work on the soil. The travel control unit 45 controls the travel of the tractor 1 according to the set vehicle speed set according to the degree of finishing, and the work control unit 46 controls the work according to the set rotation speed of the implement 3 set according to the degree of finishing.

[0038] For example, to achieve a coarser soil clod in the puddling process, the set speed of tractor 1 is increased and the set rotation speed of implement 3 is decreased. Conversely, to achieve a finer soil clod in the puddling process, the set speed of tractor 1 is decreased and the set rotation speed of implement 3 is increased. Multiple set speeds and rotation speeds are predetermined based on multiple finishing levels, and the set speed and rotation speed corresponding to the set finishing level should be applied. Alternatively, the finishing level can be adjusted by adjusting both the set speed and rotation speed as described above, or by adjusting only one of them.

[0039] Furthermore, the driving control unit 45 and the work control unit 46 may control the vehicle speed of the tractor 1 and the rotation speed of the implement 3 based on the degree of finish detected by the finish detection unit 47, which will be described later, when the tractor 1 is performing work in manual driving mode or automatic driving mode. For example, if the degree of finish for puddling work is such that the soil clods are coarse (larger than the target size of soil clods), the driving control unit 45 will reduce the vehicle speed of the tractor 1 and the work control unit 46 will increase the rotation speed of the implement 3 in order to break down the soil clods. On the other hand, if the degree of finish for puddling work is such that the soil clods are fine (smaller than the target size of soil clods), the driving control unit 45 will increase the vehicle speed of the tractor 1 and the work control unit 46 will reduce the rotation speed of the implement 3 or stop the implement 3 in order to prevent the soil clods from becoming excessively fine. As described above, the degree of finish may be adjusted by adjusting both the vehicle speed and the rotation speed, but the degree of finish may also be adjusted by adjusting only one of the vehicle speed or the rotation speed.

[0040] Alternatively, when the tractor 1 is performing work in automatic driving mode, the driving control unit 45 and the work control unit 46 may control the vehicle speed of the tractor 1 and the rotation speed of the implement 3 at each work position in the field during the current work, based on the degree of finish detected at each work position in the field by the finish detection unit 47 during the previous work. The driving control unit 45 controls the driving of the tractor 1 at the work position according to the set vehicle speed set according to the degree of finish, and the work control unit 46 controls the work according to the set rotation speed of the implement 3 set according to the degree of finish.

[0041] For example, in terms of the degree of finish of the puddling work, in work areas where the soil clods are coarse (work areas where the size of the soil clods is larger than the target size), the set speed of tractor 1 is lowered and the set rotation speed of implement 3 is increased. On the other hand, in terms of the degree of finish of the puddling work, in work areas where the soil clods are fine (work areas where the size of the soil clods is smaller than the target size), the set speed of tractor 1 is increased and the set rotation speed of implement 3 is lowered. It is also possible to pre-determine multiple set speeds and multiple set rotation speeds based on multiple levels of finish, and apply the set speed and set rotation speed corresponding to the detected level of finish. In this case as well, the degree of finish may be adjusted by adjusting both the set speed and set rotation speed as described above, or it may be adjusted by adjusting only one of the set speed or set rotation speed.

[0042] The finish detection unit 47 detects the degree of work completion at a predetermined work position where the tractor 1 has performed its work run. The finish detection unit 47 stores the detected degree of work completion in the storage unit 40 in association with each work position in the field and transmits it to the mobile terminal 5 via the communication unit 41. Specifically, while the tractor 1 is performing its work run in manual or automatic driving mode, the finish detection unit 47 obtains the position of the tractor 1 from the positioning unit 15 and also obtains the rotation angle of the leveling plate 34 (i.e., the leveling plate rotation angle) as a result of detection by the leveling plate rotation angle sensor 36 at that position. Based on the rotation angle of the leveling plate 34, the finish detection unit 47 determines the magnitude and frequency of rotation of the leveling plate 34, and based on the determination result, determines information on the size of the soil mass at the tractor 1's position, that is, determines the degree of completion of the puddling work at that position.

[0043] For example, the finish detection unit 47 can determine that there are many large soil clumps if the rotation of the leveling plate 34 is large at a high frequency, and thus determine that the level of finish of the puddling work is rough. On the other hand, the finish detection unit 47 can determine that there are many small soil clumps if the rotation of the leveling plate 34 is small at a high frequency or large at a low frequency, and thus determine that the level of finish of the puddling work is fine. The finish detection unit 47 may set multiple angle thresholds in advance and determine the magnitude of the rotation of the leveling plate 34 by comparing the rotation angle of the leveling plate 34, which is the detection result of the leveling plate rotation angle sensor 36, with each angle threshold. Alternatively, the finish detection unit 47 may determine the frequency of large rotations and small rotations of the leveling plate 34 by determining the frequency distribution of the rotation angle of the leveling plate 34 while the tractor 1 moves a predetermined distance.

[0044] The display control unit 48 controls the display device 14 to display various display screens. For example, as shown in Figure 4, the display control unit 48 displays a completion confirmation screen 60 on the display device 14 to show the degree of completion of the field where work has been performed. The display control unit 48 may display the completion confirmation screen 60 while the work is being performed, or it may be displayed after the work is completed. Figure 4 shows the state in which the tractor 1 is automatically driving in the central area of ​​the field and work has not yet been performed in the area outside the central area.

[0045] The display control unit 48 displays the map section 61 on the completion confirmation screen 60, and in the map section 61, it displays the field outline 62 based on the field information of the field where the tractor 1 is performing its work run. Furthermore, it may display the tractor 1's own position as determined by the positioning unit 15. The display control unit 48 displays the completed work area 64 and the unworked area 65 within the field outline 62 in a distinguishable manner, and in Figure 4, the completed work area 64 is shown with hatching that slopes downward to the left. When the display control unit 48 displays the completion confirmation screen 60 in automatic driving mode, it is preferable to overlay the set automatic driving route 66 within the field outline 62. The display control unit 48 may also display the driving trajectory of the work run performed in the completed work area 64. The display control unit 48 may display the actual vehicle speed and the actual rotational speed of the implement 3 for the tractor 1 during work, or it may display the set vehicle speed and set rotational speed.

[0046] Furthermore, the display control unit 48 displays the degree of finish detected at each vehicle position of the tractor 1 by the finish detection unit 47 on the finish confirmation screen 60. For example, as shown in Figure 5, it displays a finish map (finish distribution) 67 showing the degree of finish in the completed work area 64, aligned with the corresponding work position. In Figure 5, the finish map 67 showing the degree of finish in the completed work area 64 where work has been performed is displayed superimposed on the completed work area 64. The display control unit 48 displays the finish map 67 in an identifiable manner by changing the display method, such as background color and shading, according to the degree of finish. In Figure 5, the hatching pitch is changed for identification, with a smaller pitch indicating a lower level of finish. The display control unit 48 updates the vehicle marking position, the range of the completed work area 64 and the unworked area 65, and the range of the finish map 67 according to the progress of the tractor 1's work run.

[0047] Furthermore, the display control unit 48 may prompt the operator to make changes by displaying instructions on the display device 14 to change the speed of the tractor 1 or the rotation speed of the implement 3, according to the degree of finish detected by the finish detection unit 47. For example, when the tractor 1 is performing work in manual driving mode, if the set speed of the tractor 1 or the set rotation speed of the implement 3 corresponding to the degree of finish differs from the actual speed of the tractor 1 or the actual rotation speed of the implement 3, it is advisable to display instructions to change to the set speed or rotation speed. Alternatively, the control device 13 may prompt the operator to make changes by outputting instructions to change the speed or rotation speed via voice guidance, in addition to or instead of displaying them. It is possible to prompt for changes to both speed and rotation speed, or to prompt for changes to only one of them.

[0048] Alternatively, if the soil clumps are too coarse (larger than the target size) as an indication of the quality of the puddling work, the control device 13 may display instructions to lower the speed of tractor 1 or increase the rotation speed of implement 3. On the other hand, if the soil clumps are too fine (smaller than the target size) as an indication of the quality of the puddling work, the control device 13 may display instructions to increase the speed of tractor 1 or decrease the rotation speed of implement 3 or stop implement 3. In this case as well, the control device 13 may prompt the operator to make changes by outputting voice guidance in addition to or instead of displaying the instructions for changing the vehicle speed or rotation speed. It is possible to prompt for changes in both vehicle speed and rotation speed, or to prompt for changes in only one of them.

[0049] Furthermore, when the tractor 1 is performing work in automatic driving mode, if the driving control unit 45 and the work control unit 46 automatically change the vehicle speed of the tractor 1 and the rotation speed of the implement 3 according to the degree of completion, the display control unit 48 may display a change notification on the display device 14 to inform the operator of the change in the vehicle speed of the tractor 1 and the rotation speed of the implement 3. In this case as well, the control device 13 may also inform the operator of the change in vehicle speed and rotation speed by outputting a voice guidance in addition to or instead of displaying it. Note that notifications for changes in both vehicle speed and rotation speed may be provided, or notifications for changes in only one of the vehicle speed and rotation speed may be provided.

[0050] Incidentally, tractor 1 may perform work runs in the field multiple times. If no work runs have been performed, the entire field becomes an unworked area 65. After the first work run, the entire field becomes a completed work area 64. Furthermore, when tractor 1 performs its second (current) work run, the display control unit 48 changes the completed work area 64 from the first (previous) work run to an unworked area 65 and displays it on the completion confirmation screen 60.

[0051] At this time, when the second work run begins, the display control unit 48 may overlay the finished map 67 from the first work run onto the unworked area 65 of the second work run, as shown in Figure 6, since the entire field becomes an unworked area 65. In Figure 6, the previous central area 69 where the first automatic run was performed is shown by a dashed line. The display control unit 48 may update the unworked area 65 of the second work run to an already worked area 64 according to the progress of the second work run, and may update the finished map 67 from the first work run to the finished map 67 from the second work run according to the progress of the second work run. Furthermore, when the tractor 1 performs a third or subsequent work run, the display control unit 48 may display the finished confirmation screen 60 in the same manner as described above.

[0052] Furthermore, the display control unit 48 enables the setting of the work settings for the work machine 3 on the finish confirmation screen 60, and displays, for example, the finish level setting unit 68 for setting the desired soil condition as a result of the work (puddling work) that the work machine 3 will perform, i.e., the finish level. The finish level setting unit 68 allows the finish level to be set to any of several levels, and has, for example, an upward adjustment button 68a to raise the finish level to make the soil clumps after work finer, and a downward adjustment button 68b to lower the finish level to make them coarser. Note that the display control unit 48 may enable operation of the finish level setting unit 68 only before the start of work travel, or it may enable operation of the finish level setting unit 68 even while work travel is in progress.

[0053] The finishing degree setting unit 68 sets the finishing degree to be applied to the current work run, and the display control unit 48 displays the current finishing degree set by the finishing degree setting unit 68, and may also simultaneously display the previous finishing degree that was applied to the previous work run. For example, if the tractor 1 performs work runs in the field multiple times, the finishing degree of the previous run may be displayed as the previous work run, with the most recent run being considered the previous work run. If multiple work runs have been performed before the current work run, only the finishing degree of the most recent run may be displayed as the previous finishing degree, or the finishing degree of each work run may be displayed. Also, if the tractor 1 performs work runs in the field annually or seasonally, the finishing degree of the previous run may be displayed as the previous work run, with the work runs of the previous year or previous season being considered the previous work run. The display control unit 48 may display the previous level of finish before the start of the work run, and then hide the previous level of finish after the start of the work run, or it may be possible to switch the display of the previous level of finish on and off during the work run according to the operator's operation.

[0054] Furthermore, the display control unit 48 displays the travel trajectory of the work run performed in the previously completed work area 64 of the map section 61. It is preferable to display not only the travel trajectory of the current work run, but also the travel trajectory of the previous work run in an identifiable manner. If multiple work runs have been performed before the current work run, only the travel trajectory of the most recent work run may be displayed as the previous travel trajectory, or the travel trajectory of each work run may be displayed in an identifiable manner.

[0055] Furthermore, the finish degree setting unit 68 may pre-set the previous finish degree as the initial value for the finish degree in the current work run, and allow the worker to change the finish degree in the current run according to their operation. Alternatively, the finish degree setting unit 68 may set the initial value for the finish degree in the current work run based on the worker's work history. For example, if it can be determined from the work history that the worker prioritizes reducing work time, the initial value for the finish degree may be set to be coarser.

[0056] Furthermore, the display control unit 48 may display the work time required for the work run on the finish confirmation screen 60, based on the finish level set by the finish level setting unit 68. For example, the display control unit 48 calculates the total distance to complete the work run in the unworked area 65 based on the area of ​​the unworked area 65 and the automatic travel path 66 set in the unworked area 65, and also obtains the set vehicle speed corresponding to the set finish level, and calculates the work time based on these total distance and set vehicle speed.

[0057] Next, the mobile terminal 5 will be described. The mobile terminal 5 is one of the components of the tractor 1 and is a terminal that can remotely control the tractor 1. For example, it can be a tablet terminal equipped with a touch panel or a notebook-type personal computer. Note that an operating device similar to the mobile terminal 5 may also be provided in the cabin 12. In this invention, the work system is composed of the tractor 1 and the mobile terminal 5.

[0058] As shown in Figure 3, the mobile terminal 5 is equipped with a terminal-side control unit 50 which is composed of a computer such as a CPU. The terminal-side control unit 50 is connected to a terminal-side storage unit 51 which includes ROM, RAM, a hard disk drive, and flash memory, and a terminal-side communication unit 52 which communicates with external devices. The mobile terminal 5 is also equipped with a display unit 53 such as a touch panel or monitor for displaying and outputting various information to the worker, and an input unit 54 such as a touch panel or operation keys for receiving input operations of various information from the worker.

[0059] The terminal-side storage unit 51 stores programs and data for controlling various components and functions of the mobile terminal 5, and the terminal-side control device 50 controls the various components and functions of the mobile terminal 5 by executing calculations based on the programs and data stored in the terminal-side storage unit 51. The terminal-side storage unit 51 also stores field information of the field that the tractor 1 is working on and the automatic travel route 78 (see Figure 8).

[0060] The terminal-side communication unit 52 is connected to the tractor 1's communication unit 41 via a wireless communication antenna, enabling communication between them. The terminal-side control device 50 controls the terminal-side communication unit 52 to communicate wirelessly with the tractor 1 and transmit and receive various information between them. For example, the terminal-side communication unit 52 receives the degree of completion of each work position detected by the tractor 1 during work travel and stores it in the terminal-side storage unit 51.

[0061] The terminal-side control device 50 operates as a field selection unit 55, a route creation unit 56, and a terminal-side display control unit 57 by executing a program stored in the terminal-side storage unit 51. The route creation unit 56 and the terminal-side display control unit 57 implement the route setting process and the display process of the work method according to the present invention, respectively.

[0062] The field selection unit 55 manually or automatically selects a field to be worked on, sets the outer shape of the field, i.e., the field outline, and stores it in the terminal-side storage unit 51. For example, the field selection unit 55 displays a field selection screen (not shown) on the display unit 53 for selecting a field to be worked on. On the field selection screen, if field information including the field outline is already stored in the terminal-side storage unit 51, the field corresponding to that field information can be selected. When any field is selected on the field selection screen in response to manual operation, the field selection unit 55 selects the selected field as the work target, reads the field information corresponding to the selected field from the terminal-side storage unit 51, and transmits it to the tractor 1 via the terminal-side communication unit 52.

[0063] Furthermore, the field selection screen allows for the creation of new fields. When the creation of a new field is selected on the field selection screen, the field selection unit 55 selects the new field at the tractor 1's current position as the work target. Then, when the tractor 1 makes a circumnavigation along the outer perimeter of the new field, the field selection unit 55 receives the tractor 1's current position, which has been determined by the tractor 1's positioning unit 15, and records the position information of the new field's outer perimeter and the position information of the circumnavigation route. Based on the position information acquired during the circumnavigation, the field selection unit 55 creates the outline of the new field, creates field information including the outline, stores it in the terminal-side storage unit 51, and transmits it to the tractor 1 via the terminal-side communication unit 52.

[0064] The route creation unit 56 creates an automatic travel route 78 for automatically traveling through the field selected by the field selection unit 55, stores it in the terminal-side storage unit 51, and transmits it to the tractor 1 via the terminal-side communication unit 52. The automatic travel route 78 includes travel information related to automatic travel and work information related to puddling work. The travel information may include the travel position in the field, as well as the direction of travel and set vehicle speed at each travel position. The work information may include information related to the operation of puddling at each travel position, such as the start or stop of puddling, the number of rotations (rotation speed), and the puddling height (depth). The route creation unit 56 creates multiple straight-line routes for the field in which puddling work is performed while traveling in the forward direction, according to the travel pattern (back and forth travel or circular travel) selected by the operation of the mobile terminal 5, and creates the automatic travel route 78 by combining the multiple straight-line routes and multiple turning routes connecting each straight-line route.

[0065] Furthermore, when the route creation unit 56 creates an automated travel route 78 for the current work run in a field, based on the level of finish detected from the previously worked area 76 during the previous work run, it creates the current automated travel route 78. If there are work locations where the level of finish from the previous run was relatively low, the mobile terminal 5 should display a warning or provide audio notification that the level of finish is low when displaying the current automated travel route 78 on the display unit 53.

[0066] For example, the route creation unit 56 creates the current automatic travel route 78 along the travel route of the previous work run. At this time, it sets the work information to stop the puddling work by the implement 3 at work positions where the level of finish from the previous run was sufficient, while performing puddling work by the implement 3 at work positions where the level of finish from the previous run was relatively low, and then creates the current automatic travel route 78. If there are unworked areas 77 remaining from the previous work run, the route creation unit 56 should correct the current automatic travel route 78 to include the unworked areas 77 from the previous run.

[0067] Alternatively, if the route creation unit 56 has created a route for the previous work run that consists of multiple straight paths going back and forth, as shown in Figure 7, it will omit the straight paths where the level of finish in the previous run was sufficient and combine the straight paths where the level of finish in the previous run was relatively low with the turning paths to create the current automatic travel route 78. In this case, the direction of travel of the previous straight path and the direction of travel of the current straight path may be the same, or they may be different, as shown in Figure 7. If they are different, the mobile terminal 5 should display or announce a warning on the display unit 53 that the direction of travel is different from the previous one when displaying the current automatic travel route 78. The route creation unit 56 may also display on the display unit 53 an inquiry screen asking whether to set work information corresponding to the level of finish in the automatic travel route 78 for the straight paths where the level of finish in the previous run was sufficient, or an inquiry screen asking whether to omit the straight paths from the automatic travel route 78, or it may announce this via voice guidance.

[0068] When the automatic driving mode is set, the terminal-side display control unit 57 controls the display unit 53 to display a work screen 70 for automatic driving in the field, as shown in Figure 8. On the work screen 70, the terminal-side display control unit 57 displays at least the map section 71 and makes the work start button 72 operable. In addition, the terminal-side display control unit 57 displays the field registration name 73 based on the field information on the work screen 70.

[0069] The terminal-side display control unit 57 displays the field outline 74 on the map in the map section 71 based on the field information of the field selected by the field selection unit 55, and further displays the tractor's own position 75, which has been determined by the tractor's positioning unit 15. The terminal-side display control unit 57 displays the completed work area 76 and the unworked area 77 within the range of the field outline 74 in a distinguishable manner. The terminal-side display control unit 57 overlays the automatic travel route 78 created by the route creation unit 56 within the range of the field outline 74, and also displays the travel trajectory already traveled by the tractor 1 in a distinguishable manner. The terminal-side display control unit 57 may receive the actual vehicle speed, the actual rotation speed of the implement 3, and the set vehicle speed and set rotation speed from the tractor 1 during work and display them on the work screen 70. The terminal-side display control unit 57 updates the position of the vehicle marking 75, the ranges of the completed work area 76 and the unworked area 77, and the driving trajectory according to the progress of the tractor 1's work.

[0070] The terminal-side display control unit 57 enables the operation of the start button 72 when the conditions for starting automatic driving are met, and disables the operation of the start button 72 when the conditions for starting are not met. When the start button 72 is selected, the terminal-side display control unit 57 transmits a start command along with field information and information regarding the automatic driving route 78 to the tractor 1. In response to the start command, the tractor 1 starts automatic driving along the automatic driving route 78.

[0071] While tractor 1 is operating automatically, the terminal-side display control unit 57 displays a stop-work button (not shown) in place of the start-work button 72, making it selectable. When the stop-work button is selected, the terminal-side display control unit 57 sends a stop command to tractor 1. In response to the stop command, tractor 1 terminates its automatic operation. When tractor 1 terminates its automatic operation, the terminal-side display control unit 57 displays the start-work button 72 in place of the stop-work button.

[0072] As described above, according to this embodiment, the tractor 1, which is a work vehicle, is equipped with a control device 13, and the control device 13 operates as a travel control unit 45 and a work control unit 46 that perform work driving in the field, and a finish detection unit 47 (detection unit) that detects the degree of work completion at each work position in the field where work driving has been performed.

[0073] In other words, the work method of the present invention for a work vehicle, tractor 1, comprises a work driving step in which the tractor 1 performs work driving in a field, and a detection step in which the degree of completion of work at each work position in the field where the work driving has been performed is detected.

[0074] This allows tractor 1 to acquire the degree of completion of work at each work position in the field, and to utilize the degree of completion when working in the field.

[0075] Furthermore, according to this embodiment, the control device 13 of the tractor 1 operates as a display control unit 48 that displays the detected degree of finish on the finish confirmation screen 60 (display screen).

[0076] This allows the worker to see the progress of their work in the field, enabling them to check the progress while working and to check the progress after the work is completed.

[0077] Furthermore, according to this embodiment, the display control unit 48 displays the completed work area 64 in the field where the work run was performed on the completion confirmation screen 60, and also displays the degree of completion detected at the work position in the completed work area 64.

[0078] This allows the worker to check the level of finish in the previously worked area 64 while performing the work, and also to check the level of finish in the previously worked area 64 after the work is completed.

[0079] Furthermore, according to this embodiment, the display control unit 48 displays the finish level setting unit 68, which sets the planned finish level as a result of the work run, on the finish confirmation screen 60.

[0080] This allows the worker to set their desired level of finish, making it possible to achieve the desired level of finish in the field through the operation of tractor 1.

[0081] Furthermore, according to this embodiment, the driving control unit 45 controls the vehicle speed of the tractor 1 based on the detected degree of completion when it is performing work.

[0082] This allows the tractor 1's speed to be controlled according to the detected level of finish, enabling subsequent work to correct the level of finish and thus improve the overall finish.

[0083] Furthermore, according to this embodiment, the work control unit 46 performs work with the implement 3 attached to the tractor 1 when the tractor is performing work, and controls the rotation speed of the implement 3 based on the detected degree of finish while the tractor is performing work.

[0084] This allows the rotation speed of the work machine 3 to be controlled according to the detected level of finish, enabling subsequent work to be performed to correct the level of finish and improve the overall finish.

[0085] Furthermore, according to this embodiment, the tractor 1 is equipped with a portable terminal 5, and the portable terminal 5 is equipped with a terminal-side control device 50. The terminal-side control device 50 operates as a route creation unit 56 that sets an automatic travel route 66 for the current work run in the field, based on the degree of completion, for the previously worked area 64 where work runs were performed in the previous run. The travel control unit 45 and the work control unit 46 then perform the current work run automatically based on the set automatic travel route 66.

[0086] This allows us to correct the previous level of finish during the current work run, thereby improving the overall quality of the finish.

[0087] Furthermore, according to this embodiment, the driving control unit 45 controls the vehicle speed when performing automatic driving in the previously worked area 64 based on the degree of completion detected in the previously worked area 64.

[0088] This allows the degree of finish from the previous run to be corrected by controlling the speed of tractor 1 during the current work run, thereby improving the degree of finish.

[0089] Furthermore, according to this embodiment, when automatic driving is performed, the work control unit 46 performs work with the implement 3 attached to the tractor 1, and controls the rotation speed of the implement 3 when automatic driving is performed in the previously worked area 64 based on the degree of finish detected in the previously worked area 64.

[0090] This allows the degree of finish from the previous run to be corrected by controlling the rotation speed of implement 3 during the current work run, thereby improving the degree of finish.

[0091] Furthermore, according to this embodiment, the display control unit 48 displays the degree of completion from the previous work on the completion confirmation screen 60.

[0092] This allows the worker to check and consider the level of completion from the previous work while performing the current work run.

[0093] Furthermore, according to this embodiment, when the tractor 1 is performing work, the work control unit 46 uses the puddling harrow provided on the tractor 1 as the implement 3 to perform puddling work, and the finish detection unit 47 detects the degree of finish based on the rotation angle of the leveling plate 34 of the puddling harrow.

[0094] This allows the tractor 1 to detect the degree of completion of the puddling work, and the operator to check the degree of completion of the puddling work and improve the degree of completion of the puddling work.

[0095] In the above-described embodiment, an example was given in which a finish map (finish distribution) 67 showing the degree of finish of the work run of the tractor 1 is displayed on the finish confirmation screen 60 of the display device 14 of the tractor 1. However, the present invention is not limited to this example. For example, in another example, a finish map (finish distribution) showing the degree of finish may be displayed on the work screen 70 of the display unit 53 of the mobile terminal 5, in the same way as the finish confirmation screen 60. Furthermore, in the above-described embodiment, an example was given in which a finish degree setting unit 68 for setting the planned degree of finish as a result of the work (puddling work) to be performed by the implement 3 is displayed in an operable manner on the finish confirmation screen 60 of the display device 14 of the tractor 1. However, the present invention is not limited to this example. For example, in another example, the finish degree setting unit 68 may be displayed on the work screen 70 of the display unit 53 of the mobile terminal 5, in the same way as the finish confirmation screen 60.

[0096] In the above-described embodiment, an example was explained in which the degree of completion of the work run of the tractor 1 is displayed on the completion confirmation screen 60 and the work screen 70 using a completion map (completion distribution) 67. However, the present invention is not limited to this example. For example, in other examples, the degree of completion of the work run of the tractor 1 may be displayed on the completion confirmation screen 60 and the work screen 70 using text or numerical values, or work positions with a low level of completion may be indicated by icons or the like.

[0097] In the above-described embodiment, an example was explained in which the finish detection unit 47 of the tractor 1 detects the degree of finish based on the rotation angle of the leveling plate 34, which is the detection result of the leveling plate rotation angle sensor 36. However, the present invention is not limited to this example. For example, in another example, the finish detection unit 47 may acquire a field image taken of the field by a camera provided on the tractor 1 and detect the degree of finish based on the analysis result of the field image, or it may detect the degree of finish by combining the analysis result of the field image and the detection result of the leveling plate rotation angle sensor 36.

[0098] In the above-described embodiment, an example was explained in which the tractor 1 is equipped with a harrow for puddling as an implement 3 and performs puddling work, but the present invention is not limited to this example. For example, in other examples, the tractor 1 may be equipped with a rotary as an implement 3 and perform tilling work, or it may be configured to perform other work with other implements.

[0099] Furthermore, in the embodiment described above, an example was explained in which the terminal-side control device 50 of the mobile terminal 5 operates as a route creation unit 56. However, in other examples, the route creation unit 56 may operate on a server that can be connected to a work vehicle such as a tractor 1 or the mobile terminal 5 via a network. In this case, the route information generated by the server may be transmitted to the work vehicle such as the tractor 1 or the mobile terminal 5. The mobile terminal 5 may be integrally provided as an operating device within the cabin 12 of the tractor 1.

[0100] Furthermore, the present invention may be modified as appropriate, provided that it does not contradict the gist or idea of ​​the invention as can be inferred from the claims and the specification as a whole. Such modifications to the work methods, work vehicles, and work systems are also included in the technical concept of the present invention.

[0101] [Notes on the invention] The following is an overview of the invention extracted from the above-described embodiments. Note that each configuration and processing function described below can be selected and combined as desired.

[0102] <Note 1> A method of operation for work vehicles, The work driving process involves the aforementioned work vehicle driving around the field, A detection step for detecting the degree of completion of work at each work position in the field where the aforementioned work drive was performed, A work method characterized by having the following:

[0103] <Note 2> The work method according to Appendix 1, further comprising a display step of displaying the detected degree of finish on a predetermined display screen.

[0104] <Note 3> The work method according to Appendix 2, characterized in that the display step displays the previously worked area in the field where the work run was performed on the display screen, and also displays the degree of completion detected at the work position in the previously worked area.

[0105] <Note 4> The work method according to any one of the appendices 1 to 3, further comprising a setting step for setting the desired degree of finish as a result of the aforementioned work run.

[0106] <Note 5> The work method according to any one of the appendices 1 to 4, characterized in that the work driving step is controlled based on the detected degree of completion while the work driving is being performed.

[0107] <Note 6> The aforementioned work travel process involves performing work using work equipment installed on the work vehicle while the work travel is being performed. The work method according to any one of the appendices 1 to 5, characterized in that the rotation speed of the work machine is controlled based on the detected degree of finish while the work machine is being driven.

[0108] <Note 7> In the aforementioned field, a route setting step is performed to set the route for the current work run in the previously performed work run area, based on the degree of completion. An automated driving process in which the aforementioned work drive is performed by automated driving based on the set route, The work method described in any of the appendices 1 to 6, further comprising the above.

[0109] <Note 8> The work method according to Appendix 7, characterized in that the automatic driving process controls the vehicle speed when performing the automatic driving in the previously worked area based on the degree of finish detected in the previously worked area.

[0110] <Note 9> The aforementioned automated driving process involves performing work with the work equipment installed on the work vehicle when the automated driving is performed. The work method according to Appendix 7 or 8, characterized in that the rotation speed of the work machine when performing the automatic driving in the previously completed work area is controlled based on the degree of completion detected in the previously completed work area.

[0111] <Note 10> The work method according to Appendix 2 or 3, characterized in that the display step displays the degree of completion from the previous work.

[0112] <Note 11> The aforementioned work travel process involves performing puddling work with a puddling harrow equipped on the work vehicle while traveling for work. The work method according to any one of the appendices 1 to 10, characterized in that the detection step detects the degree of finish based on the rotation angle of the leveling plate of the harrow for puddling. [Explanation of Symbols]

[0113] 1. Tractor (work vehicle) 3. Work equipment 5 Mobile devices 13 Control device 14 Display device 34 Leveling plate 36. Ground leveling plate rotation angle sensor 45. Driving control unit 46. ​​Operation Control Unit 47. Finish detection unit (detection unit) 48 Display Control Unit 50 Terminal-side control device 56 Route Creation Section 60. Final Confirmation Screen 67 Finished Map 68 Finish level setting section

Claims

1. A method of operation for work vehicles, The work driving process involves the aforementioned work vehicle driving around the field, A detection step in which information on the size of soil clumps is determined based on the rotation angle of the leveling board at each work position in the field where the aforementioned work run was performed, and the degree of completion of the work is detected based on the said information, A work method characterized by having the following:

2. The work method according to claim 1, further comprising a display step of displaying the detected degree of finish on a predetermined display screen.

3. The work method according to claim 2, characterized in that the display step displays the previously worked area in the field where the work run was performed on the display screen, and also displays the degree of completion detected at the work position in the previously worked area.

4. The work method according to claim 1 or 2, further comprising a setting step for setting the desired degree of finish as a result of the aforementioned work run.

5. The work method according to claim 1 or 2, characterized in that the work driving step controls the vehicle speed of the work vehicle based on the detected degree of completion while the work driving is being performed.

6. The aforementioned work travel process involves performing work using work equipment installed on the work vehicle while the work travel is being performed. The work method according to claim 1 or 2, characterized in that the rotation speed of the work machine is controlled based on the detected degree of finish while the work machine is being driven.

7. In the aforementioned field, a route setting step is performed to set the route for the current work run in the previously performed work run area, based on the degree of completion. An automated driving process in which the aforementioned work drive is performed by automated driving based on the set route, The work method according to claim 1 or 2, further comprising the following:

8. The work method according to claim 7, characterized in that the automatic driving step controls the vehicle speed when performing the automatic driving in the previously worked area based on the degree of finish detected in the previously worked area.

9. The aforementioned automated driving process involves performing work with the work equipment installed on the work vehicle when the automated driving is performed. The work method according to claim 7, characterized in that the rotation speed of the work machine when performing the automatic driving in the previously completed work area is controlled based on the degree of completion detected in the previously completed work area.

10. The work method according to claim 2, characterized in that the display step displays the degree of completion from the previous work.

11. The aforementioned work travel process involves performing puddling work with a puddling harrow equipped on the work vehicle while traveling for work. The work method according to claim 1 or 2, characterized in that the detection step detects the degree of finish based on the rotation angle of the leveling plate of the harrow for puddling.

12. It is a work vehicle, A driving control unit and a work control unit that perform work driving in the field, A detection unit determines information on the size of soil clumps based on the rotation angle of the leveling board at each work position in the field where the aforementioned work run was performed, and detects the degree of completion of the work based on the said information. A work vehicle characterized by being equipped with the following features.

13. A work system for work vehicles, A driving control unit and a work control unit that perform work driving in the field, A detection unit determines information on the size of soil clumps based on the rotation angle of the leveling board at each work position in the field where the aforementioned work run was performed, and detects the degree of completion of the work based on the said information. A work system characterized by comprising the following features.

Images