Work vehicle system

Abstract

To provide a work vehicle system that dispenses with burdensome labor as to when work is completed.SOLUTION: A system for a work vehicle 1, which has a positioning device 20 and which is automatically operated to travel along a scheduled travel route 25, comprises a terminal device 22 that monitors the work vehicle 1, and a control device 23 that provides a variety of notifications to an operator so that the work vehicle 1 can reach a destination 25b of the scheduled travel route 25, by target completion time (TT) of work, set by the terminal device 22.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a system for a working vehicle such as a tractor that performs tilling work.

Background Art

[0002] Conventionally, working vehicles provided with an obstacle sensor and performing work by automatic traveling while avoiding contact with obstacles are known. For example, there is known a technology that includes: an obstacle detection unit that detects obstacles existing around a working vehicle; an invalidation instruction means that issues an invalidation instruction for invalidating obstacle detection by the obstacle detection unit; and a notification unit that performs notification based on the obstacle detection by the obstacle detection unit, wherein when the invalidation instruction is operated, the notification by the notification unit is interrupted (Patent Document 1).

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] However, in such a working vehicle, although an administrator can perform other work during automatic driving, it is necessary to estimate and calculate from the work efficiency, field area and the like to predict when the work by automatic driving will be finished, which is troublesome. In particular, countermeasures for cases where the automatic traveling of the working vehicle is not visually checked are insufficient.

[0005] In consideration of the above problems of such working vehicles, an object of the present invention is to provide a working vehicle system that does not require troublesome effort for confirming when the work will be completed.

Means for Solving the Problem

[0006] The first invention is, A system for a work vehicle equipped with a positioning device that is automatically driven to travel along a planned route, A terminal device for monitoring the aforementioned work vehicle, The system includes a control device that notifies the worker in various ways so that the work vehicle reaches the destination on the planned route by the target completion time (TT) set by the terminal device, The aforementioned target completion time (TT) can be set by setting the sunset time at the driving location on the day of driving, or by setting a predetermined time range from the time set by the terminal device. The control device calculates the total work time (WT) based on a predetermined travel speed and the length of the planned travel route (TL), and if the time from the scheduled start time of the work vehicle to the target completion time (TT) is longer than the total work time (WT), The control device is a work vehicle system that automatically starts driving at a time prior to the target completion time (TT) by the total work time (WT), or notifies the worker accordingly. The second aspect of the present invention is: A system for a work vehicle equipped with a positioning device that is automatically driven to travel along a planned route, A terminal device for monitoring the aforementioned work vehicle, The system includes a control device that notifies the worker in various ways so that the work vehicle reaches the destination on the planned route by the target completion time (TT) set by the terminal device, The aforementioned target completion time (TT) can be set by setting the sunset time at the driving location on the day of driving, or by setting a predetermined time range from the time set by the terminal device. The control device calculates the total work time (WT) based on a predetermined travel speed and the length of the planned travel route (TL), and if the time from the scheduled start time of the work vehicle to the target completion time (TT) is longer than the total work time (WT), The control device is a work vehicle system that notifies the worker to start driving at a time even earlier than the time before the total work time (WT) from the target completion time (TT). First invention related to the present invention teeth, A system for a work vehicle equipped with a positioning device that is automatically driven to travel along a planned route, A terminal device for monitoring the aforementioned work vehicle, The work vehicle system is characterized by comprising a control device that notifies the worker in various ways so that the work vehicle reaches the destination on the planned route by the target completion time (TT) of the work set by the terminal device.

[0007] A second invention related to the present invention teeth, The control device measures the actual elapsed travel time (RT), which is the time elapsed since the start of travel of the work vehicle, and the actual distance traveled (RL) at a predetermined timing after the start of travel. Based on the actual elapsed travel time (RT) and the actual distance traveled (RL), it estimates the time (ET) at which the work vehicle will reach the destination of the planned travel route. It compares the estimated time (ET) with the target completion time (TT), and if the estimated time (ET) is later than the target completion time (TT), it notifies the worker of the delay. First invention related to the present invention This is a work vehicle system.

[0008] Third invention related to the present invention teeth, The control device calculates an actual actual travel speed based on said actual elapsed travel time (RT) and said actual travel distance (RL), calculates a remaining distance to said arrival point based on a length (TL) of said planned travel route and said actual travel distance (RL), calculates a remaining time to said arrival point based on said actual travel speed and said remaining distance, and estimates an arrival time (ET) at the arrival point of said planned travel route based on said predetermined timing and said remaining time. A second invention related to the present invention which is a work vehicle system.

[0009] A fourth invention related to the present invention wherein the control device notifies an operator of the estimated time (ET) when the estimated time (ET) is later than the target completion time (TT). Third invention related to the present invention which is a work vehicle system.

[0010] Fifth invention related to the present invention wherein when the estimated time (ET) is later than the target completion time (TT), the control device calculates an increment amount of the speed or engine rotation speed of the work vehicle based on an amount of delay time, and notifies the increment amount to an operator, such that the work vehicle arrives at the arrival point of the planned travel route within the target completion time (TT) set by the terminal device. Third invention related to the present invention which is a work vehicle system.

[0011] A sixth invention related to the present invention wherein when the estimated time (ET) is later than the target completion time (TT), the control device calculates an increment amount of the speed or engine rotation speed of the work vehicle based on an amount of delay time, and performs automatic speed control or automatic engine rotation speed control with the increased increment amount, such that the work vehicle arrives at the arrival point of the planned travel route within the target completion time (TT) set by the terminal device. Third invention related to the present invention which is a work vehicle system.

[0012] A seventh invention related to the present invention wherein The control device also notifies the worker of the estimated time (ET) even if the estimated time (ET) is earlier than the target completion time (TT). A fourth invention related to the present invention This is a work vehicle system.

[0013] Eighth invention related to the present invention teeth, The target completion time (TT) can be set by setting the sunset time at the driving location on the day of driving, or by setting a predetermined time range from the time set by the terminal device. Any of the first to seven inventions related to the present invention This is a work vehicle system.

[0014] The ninth invention related to the present invention teeth, The control device calculates the total work time (WT) based on a predetermined travel speed and the length of the planned travel route (TL), and if the time from the scheduled start time of the work vehicle to the target completion time (TT) is longer than the total work time (WT), The control device automatically starts driving at a time prior to the target completion time (TT) by the total work time (WT), or notifies the operator accordingly. Eighth invention related to the present invention This is a work vehicle system.

[0015] Tenth invention related to the present invention teeth, The control device calculates the total work time (WT) based on a predetermined travel speed and the length of the planned travel route (TL), and if the time from the scheduled start time of the work vehicle to the target completion time (TT) is longer than the total work time (WT), The control device notifies the operator that the vehicle will start moving at a time even earlier than the time equal to the total work time (WT) prior to the target completion time (TT). Eighth invention related to the present invention This is a work vehicle system.

[0016] Eleventh invention related to the present invention teeth, The control device calculates the total work time (WT) based on a predetermined driving speed and the length of the planned driving route (TL). If the time from the scheduled start time of the work vehicle's journey to the target completion time (TT) is shorter than the total work time (WT), it notifies the user that it is not feasible, or prompts them to extend the target completion time (TT), or prompts them to increase the predetermined driving speed or engine speed. Eighth invention related to the present invention This is a work vehicle system. [Effects of the Invention]

[0017] This invention makes it possible to realize a work vehicle system that eliminates the need for troublesome procedures regarding when the work will be completed. [Brief explanation of the drawing]

[0018] [Figure 1] Side view of a work vehicle of the work vehicle system according to an embodiment of the present invention [Figure 2] Plan view of the field where the same work vehicle operates. [Figure 3] Configuration diagram of a work vehicle system according to an embodiment of the present invention. [Figure 4] A schematic diagram of the terminal device and work vehicle used in the same embodiment. [Figure 5] Configuration diagram of a work vehicle system according to another embodiment of the present invention. [Modes for carrying out the invention]

[0019] The embodiments of the present invention will be described in detail below with reference to the drawings.

[0020] Figure 1 is a diagram showing the configuration of a tractor as an example of a work vehicle according to an embodiment of the present invention. Hereafter, the forward / backward, left / right, and up / down directions will be used with reference to the direction of travel of the tractor.

[0021] Tractor 1, as a work vehicle, is an agricultural tractor that performs work in fields and other areas while moving under its own power.

[0022] As shown in Figure 1, the engine E is mounted inside the bonnet 2 at the front of the machine. The rotational power from the engine E is transmitted to the drive transmission in the transmission case 3, where it is reduced in speed and transmitted to the wheels, i.e., the front wheels 4 and rear wheels 5 of the tractor 1.

[0023] A cockpit 7 is located inside the cabin 6 at the rear of the aircraft. In front of the cockpit 7 is a steering wheel 8 for steering the front wheel 4. In front of the steering wheel 8 is an instrument panel 9.

[0024] On the other hand, tilling implements and the like are attached to the rear of the machine. Such implements are driven by a PTO shaft 13 that protrudes rearward from the transmission case 3.

[0025] Furthermore, within the cabin 6, around the cockpit 7 are various control pedals such as the accelerator pedal 10, clutch pedal 11, and brake pedals 12 (left and right brake pedals 12L and 12R), as well as various control levers such as the forward / reverse lever 14, main transmission lever 15, and sub-transmission lever 16.

[0026] The transmission case 3 houses a forward / reverse switching mechanism, a main transmission mechanism, a sub-transmission mechanism (not shown), a transmission mechanism to the rear wheels 5 and front wheels 4, and left and right brake mechanisms (not shown) that brake the left and right axles of the left and right rear wheels 5, respectively.

[0027] In Figure 1, 20 is a GNSS (Global Navigation Satellite System), and 21 is a receiver that receives radio waves from that GNSS.

[0028] Furthermore, 22 is a portable terminal device such as a tablet or smartphone, and is a device that can communicate with the control device 23 installed on the work vehicle 1.

[0029] Figure 2 shows the field 24 on which the work vehicle 1 will travel, and the planned travel route 25 that will be taken through field 24. Here, 25a indicates the starting point of travel, and 25b indicates the destination. FA indicates the area where work has already been done, and NFA indicates the area where work has not yet been done. RL indicates the actual travel route within the area where work has already been done FA.

[0030] (1) Next, an embodiment of the control system during operation after the start of operation of the work vehicle 1 will be described.

[0031] In Figure 3, the control device 23 is equipped with a planned travel route setting means 30 for setting a planned travel route 25. Here, 31 is a predetermined speed setting means for setting a predetermined speed at which the work vehicle 1 travels through the field 24. Also, 32 is a means for pre-setting a predetermined timing after the start of travel. For example, the predetermined timing may be at 5-minute intervals from the start of travel. Alternatively, it may be at any time.

[0032] Furthermore, the target completion time (TT) recording means 39 provided in the control device 23 is a means for recording the target completion time (TT), which is the time when the work is completed, as instructed by the worker in advance via the terminal device 22 before the work run begins. Since it is set by the terminal device 22, it can be set from outside the vehicle, and the completion status of the work can be known remotely even without visually observing the progress of the work. For example, a tablet or smartphone for monitoring robot work can be used. Alternatively, it may be set using a device installed inside the work vehicle 1. In this case, problems such as wireless communication failures will not occur. In this case, the meter panel 9 can be used. Alternatively, the tablet built into this machine may be used.

[0033] In this manner, the work vehicle 1 begins to move, and the following actions are performed at the predetermined timings while it is moving.

[0034] The actual elapsed time measurement means 33 is a means for measuring the actual driving elapsed time (RT), which is the elapsed time from the start of the work vehicle 1 to the present at the predetermined timing.

[0035] The actual distance traveled measuring means 34 is a means for measuring the actual distance traveled (RL) from the starting point 25a to the current location at the predetermined timing. This can be measured using GNSS 20 or by counting the rotations of the rear wheel 5.

[0036] The actual speed calculation means 35 is a means for calculating the actual driving speed based on the measured actual driving elapsed time (RT) and the calculated actual driving distance (RL).

[0037] The remaining distance calculation means 36 is a means for calculating the remaining distance to the destination point 25b based on the length (TL) of the planned travel route 25 and the actual travel distance (RL).

[0038] The remaining time calculation means 37 is a means for calculating the remaining time required to reach destination 25b based on the actual driving speed and the remaining distance.

[0039] The arrival time estimation means 38 is a means for estimating the time (ET) of arriving at destination point 25b on the planned travel route 25, based on the predetermined timing and the remaining time.

[0040] The delay calculation means 40 compares the estimated time (ET) with the target completion time (TT) and calculates whether the estimated time (ET) is behind the target completion time (TT), and further calculates the amount of time that is behind.

[0041] The notification device 41 is a device that notifies the worker of a delay if the delay calculation means 40 calculates that there is a delay. The worker can then take countermeasures such as extending the target completion time (TT). In addition, if the estimated time (ET) is earlier than the target completion time (TT), the estimated time (ET) may also be notified to the worker.

[0042] When a worker is notified that they are behind schedule, they will realize they are behind and understand that they will not be able to reach the target completion time (TT).

[0043] More preferably, the notification device 41 of the control device 23 should not only notify the worker that there is a delay, but if the estimated time (ET) is behind the target completion time (TT), it should calculate the amount to increase the speed or engine speed of the work vehicle based on the amount of delay, so that the work vehicle 1 reaches destination 25b of the planned route 25 within the target completion time (TT) set by the terminal device 22, and notify the worker accordingly. The worker should then increase the speed or engine speed accordingly.

[0044] In another example, the speed control means 42 of the control device 23 may be configured to calculate the amount of increase in the speed or engine speed of the work vehicle 1 based on the amount of delay, and to perform automatic speed control or automatic engine speed control by the increased amount, so that the work vehicle 1 reaches destination 25b of the planned route 25 within the target completion time (TT) set by the terminal device 22. In this example, the worker does not need to adjust the speed or anything like that.

[0045] Furthermore, the delay calculation means 40 may share some of the functions of the notification device 41 and the speed control means 42.

[0046] Figure 4 shows the real-time display of notification status when there is a delay in travel on the screen of terminal device 22. Multiple work vehicles 1 are displayed.

[0047] (2) Next, an embodiment of the control system before the start of operation of the work vehicle 1 will be described.

[0048] In Figure 5, 50 is a means for recording the scheduled start time of travel set by the operator. For example, as described above, the operator will specify a target completion time (TT) before the start of travel, and this is 5 minutes after the time (ST) when that instruction was given. It is assumed that it will take about 5 minutes until the actual start of travel.

[0049] The time calculation means 51 is a time calculation means that calculates the time from the scheduled start time of travel to the target completion time (TT).

[0050] The total working time (WT) calculation means 52 is a means for calculating the total working time (WT) required to travel along the planned travel route 25 at the predetermined travel speed and the length (TL) of the planned travel route 25.

[0051] The comparison means 53 is a means for comparing whether the time from the scheduled start time of the work vehicle 1 to the target completion time (TT) is longer than the total work time (WT).

[0052] As a result, if the time from the scheduled start time of travel to the target completion time (TT) is longer than the total work time (WT), the operator is notified by the notification device 54 to start traveling at a time earlier than the target completion time (TT) by the work time (WT), or the travel / speed control device 55 automatically starts traveling.

[0053] In other words, the start of travel can be intentionally delayed by that extended period, and the worker can be notified that the work vehicle 1 will reach destination 25b exactly at the target completion time (TT), or the control device 23 can start the travel with a delay and notify the worker of this.

[0054] Furthermore, it is desirable to notify the worker when such work is completed.

[0055] By ensuring that work vehicle 1 arrives at destination 25b exactly at the target completion time (TT), workers can come to retrieve the work vehicle at the set time, eliminating wasted time and making it easier to plan the work, including arranging other work vehicles.

[0056] Furthermore, if the time from the scheduled start time of travel to the target completion time (TT) is longer than the total work time (WT), the vehicle may start without intentionally delaying the start of travel as described above. In other words, the vehicle may start traveling at a time even earlier than the work time (WT) before the target completion time (TT). In that case, since the work will be completed before the target completion time (TT), the notification device 54 may be used to notify the time of completion, or the completion may be notified at the actual time of completion, or the speed may be reduced.

[0057] Furthermore, if the time from the scheduled start time of travel to the target completion time (TT) is longer than the total work time (WT), the operator may be able to arbitrarily select between a mode that intentionally delays the start of travel, as described above, and a mode that starts travel earlier.

[0058] On the other hand, if the time from the scheduled start time of the work vehicle 1 to the target completion time (TT) is shorter than the total work time (WT), the notification device 54 will notify the worker that it is not possible, or notify the worker of the shortfall, or notify the worker to extend the target completion time (TT), or notify the worker of the amount of extension required.

[0059] Alternatively, a notification may be issued prompting an increase in a predetermined driving speed or engine RPM, and in that case, the amount of increase can also be notified. This is because the initial settings are often insufficient, as they take fuel efficiency into consideration. In such cases, the operator can be given the option to choose between increasing the speed or increasing the engine RPM.

[0060] Furthermore, it is also possible to select whether to notify the user of an extension proposal or an increase in speed or rotation speed.

[0061] The target completion time (TT) in the above explanation can be any time, but you may also set it to the sunset time at the location on the day of travel. This allows you to set the time in accordance with the natural environment.

[0062] Additionally, the target completion time (TT) may use Coordinated Universal Time (UTC).

[0063] Furthermore, the target completion time (TT) may be set using a predetermined time interval from the time set by the terminal device 22. In other words, it is acceptable to use a setting method that utilizes a time interval such as 5 hours after the time currently being set.

[0064] Furthermore, operators may be allowed to freely choose how to set these time indications. This would allow for usage tailored to each user and to suit different situations.

[0065] While the control device and the like of the present invention are implemented using software with a computer, they are not limited to this and may also be implemented using hardware-specific mechanisms. [Industrial applicability]

[0066] This invention is an ideal work vehicle system for tractors performing tasks such as tilling, as it eliminates the need for cumbersome procedures regarding when the work will be completed. [Explanation of Symbols]

[0067] 1. Tractor (work vehicle) 20 GNSS (Global Navigation Satellite System) 21 Receiver 22 Terminal devices 23 Control device 24 fields 25 Planned route 25a Starting point 25b Reach point 30. Means for setting the planned travel route 31 Predetermined speed setting means 32 Timing setting means 33 Actual elapsed time measurement means 34. Means for measuring actual driving distance 35 Actual Speed ​​Calculation Means 36. Means for calculating remaining distance 37. Method for calculating remaining time 38 Arrival time estimation means 39 Target completion time (TT) recording means 40. Delay Calculation Method 41 Notification device 42 Speed ​​control means 50. Method for recording the scheduled start time of travel 51. Time calculation method 52. Calculation method for total working time (WT) 53 Means of comparison 54 Notification device 55. Driving and speed control means E-engine FA existing work area NFA unworked area

Claims

1. A system for a work vehicle equipped with a positioning device that is automatically driven to travel along a planned route, A terminal device for monitoring the aforementioned work vehicle, The system includes a control device that notifies the worker in various ways so that the work vehicle reaches the destination on the planned route by the target completion time (TT) of the work set by the terminal device, The target completion time (TT) can be set by setting the sunset time at the driving location on the day of driving, or by setting a predetermined time range from the time set by the terminal device. The control device calculates the total work time (WT) based on a predetermined travel speed and the length of the planned travel route (TL), and if the time from the scheduled start time of the work vehicle to the target completion time (TT) is longer than the total work time (WT), The control device is a work vehicle system that automatically starts driving at a time prior to the total work time (WT) from the target completion time (TT), or notifies the worker of such action.

2. A system for a work vehicle equipped with a positioning device that is automatically driven to travel along a planned route, A terminal device for monitoring the aforementioned work vehicle, The system includes a control device that notifies the worker in various ways so that the work vehicle reaches the destination on the planned route by the target completion time (TT) of the work set by the terminal device, The target completion time (TT) can be set by setting the sunset time at the driving location on the day of driving, or by setting a predetermined time range from the time set by the terminal device. The control device calculates the total work time (WT) based on a predetermined travel speed and the length of the planned travel route (TL), and if the time from the scheduled start time of the work vehicle to the target completion time (TT) is longer than the total work time (WT), The control device is a work vehicle system that notifies the worker to start driving at a time even earlier than the time before the total work time (WT) from the target completion time (TT).

Images