JP7645163B2 - Electric work vehicle management method, electric work vehicle management system and management program - Google Patents

Description

The present invention relates to an electric work vehicle management method, an electric work vehicle management system, and a management program, which can be suitably used, for example, to manage electric work vehicles that perform agricultural work in farm fields.

Electric work vehicles use battery power to perform agricultural work in fields, so there is a demand for larger capacity batteries so they can operate for long periods of time. However, increasing the battery capacity would increase the weight of the electric work vehicle, which could cause damage to the field, so this needs to be avoided.

In relation to the above, Patent Document 1 (Patent Publication No. 6671236) discloses a resource replenishment system. This resource replenishment system instructs the replacement of an energy source pack that supplies resources to a work vehicle traveling while performing work on a work site, or the replenishment of resources to this energy source pack. This resource replenishment system calculates the timing to replace the energy source pack or replenish resources to the energy source pack based on the capacity of the energy source pack, the rate at which the resource is consumed by the work vehicle, and the amount of agricultural work scheduled to be performed by the work vehicle.

Patent No. 6671236

The resource supply system in Patent Document 1 manages the timing of changing the energy source packs used for a single work vehicle that works in multiple fields, under the assumption that the vehicle will perform agricultural work in each field and travel between the fields. In the future, it is expected that methods will be promoted in which multiple relatively small work vehicles work together in a field to avoid increasing the weight of each energy source pack, but Patent Document 1 does not disclose or suggest centralized management of the energy source packs of multiple work vehicles that work together.

In view of the above circumstances, one of the objectives of the present disclosure is to provide an electric work vehicle management method, an electric work vehicle management system, and a management program for efficiently performing agricultural work using multiple electric work vehicles. Other issues and novel features will become apparent from the description of this specification and the accompanying drawings.

Below, the means for solving the problem are explained using the numbers used in the (Mode for carrying out the invention). These numbers are added to clarify the correspondence between the description in the (Claims) and the (Mode for carrying out the invention). However, these numbers should not be used to interpret the technical scope of the invention described in the (Claims).

According to one embodiment, the electric work vehicle management method includes acquiring (S1) work plan information representing a plan for work to be performed in a farm field (9), and acquiring (S2) vehicle status information including first position information measuring the position of a first electric work vehicle (2A) that performs work while moving in the farm field (9) at multiple times, and first battery remaining amount information measuring the remaining battery amount of the first electric work vehicle (2A) at multiple times. The electric work vehicle management method further includes determining (S4) whether the remaining first battery amount is sufficient for the first electric work vehicle (2A) to complete the work, based on the work plan information and the vehicle status information. The electric work vehicle management method further includes determining (S6) a handover plan for the second electric work vehicle (2B) to take over the work when the remaining charge of the first battery is insufficient for the first electric work vehicle (2A) to complete the work, and outputting (S7) a handover signal for transmitting the handover plan to the first electric work vehicle (2A) and the second electric work vehicle (2B).

According to one embodiment, the electric work vehicle management system (1) includes an acquisition unit (521), a judgment unit (522), a decision unit (524), and an output unit (525). The acquisition unit (521) acquires work plan information representing a plan for work to be performed in the field (9), and acquires vehicle status information including first position information obtained by measuring the position of the first electric work vehicle (2A) that performs work while moving in the field (9) at multiple times, and first battery remaining amount information obtained by measuring the battery remaining amount of the first electric work vehicle (2A) at multiple times. The judgment unit (522) judges whether the first battery remaining amount is sufficient for the first electric work vehicle (2A) to complete the work based on the work plan information and the vehicle status information. The decision unit (524) determines a handover plan for the second electric work vehicle (2B) to take over the work when the first battery remaining amount is not sufficient for the first electric work vehicle (2A) to complete the work. The output unit (525) outputs a handover signal to transmit the handover plan to the first electric work vehicle (2A) and the second electric work vehicle (2B).

According to one embodiment, the management program is executed to realize the processing of the computing device (52). This processing includes acquiring work plan information (S1) that represents a plan for work to be performed in the field (9), and acquiring vehicle status information (S2) that includes first position information that measures the position of a first electric work vehicle (2A) that moves in the field (9) and performs work at multiple times, and first battery remaining amount information that measures the battery remaining amount of the first electric work vehicle (2A) at multiple times. This processing further includes determining whether the first battery remaining amount is sufficient for the first electric work vehicle (2A) to complete the work based on the work plan information and the vehicle status information (S4). This process further includes determining (S6) a handover plan for the second electric work vehicle (2B) to take over the work when the remaining charge of the first battery is insufficient for the first electric work vehicle (2A) to complete the work, and outputting (S7) a handover signal for transmitting the handover plan to the first electric work vehicle (2A) and the second electric work vehicle (2B).

According to one embodiment, agricultural work can be carried out efficiently using multiple electric work vehicles.

FIG. 1 is a diagram showing an example of the configuration of an electric work vehicle management system according to an embodiment. FIG. 2 is a block circuit diagram showing an example of the configuration of the vehicle-mounted terminal according to the embodiment. FIG. 3 is a block circuit diagram showing an example of the configuration of an electric work vehicle management device according to an embodiment. FIG. 4 is a block circuit diagram showing an example of a configuration of an external terminal according to an embodiment. FIG. 5 is a flowchart showing an example of a configuration of an electric work vehicle management method according to an embodiment. FIG. 6A is a diagram showing an example of a state of a farm field in which an electric work vehicle performs work using an electric work vehicle management method according to one embodiment. FIG. 6B is a diagram showing another example state of a farm field in which an electric work vehicle performs work using the electric work vehicle management method according to one embodiment. FIG. 6C is a diagram showing yet another example state of a farm field in which an electric work vehicle performs work using the electric work vehicle management method according to one embodiment.

The following describes, with reference to the attached drawings, the embodiments for implementing the electric work vehicle management method, electric work vehicle management system, and management program disclosed herein.

(Embodiment)
As shown in Figure 1, an electric work vehicle management system 1 according to one embodiment includes an electric work vehicle management device 5, and on-board terminals 20A, 20B mounted on electric work vehicles 2A, 2B, respectively. When the electric work vehicles 2A, 2B are not distinguished from each other, they are collectively referred to as electric work vehicles 2. When the on-board terminals 20A, 20B are not distinguished from each other, they are collectively referred to as on-board terminal 20. The electric work vehicle management system 1 may further include a charger 3 and/or an external terminal 6.

The electric work vehicle 2 performs work such as agricultural work while moving inside the field 9 by consuming the power stored in the battery. The electric work vehicle 2 is, for example, a rice planter, a harvester, or a tractor equipped with a work machine. The work machine is, for example, a fertilizer applicator, a pest control machine, a cultivator, etc. The electric work vehicle 2 according to one embodiment may perform work under the control of a user who refers to a predetermined work plan using an external terminal 6. The in-vehicle terminal 20 transmits a signal indicating the state and position of the electric work vehicle 2 to the electric work vehicle management device 5 via the network 4. The charger 3 is installed outside the field 9 and charges the battery of the electric work vehicle 2 by receiving power from the outside. The charger 3 may transmit a signal indicating its own availability to the electric work vehicle management device 5 via the network 4. The electric work vehicle management device 5 manages multiple electric work vehicles 2 that work together in the field 9. The electric work vehicle management device 5 outputs a signal for controlling the electric work vehicle 2. The external terminal 6 may receive signals for controlling the electric work vehicle 2 via the network 4.

As shown in FIG. 2, the vehicle-mounted terminal 20 according to one embodiment includes a bus 21, a calculation device 22, a storage device 23, a positioning device 24, a monitor device 25, and a communication device 26. The bus 21 connects the calculation device 22, the storage device 23, the positioning device 24, the monitor device 25, and the communication device 26 so that they can communicate with each other. The monitor device 25 may be configured to be connectable to the electric work vehicle 2 or the battery via wired communication or the like in order to monitor the remaining battery charge of the electric work vehicle 2. The communication device 26 may be configured to be connectable to the network 4 via wireless communication or the like.

The calculation device 22 includes a positioning unit 221, a monitor unit 222, and a communication unit 223. The storage device 23 includes an in-vehicle terminal program storage unit 231 that stores an in-vehicle terminal program. The calculation device 22 realizes the processing of the positioning unit 221, the monitor unit 222, and the communication unit 223 by reading and executing the in-vehicle terminal program. In other words, the positioning unit 221 and the communication unit 223 are each a virtual functional block that realizes processing through cooperation between the calculation device 22 and the in-vehicle terminal program. The processing of these functional blocks will be described later.

The in-vehicle terminal program may be read from an external recording medium 230 and stored in the in-vehicle terminal program storage unit 231. The recording medium 230 may be a non-transitory and tangible medium.

The positioning device 24 receives positioning signals from positioning satellites of the Global Navigation Satellite System (GNSS) under the control of the positioning unit 221.

The monitor device 25 is controlled by the monitor unit 222 to monitor the electric work vehicle 2 or the battery via wired communication or the like, and obtains battery remaining amount information indicating the remaining battery amount of the electric work vehicle 2.

The communication device 26 communicates with external devices including the electric work vehicle management device 5 by wireless communication and/or wired communication via the network 4, for example under the control of the communication unit 223. The in-vehicle terminal program may be received from the outside via the communication device 26 and stored in the in-vehicle terminal program storage unit 231.

As shown in FIG. 3, the electric work vehicle management device 5 according to one embodiment includes a bus 51, a computing device 52, a storage device 53, and a communication device 54. The bus 51 connects the computing device 52, the storage device 53, and the communication device 54 so that they can communicate with each other. The communication device 54 may be configured to be connectable to the network 4 via wireless communication and/or wired communication.

The calculation device 52 includes an acquisition unit 521, a judgment unit 522, an estimation unit 523, a decision unit 524, and an output unit 525. The storage device 53 includes a management program storage unit 531 that stores a management program. The calculation device 52 executes the management program to realize the processing of the acquisition unit 521, the judgment unit 522, the estimation unit 523, the decision unit 524, and the output unit 525. In other words, the acquisition unit 521, the judgment unit 522, the estimation unit 523, the decision unit 524, and the output unit 525 are each a virtual functional block that realizes processing through cooperation between the calculation device 52 and the management program. The processing of these functional blocks will be described later.

The management program may be read from an external recording medium 530 and stored in the management program storage unit 531. The recording medium 530 may be a non-transitory, tangible medium.

The communication device 54 communicates with external devices including the in-vehicle terminal 20, the charger 3, and/or the external terminal 6 by wireless communication and/or wired communication via the network 4, for example under the control of the acquisition unit 521 or the output unit 525. The management program may be received from the outside via the communication device 54 and stored in the management program storage unit 531.

As shown in FIG. 4, the external terminal 6 includes a bus 61, a computing device 62, a storage device 63, a communication device 64, and an input/output device 65. The bus 61 connects the computing device 62, the storage device 63, the communication device 64, and the input/output device 65 so that they can communicate with each other. The communication device 64 may be configured to be connectable to the network 4 via wireless communication and/or wired communication.

The arithmetic device 62 includes a communication unit 621 and an input/output unit 622. The storage device 63 includes an external terminal program storage unit 631 that stores an external terminal program. The arithmetic device 62 executes the external terminal program to realize the processing of the communication unit 621 and the input/output unit 622. In other words, the communication unit 621 and the input/output unit 622 are each a virtual functional block that realizes processing through cooperation between the arithmetic device 62 and the external terminal program. The processing of these functional blocks will be described later.

The external terminal program may be read from an external recording medium 630 and stored in the external terminal program storage unit 631. The recording medium 630 may be a non-transitory, tangible medium.

The communication device 64 communicates with external devices including the electric work vehicle management device 5 by wireless communication and/or wired communication via the network 4, for example under the control of the communication unit 621. The external terminal program may be received from the outside via the communication device 64 and stored in the external terminal program storage unit 631.

The input/output device 65 outputs information to the user and accepts operations input by the user, for example under the control of the input/output unit 622. As an example, the input/output device 65 includes a display device that outputs images, a speaker that outputs sound, a button that accepts press operations, a microphone that accepts sound input, a touch panel that accepts touch operations and outputs images, and the like.

With reference to FIG. 5, a configuration example of an electric work vehicle management method according to one embodiment will be described. In other words, an operation example of an electric work vehicle management system 1 according to one embodiment will be described.

When the flowchart in FIG. 5 starts, step S1 is executed. In step S1, the calculation device 52 of the electric work vehicle management device 5 executes the management program to realize the processing of the acquisition unit 521, and the acquisition unit 521 acquires work plan information. The work plan information is information that represents the work plan for the work to be performed in the field 9. As an example, the work plan specifies the location and range of the field 9, the location and range of the work area in the field 9 where the work will be performed, the electric work vehicle 2 that will perform the work, the type of work to be performed in the work area, and the planned travel route of the work process along which the electric work vehicle 2 will move through the field 9, and the work plan information includes this information. As an example, the acquisition unit 521 controls the communication device 54 to receive the work plan information from an external server via the network 4 and store it in the storage device 53.

Generally, when the electric work vehicle 2 works in the field 9, it moves along a work path that is a single road, and works in a work area that is within a predetermined width perpendicular to the work path. The work path may include multiple linear paths and turning paths in which the electric work vehicle 2 turns between these paths. Hereinafter, the linear paths are simply referred to as paths. Hereinafter, the user performs work in a range that is within a predetermined width while controlling the electric work vehicle 2 so that the electric work vehicle 2 moves along these multiple paths by referring to the planned travel route using the external terminal 6. When these paths are linear, each path may be parallel to each other. The electric work vehicle 2 may move a certain path in a first direction, then move a turning path to make a 180-degree turn, and move the next path in a second direction opposite to the first direction. In this disclosure, the work performed by the electric work vehicle 2 is managed in units of paths.

In the example shown in FIG. 6A, the work area of the field 9 is defined as the area around the work process including multiple processes 92A, 92B, 92C, 92D, 92E, 92F, 92G, and 92H. Process 92A is defined as a line connecting point 91A and point 91B. Similarly, process 92B is defined as a line connecting point 91C and point 91D, process 92C is defined as a line connecting point 91E and point 91F, process 92D is defined as a line connecting point 91G and point 91H, process 92E is defined as a line connecting point 91I and point 91J, process 92F is defined as a line connecting point 91K and point 91L, process 92G is defined as a line connecting point 91M and point 91N, and process 92H is defined as a line connecting point 91O and point 91P. The electric work vehicle 2 performs work while moving through points 91A to 91P in this order. In other words, the electric work vehicle 2 performs work while moving through routes 92A to 92H in this order. Hereinafter, when routes 92A to 92H are not distinguished from one another, they will be collectively referred to as route 92. Similarly, when points 91A to 91P are not distinguished from one another, they will be collectively referred to as point 91.

After step S1, step S2 is executed. In step S2, the calculation device 52 of the electric work vehicle management device 5 executes the management program to realize the processing of the acquisition unit 521, and the acquisition unit 521 acquires vehicle status information. The vehicle status information is information that represents the status of the electric work vehicle 2, and includes, as an example, the position information of the electric work vehicle 2 and the battery remaining amount information of the electric work vehicle 2. The position information of the electric work vehicle 2 includes information that associates the position of the electric work vehicle 2 measured at multiple times by the positioning unit 221 of the vehicle-mounted terminal 20 with the time at which this position was measured. The battery remaining amount information of the electric work vehicle 2 includes information that associates the remaining amount of the battery of the electric work vehicle 2 monitored at multiple times by the monitor unit 222 of the vehicle-mounted terminal 20 with the time at which this remaining amount was monitored. As an example, the acquisition unit 521 controls the communication device 54 to acquire vehicle status information from the vehicle-mounted terminal 20 via the network 4 and store it in the storage device 53.

After step S2, step S3 is executed. In step S3, the arithmetic device 52 of the electric work vehicle management device 5 executes the management program to realize the processing of the judgment unit 522, and the judgment unit 522 judges whether the work of the electric work vehicle 2 in the field 9 has been completed. As an example, the judgment unit 522 can judge whether the electric work vehicle 2 has completed its movement along all of the multiple processes 92 defined in the work plan information by referring to the position information of the electric work vehicle 2 and the work plan information. When the electric work vehicle 2 has completed its movement along all of the multiple processes 92, the judgment unit 522 judges that the work has been completed. When the judgment unit 522 judges that the work has been completed (Yes), the processing of the electric work vehicle management method ends. On the other hand, when there remains a process 92 on which the electric work vehicle 2 has not moved among the multiple processes 92 defined in the work plan, the judgment unit 522 judges that the work has not been completed. If the determination unit 522 determines that the work has not been completed (No), the processing of the electric work vehicle management method proceeds to step S4.

In step S4, the arithmetic device 52 of the electric work vehicle management device 5 executes the management program to realize the processing of the judgment unit 522, and the judgment unit 522 judges whether the remaining battery charge is sufficient for the electric work vehicle 2 to complete the work. However, when making this judgment, the amount of power remaining in the battery is excluded from the actual remaining battery charge so that the amount of power remaining in the battery is sufficient for the electric work vehicle 2 to move to the charger 3 or home position after completing the work. Note that the home position is a location where an electric work vehicle 2 that is not in operation is stored, and the battery of the electric work vehicle 2 can also be charged at this location.

Specifically, the determination unit 522 calculates the proportion of the entire work that has already been performed by the electric work vehicle 2 and the proportion of the work that remains by referencing the position information of the electric work vehicle 2 and the work plan information. These proportions may be calculated as the proportion of the length of the path 92 traveled by the electric work vehicle 2, or as the proportion of the area of the range in which the electric work vehicle 2 will work. Based on these proportions and the time that has elapsed since the work start time, the determination unit 522 calculates an estimated work completion time at which the work is estimated to be completed if the electric work vehicle 2 performs the remaining work while maintaining the average travel speed of the work so far.

The determination unit 522 also refers to the remaining battery charge information of the electric work vehicle 2 to calculate the amount of battery power consumed by the electric work vehicle 2 in the work to date and the amount of battery power expected to be consumed until the remaining work is completed if the remaining work is performed while maintaining the average battery consumption rate to date. When the actual remaining battery charge is equal to or greater than the required battery power, the determination unit 522 determines that the remaining battery charge is sufficient. When the determination unit 522 determines that the remaining battery charge is sufficient (Yes), the processing of the electric work vehicle management method returns to step S2. In other words, steps S2, S3, and S4 are repeatedly executed until it is determined that the remaining battery charge is not sufficient to complete the work or until the work is completed. On the other hand, when the actual remaining battery charge is less than the required battery power, the determination unit 522 determines that the remaining battery charge is not sufficient. When the determination unit 522 determines that the remaining battery charge is not sufficient (No), the processing of the electric work vehicle management method proceeds to step S5.

In step S5, the calculation device 52 of the electric work vehicle management device 5 executes the management program to realize the processing of the estimation unit 523, and the estimation unit 523 estimates the work limit position at the limit where the electric work vehicle 2 can continue work without charging the battery. As an example, the estimation unit 523 calculates the work limit time at which the battery remaining capacity will be exhausted if the electric work vehicle 2 performs the remaining work while maintaining the average battery consumption rate in the work up to that point, based on the battery remaining capacity information of the electric work vehicle 2 and the average battery consumption rate of the electric work vehicle 2 calculated in step S4. In addition, the estimation unit 523 calculates the work limit position at which the electric work vehicle 2 is estimated to reach at the work limit time if the electric work vehicle 2 performs the remaining work while maintaining the average movement speed in the work up to that point, based on this work limit time, the average movement speed of the electric work vehicle 2 calculated in step S4, and the work plan information. In the example shown in FIG. 6A, the work limit position of the first electric work vehicle 2A working in the field 9 is estimated to be point 93, which is midway along the path 92F from point 91K to point 91L. In FIG. 6A, the second electric work vehicle 2B is waiting, for example by charging its battery with the charger 3.

After step S5, step S6 is executed. In step S6, the calculation device 52 of the electric work vehicle management device 5 executes the management program to realize the processing of the decision unit 524, and the decision unit 524 decides a handover plan for another electric work vehicle 2 to take over the work that was being performed by the electric work vehicle 2. Hereinafter, for the sake of distinction, the electric work vehicle 2 that was performing the work earlier will be referred to as the first electric work vehicle 2A, and the electric work vehicle 2 that will take over this work will be referred to as the second electric work vehicle 2B, as in the example shown in FIG. 6A.

The handover plan includes the work end position where the first electric work vehicle 2A ends its work and hands it over to the second electric work vehicle 2B, and the handover time when the second electric work vehicle 2B takes over and starts the work. The handover plan further includes the route that the first electric work vehicle 2A travels from the work end position to the charger 3, and the route that the second electric work vehicle 2B travels from the waiting location to the work end position.

The determination unit 524 first extracts candidates for the work end position from among points 91 that are located between the current position of the first electric work vehicle 2A working and the work limit position estimated in step S5 within the work process included in the work plan. If there are multiple points 91 that are candidates for the work end position, the determination unit 524 selects as the work end position the point 91 that has the earliest estimated work completion time that is estimated to be when the work is completed when the work is handed over from the first electric work vehicle 2A to the second electric work vehicle 2B at that point 91.

To make this selection, the determination unit 524 calculates the first arrival time at which the first electric work vehicle 2A reaches each of the candidate points 91 based on the average movement speed calculated in step S4 and the distance from the current position of the first electric work vehicle 2A to each of the points 91. The determination unit 524 also calculates the movement route for the second electric work vehicle 2B to move from the charger 3 to each of the candidate points 91 in the shortest time, and then calculates the second arrival time at which the second electric work vehicle 2B reaches each of the points 91. Furthermore, the determination unit 524 calculates the estimated work completion time at which the second electric work vehicle 2B is estimated to complete the work when it takes over the work at each of the candidate points 91 at the later of the first arrival time and the second arrival time corresponding to each of the points 91. In this way, the determination unit 524 selects the point 91 with the earliest estimated work completion time from among the multiple candidate points 91 as the work end position.

The determination unit 524 further determines the route along which the first electric work vehicle 2A will travel from the work end position to the charger 3. The determination unit 524 generates handover information that represents the handover plan determined as described above.

In the example shown in Figure 6B, of the points 91 on the work route, points 91H to 91K are between the current position of the first electric work vehicle 2A and point 93 as the work limit position, and of these, point 91J is selected as the work end position. In addition, a route (thick dashed dotted line) is determined for the first electric work vehicle 2A to travel from point 91J as the work end position to the charger 3 after the first electric work vehicle 2A hands over the work to the second electric work vehicle 2B. Here, the route for the first electric work vehicle 2A to travel from point 91J to the charger 3 may be determined to avoid the central part of the field 9 where the linear paths 92A to 92H are located, and to pass through the pillow area surrounding this central part. In the example of FIG. 6B, the first electric work vehicle 2A moves from point 91J toward the lower side of the headland of the field 9, moves along the lower edge of the headland toward the right side of the headland, moves along the right edge of the headland toward the upper side of the headland, leaves the entrance/exit of the field 9, and moves toward the charger 3. In this case, while the electric work vehicle 2A is moving on the headland, it does not perform any work other than moving. That is, the work machine towed by the tractor is raised and held at a position away from the ground and does not perform ground work, and the rice transplanter or harvester does not perform planting or harvesting work.

Furthermore, in order for the second electric work vehicle 2B to take over the work from the first electric work vehicle 2A, a route (thin dashed line) from the charger 3 to point 91K following point 91J as the work end position, and a route (thin solid line) from the start of the work taken over by the second electric work vehicle 2B at point 91K through steps 92F to 92H to the end at point 91P are determined. Here, the route from the charger 3 to point 91K of the second electric work vehicle 2B may also be determined to pass through the headland, avoiding the center of the field 9. In the example of FIG. 6B, the second electric work vehicle 2B moves from the charger 3 toward the entrance/exit of the field 9, moves from the entrance/exit of the field 9 along the upper side of the headland toward the left side of the field 9, moves along the left end of the headland toward the lower side of the field 9, and moves along the lower side of the headland toward the right side of the field 9 to point 91K. At this time, the second electric work vehicle 2B may start this movement before the first electric work vehicle 2A finishes work, and wait at point 94, which is just before point 91J, until the first electric work vehicle 2A moves from point 91J to the headland.

After step S6, step S7 is executed. In step S7, the arithmetic device 52 of the electric work vehicle management device 5 executes a management program to realize processing of the output unit 525, and the output unit 525 outputs a handover signal for transmitting the handover plan to the first electric work vehicle 2A and the second electric work vehicle 2B.

Specifically, the output unit 525 generates a first handover signal representing the first handover information including at least a portion related to the first electric work vehicle 2A among the handover information generated in step S6, and transmits the first handover signal to the external terminal 6 held by the user who operates the first electric work vehicle 2A. At this time, the output unit 525 controls the communication device 54 to transmit the first handover signal via the network 4. The calculation device 62 of the external terminal 6 realizes the processing of the communication unit 621 by executing an external terminal program, and the communication unit 621 controls the communication device 64 to receive the first handover signal via the network 4 and store it in the storage device 63. Furthermore, the calculation device 62 of the external terminal 6 realizes the processing of the input/output unit 622 by executing an external terminal program, and the input/output unit 622 controls the input/output device 65, etc. to output the contents of the handover plan included in the first handover signal as an image and/or sound.

Similarly, the output unit 525 generates a second handover signal representing second handover information including at least a portion related to the second electric work vehicle 2B from the handover information generated in step S6, and transmits the second handover signal to the external terminal 6 held by the user who operates the second electric work vehicle 2B. At this time, the output unit 525 controls the communication device 54 to transmit the second handover signal via the network 4. As in the case of the first handover signal described above, the external terminal 6 outputs the contents of the handover plan included in the second handover signal as an image and/or sound, etc., by the input/output device 65.

Here, when the user who operates the first electric work vehicle 2A receives the first handover signal at the external terminal 6, he or she continues the work according to the handover plan included in the first handover signal until the work end position is reached, and if necessary, the work is handed over to the second electric work vehicle 2B, and then the first electric work vehicle 2A moves toward the charger 3 to start charging the battery. In the example shown in FIG. 6B, the first electric work vehicle 2A performs the work starting from the point 91A via the routes 92A-92E and points 91B-91I, ends at the point 91J set as the work end position, and if necessary, hands over the work to the second electric work vehicle 2B at or near this point 91J. The handover of the work may include, for example, a process of transferring seeds or seedlings from the first electric work vehicle 2A to the second electric work vehicle 2B in the case of planting work, or this process may be performed by the user. After that, the first electric work vehicle 2A moves to the charger 3 to start charging the battery. If there is no free charger 3, the first electric work vehicle 2A may wait near the charger 3 until a free charger 3 becomes available.

When the user who operates the second electric work vehicle 2B receives the second handover signal at the external terminal 6, the user moves to the work end position according to the handover plan included in the second handover signal, takes over the work from the first electric work vehicle 2A as necessary, and starts the remainder of the work. In the example shown in FIG. 6B, when the second electric work vehicle 2B receives the second handover signal, it moves to point 91J set as the work end position, takes over the work from the first electric work vehicle 2A as necessary, starts the remaining work from point 91K, performs the work via routes 92F-92H and points 91L-91O, finishes the work at point 91P, and exits the field 9. After finishing the work, the second electric work vehicle 2B may return to a specified home position.

After the handover signal is output in step S7, the processing of the electric work vehicle management method returns to step S2. In step S2, the electric work vehicle management device 5 acquires work status information of the second electric work vehicle 2B that has taken over the work in the field 9. In step S3, the electric work vehicle management device 5 determines whether the work in the field 9 has been completed based on the work status information of the second electric work vehicle 2B. If the work has not been completed (No), in step S4, the electric work vehicle management device 5 determines whether the battery remaining charge of the second electric work vehicle 2B is sufficient for the second electric work vehicle 2B to complete the work. Here, if the battery remaining charge is not sufficient (No), further handover of the work may be performed. This handover may be performed by the first electric work vehicle 2A after the battery has been charged.

As described above, the electric work vehicle management system 1, electric work vehicle management method, and management program according to one embodiment can efficiently manage multiple electric work vehicles 2 so that work is completed as quickly as possible when multiple electric work vehicles 2 work together to perform work in a field 9.

In the above-described embodiment, a configuration has been described in which the second electric work vehicle 2B starts moving to the work end position after the handover plan is determined. As a modified example of this configuration, the second electric work vehicle 2B may continue charging the battery with the charger 3 even after the handover plan is determined, and then start moving to the work end position. At this time, in step S4 of the flowchart in FIG. 5, the determination unit 522 determines whether the remaining battery charge of the first electric work vehicle 2A during work is sufficient to complete the remaining work, and determines whether the remaining battery charge of the second electric work vehicle 2B is sufficient to complete the remaining work. If it is determined that the remaining battery charge of both electric work vehicles 2A and 2B is not sufficient, in the subsequent step S6, the determination unit 524 determines the handover plan taking into account the charging time when the second electric work vehicle 2B continues charging until the remaining battery charge of the second electric work vehicle 2B becomes sufficient to complete the remaining work.

In the above-described embodiment, a configuration in which a total of two electric work vehicles 2 cooperate to perform work in the field 9 has been described. As a modified example of this configuration, a total of three or more electric work vehicles 2 may cooperate. As a modified example, a case in which the first electric work vehicle 2A is performing work in the field 9, the second electric work vehicle 2B is waiting at the charger 3, and a third electric work vehicle 2 (not shown) is waiting at another charger 3 will be described. In this case, when the decision unit 524 of the electric work vehicle management device 5 shown in FIG. 3 decides the handover plan in step S6 of the flowchart in FIG. 5, the decision unit 524 selects one of the waiting second electric work vehicle 2B and the third electric work vehicle 2 as the partner to take over the work from the first electric work vehicle 2A. This selection is made, for example, based on the battery remaining amount information of the second electric work vehicle 2B and the battery remaining amount information of the third electric work vehicle 2, based on the criterion that the work after the handover is completed sooner. As an example, among multiple points 91 as candidates for the work end position, the point 91 that either the second electric work vehicle 2B or the third electric work vehicle 2 reaches earliest may be selected as the work end position, and the electric work vehicle 2 that first reaches the point 91 selected as the work end position may be selected as the handover partner.

As another modified example, when a total of three or more electric work vehicles 2 work together, after a handover from the first electric work vehicle 2A to the second electric work vehicle 2B, if it is found that the remaining battery charge of the second electric work vehicle 2B is insufficient to complete the work, a handover may be performed again to a third electric work vehicle 2. In this case, as in the modified example described above, either the third electric work vehicle 2 or the first electric work vehicle 2A after the handover may be selected as the partner for handover from the second electric work vehicle 2B.

As yet another modified example, a case will be described in which a total of three or more electric work vehicles 2 work together, with two of the electric work vehicles 2 working in the field 9 at the same time. In this case, the two electric work vehicles 2 may each start work from both ends of the overall work process. Thereafter, when it is determined in step S4 of the flowchart in FIG. 5 that the total remaining battery power of each electric work vehicle 2 is not sufficient to complete the work, a handover may be made from one of the electric work vehicles 2 working to a third electric work vehicle 2 on standby. The criterion for selecting the electric work vehicle 2 to take over from the two electric work vehicles 2 working may be, for example, that the electric work vehicle 2 that reaches the work limit position is the earlier of the two electric work vehicles 2 working.

In the above-described embodiment, a configuration has been described in which the electric work vehicle 2 performs work under the control of a user who refers to a work plan using an external terminal 6. As a variation of this configuration, the electric work vehicle 2 may perform work automatically under the control of a control device that stores work plan information representing a work plan. In this case, the control device may control the automatic driving of the electric work vehicle 2 so that the position of the electric work vehicle 2 represented by the position information obtained by the positioning unit 221 and the positioning device 24 of the vehicle-mounted terminal 20 mounted on the electric work vehicle 2 traces the work process of the planned driving route included in the work plan. Furthermore, when handing over work to another electric work vehicle 2, the electric work vehicle 2 may automatically perform handover under the control of a control device that receives and stores handover plan information. In this case, the external terminal 6 may be omitted.

As another variation, the electric work vehicle 2 may automatically perform work under the control of a control device that stores work plan information representing a work plan, and may receive assistance from the user when handing over the work to another electric work vehicle 2. At this time, the user may refer to the handover plan using the external terminal 6.

In the above-described embodiment, a configuration has been described in which the first electric work vehicle 2A moves to a charger 3 after taking over. As a variation of this configuration, if there are multiple chargers 3 near the field 9, the first electric work vehicle 2A may move to any of the selected chargers 3. At this time, in step S6 of the flowchart in FIG. 5, the determination unit 524 determines the destination charger 3. Specifically, from among the chargers 3 with which communication is possible, chargers 3 that have been confirmed to be available may be extracted, and from among the extracted chargers 3, the charger 3 that is estimated to have the shortest travel time from the work end position may be selected as the destination of the first electric work vehicle 2A, and a travel route from the work end position to the selected charger 3 may be determined.

In the above-described embodiment, a configuration in which the battery of the electric work vehicle 2 is charged by the charger 3 has been described. As a variation of this configuration, the electric work vehicle 2 may further include a solar power generation device. In this case, the rate at which the remaining battery charge of the electric work vehicle 2 decreases during work is slower due to the power supplied from the solar power generation device compared to when the electrode is not supplied from the solar power generation device. However, the power supplied by the solar power generation device depends on the weather conditions in the field 9. Therefore, the acquisition unit 521 of the electric work vehicle management device 5 may acquire information indicating the subsequent changes in the weather predicted in the field 9 from an external server or the like via the network 4, and the estimation unit 523 may estimate the work limit position of the electric work vehicle 2 based on the changes in the weather in the field 9 and taking into account the power supplied by the solar power generation device.

In the above-described embodiment, a configuration has been described in which the work limit position is calculated based on the past driving records of the work currently being performed in step S5 of the flowchart in FIG. 5. As a variation of this configuration, the work limit position may be calculated based on the driving records when the same electric work vehicle 2 performed the same work in the same field 9 in the past. As a further variation, the work limit position may be calculated based on the driving records of the work currently being performed and the driving records of work performed in the past. In these variations, various records related to the driving records of work performed in the past may be stored in the storage device 53 of the electric work vehicle management device 5, an external server, etc.

In the above-described embodiment, in step S6 of the flowchart in FIG. 5, when the second electric work vehicle 2B moves from the charger 3 to point 91K, the configuration in which the second electric work vehicle 2B passes through the headland while avoiding the center of the field 9 has been described with reference to FIG. 6B. As a modification of this configuration, as shown in FIG. 6C, the second electric work vehicle 2B may pass through the path 92E after the first electric work vehicle 2A has performed work, and move to point 91K via point 91J. At this time, when the second electric work vehicle 2B passes through path 92E, it may switch the working state so as not to perform work on path 92E again. For example, in the case of a work machine that performs ground work, it may switch to a raised state, and in the case of a rice transplanter, harvester, or the like, it may switch to a non-operating state.

In the above-described embodiment, a configuration has been described in which a handover signal or a part of it is transmitted from the output unit 525 of the electric work vehicle management device 5 to the external terminal 6 via the network 4 in step S7 of the flowchart in FIG. 5. As a variation of this configuration, the handover signal may be shared by an external server or the like via the network 4, and then the handover signal or a part of it may be transmitted to the external terminal 6 via the network 4.

In the above-described embodiment, for the sake of simplicity, a configuration has been described in which the work carried out in the field 9 is completed only by the work of the parallel linear steps 92A-92H in the center of the field 9. This configuration is suitable for fertilization work in a field with ridges formed in the field 9, for example, but the present disclosure is not limited to this configuration. As a modified example of this configuration, a configuration will be described in which the electric work vehicle 2 turns to move between the linear steps 92A-92H, and also works on the headland on the periphery of the field 9. For example, in tilling work in which a tractor tows a tilling machine or rice planting work in which a rice transplanter plants rice, work on the headland is carried out after work on the linear steps 92A-92H is carried out. In such a case, the second electric work vehicle 2B that took over the work completes the final step 92H and reaches point 91P, then moves in a non-operating state where it is not performing any work until it reaches the vicinity of the entrance/exit of the field 9, travels around the periphery of the field 9 while performing work on the headland, and after completing one or more rounds, exits the field 9 through the entrance/exit.

The invention made by the inventor has been specifically described above based on the embodiment, but it goes without saying that the present invention is not limited to the embodiment and can be modified in various ways without departing from the gist of the invention. Furthermore, the features described in the embodiment can be freely combined as long as they are not technically inconsistent.

REFERENCE SIGNS LIST 1 Electric work vehicle management system 2, 2A, 2B Electric work vehicle 20, 20A, 20B Vehicle-mounted terminal 21 Bus 22 Arithmetic device 221 Positioning unit 222 Monitor unit 223 Communication unit 23 Storage device 230 Recording medium 231 Vehicle-mounted terminal program storage unit 24 Positioning device 25 Monitor device 26 Communication device 3 Charger 4 Network 5 Electric work vehicle management device 51 Bus 52 Arithmetic device 521 Acquisition unit 522 Determination unit 523 Estimation unit 524 Determination unit 525 Output unit 53 Storage device 530 Recording medium 531 Management program storage unit 54 Communication device 6 External terminal 61 Bus 62 Arithmetic device 621 Communication unit 622 Input/output unit 63 Storage device 630 Recording medium 631 External terminal program storage unit 64 Communication device 65 Input/output device 9 Field 91, 91A to 91P Location 92, 92A to 92H Route 93 Location (work limit position)

Claims (10)

Acquiring work plan information representing a work plan for work to be performed in a farm field;
acquiring vehicle status information including first position information obtained by measuring a position of a first electric work vehicle that performs the work while moving in the field at a plurality of times, and first battery remaining amount information obtained by measuring a first battery remaining amount of the first electric work vehicle at a plurality of times;
determining whether or not the first battery remaining charge is sufficient for the first electric work vehicle to complete the work based on the work plan information and the vehicle state information;
When the remaining charge of the first battery is insufficient for the first electric work vehicle to complete the work, estimating a work limit position at the limit at which the first electric work vehicle can continue the work based on the work plan information and the vehicle state information;
determining a handover plan for a second electric work vehicle to take over the task when the first battery remaining charge is insufficient for the first electric work vehicle to complete the task;
outputting a takeover signal for transmitting the takeover plan to the first electric work vehicle and the second electric work vehicle ;
The vehicle state information is
Second position information obtained by measuring the position of the second electric work vehicle at a plurality of times;
second battery remaining amount information obtained by measuring a second battery remaining amount of the second electric work vehicle at a plurality of times;
Further comprising:
Determining said succession plan
determining a work end position at which the first electric work vehicle ends the work to be located before the work limit position;
Calculating a charging time for charging the battery of the second electric work vehicle to obtain the second battery remaining amount necessary for the second electric work vehicle to complete the work;
determining a takeover time at which the second electric work vehicle will take over and start the work based on the charging time;
Includes
Methods for managing electric work vehicles. The electric work vehicle management method according to claim 1 ,
The second electric work vehicle is one of a plurality of second electric work vehicles including the second electric work vehicle,
The vehicle state information is
A plurality of second position information obtained by measuring the positions of the plurality of second electric work vehicles at a plurality of times;
and a plurality of second battery remaining amount information obtained by measuring the second battery remaining amount of each of the plurality of second electric work vehicles at a plurality of times,
Determining said succession plan
The electric work vehicle management method further includes selecting the second electric work vehicle from among the plurality of second electric work vehicles based on the plurality of second battery remaining amount information. The electric work vehicle management method according to claim 2 ,
Determining said succession plan
and further determining, when the remaining charge of the second battery is insufficient for the second electric work vehicle to complete the task, another takeover plan for another electric work vehicle to further take over the task;
Outputting the handover signal
The electric work vehicle management method further includes outputting another handover signal for transmitting the handover plan to the second electric work vehicle and the other electric work vehicle. The electric work vehicle management method according to claim 2 ,
The vehicle state information is
third position information obtained by measuring the position of a third electric work vehicle that performs the work in the field simultaneously with the first electric work vehicle at a plurality of times;
and third battery remaining amount information obtained by measuring a third battery remaining amount of the third electric work vehicle at a plurality of times,
determining whether or not a sum of the first battery remaining charge and the third battery remaining charge is sufficient for the first electric work vehicle and the third electric work vehicle to complete the work based on the work plan information and the vehicle state information;
When the sum of the first battery remaining charge and the third battery remaining charge is not sufficient to complete the work, estimating a first work limit position which is the work limit position at the limit at which the first electric work vehicle can continue the work, and a third work limit position which is the limit at which the third electric work vehicle can continue the work;
The electric work vehicle management method further includes selecting, as a partner for handover to the second electric work vehicle, an electric work vehicle corresponding to the earlier of a first arrival time when the first electric work vehicle reaches the first work limit position and a third arrival time when the third electric work vehicle reaches the third work limit position. Acquiring work plan information representing a work plan for work to be performed in a farm field;
acquiring vehicle status information including first position information obtained by measuring a position of a first electric work vehicle that performs the work while moving in the field at a plurality of times, and first battery remaining amount information obtained by measuring a first battery remaining amount of the first electric work vehicle at a plurality of times;
determining whether or not the first battery remaining charge is sufficient for the first electric work vehicle to complete the work based on the work plan information and the vehicle state information;
When the remaining charge of the first battery is insufficient for the first electric work vehicle to complete the work, estimating a work limit position at the limit at which the first electric work vehicle can continue the work based on the work plan information and the vehicle state information;
determining a handover plan for a second electric work vehicle to take over the task when the first battery remaining charge is insufficient for the first electric work vehicle to complete the task;
outputting a takeover signal for transmitting the takeover plan to the first electric work vehicle and the second electric work vehicle;
Including,
Determining said succession plan
determining a work end position at which the first electric work vehicle ends the work to be located before the work limit position;
determining a takeover time at which the second electric work vehicle will take over and start the work;
Extracting an available charger from among the chargers that are capable of communication; and
selecting a charger that is estimated to take the shortest time for the first electric work vehicle to travel from the work end position;
determining a route for the first electric work vehicle to move from the work end position to the selected charger. In the electric work vehicle management method according to any one of claims 1 to 5 ,
The method further includes estimating the electric power supplied to the first electric work vehicle by a solar power generation device mounted on the first electric work vehicle based on a change in weather in the field;
The estimating of the working limit position includes:
The electric work vehicle management method includes estimating the work limit position further based on the power supplied by the solar power generation device. The electric work vehicle management method according to any one of claims 1 to 6 ,
The electric work vehicle management method further includes controlling the first electric work vehicle based on the work plan so that the first electric work vehicle automatically performs the work. The electric work vehicle management method according to any one of claims 1 to 7 ,
The electric work vehicle management method further includes an external terminal receiving the handover signal and displaying contents of the handover plan so that a specified user assists in the handover of the work from the first electric work vehicle to the second electric work vehicle. an acquisition unit that acquires work plan information representing a plan for work to be performed in a farm field, and acquires vehicle state information including first position information measuring the position of a first electric work vehicle that performs the work while moving in the farm field at a plurality of times, and first remaining battery amount information measuring a first remaining battery amount of the first electric work vehicle at a plurality of times;
a determination unit that determines whether or not the first battery remaining charge is sufficient for the first electric work vehicle to complete the work based on the work plan information and the vehicle state information;
an estimation unit that, when the first battery remaining charge is insufficient for the first electric work vehicle to complete the work, estimates a work limit position at which the first electric work vehicle can continue the work based on the work plan information and the vehicle state information;
a decision unit that decides a handover plan for a second electric work vehicle to take over the work when the remaining charge of the first battery is insufficient for the first electric work vehicle to complete the work;
an output unit that outputs a takeover signal for transmitting the takeover plan to the first electric work vehicle and the second electric work vehicle ;
The vehicle state information is
Second position information obtained by measuring the position of the second electric work vehicle at a plurality of times;
second battery remaining amount information obtained by measuring a second battery remaining amount of the second electric work vehicle at a plurality of times;
Further comprising:
The determination unit is
determining a work end position at which the first electric work vehicle ends the work to be located before the work limit position;
Calculating a charging time for charging the battery of the second electric work vehicle to obtain the second battery remaining amount necessary for the second electric work vehicle to complete the work;
A takeover time at which the second electric work vehicle will take over and start the work is determined based on the charging time.
Electric work vehicle management system. A management program for implementing processing of a computing device by executing the management program,
The process comprises:
Obtaining work plan information representing a plan for work to be performed in a farm field;
acquiring vehicle status information including first position information obtained by measuring a position of a first electric work vehicle that performs the work while moving in the field at a plurality of times, and first battery remaining amount information obtained by measuring a first battery remaining amount of the first electric work vehicle at a plurality of times;
determining whether or not the first battery remaining charge is sufficient for the first electric work vehicle to complete the work based on the work plan information and the vehicle state information;
When the remaining charge of the first battery is insufficient for the first electric work vehicle to complete the work, estimating a work limit position at the limit at which the first electric work vehicle can continue the work based on the work plan information and the vehicle state information;
determining a handover plan for a second electric work vehicle to take over the task when the first battery remaining charge is insufficient for the first electric work vehicle to complete the task;
outputting a takeover signal for transmitting the takeover plan to the first electric work vehicle and the second electric work vehicle ;
The vehicle state information is
Second position information obtained by measuring the position of the second electric work vehicle at a plurality of times;
second battery remaining amount information obtained by measuring a second battery remaining amount of the second electric work vehicle at a plurality of times;
Further comprising:
Determining said succession plan
determining a work end position at which the first electric work vehicle ends the work to be located before the work limit position;
Calculating a charging time for charging the battery of the second electric work vehicle to obtain the second battery remaining amount necessary for the second electric work vehicle to complete the work;
determining a takeover time at which the second electric work vehicle will take over and start the work based on the charging time;
Includes
Management program.

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