JP2019129744A - Work vehicle management system - Google Patents

Abstract

To provide a work vehicle management system allowing a work vehicle to perform work efficiently.SOLUTION: There is provided a work vehicle management system A for managing a plurality of work vehicles working while shifting timing in a same field, comprising: a work information generation part 12 for generating work information being information of a work performed by a preceding vehicle 1 performing a preceding work which is performed prior to other works; a work information acquisition part 31 for acquiring work information generated by the work information generation part 12; and a work command part 32 for, on the basis of the work information acquired by the work information acquisition part 31, generating a work command being a command of a work which a subsequent vehicle 2 performing a subsequent work should perform, the subsequent work being performed after the preceding work among the works, then commanding the subsequent vehicle 2.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a work vehicle management system for managing a plurality of work vehicles.

  As the work vehicle management system as described above, for example, the one described in Patent Document 1 is already known. In this work vehicle management system, various types of information are sent from a plurality of work vehicles (“combine” in Patent Document 1) to the farm management computer system.

JP 2014-67309 A

  Patent Document 1 does not describe managing a plurality of work vehicles that perform work at different timings in the same field.

  An object of the present invention is to provide a work vehicle management system in which a work vehicle can efficiently perform work.

The feature of the present invention is that
A work vehicle management system that manages a plurality of work vehicles that work at different times in the same field,
A work information generating unit that generates work information that is information of work performed by a preceding vehicle that performs the preceding work performed in advance of the work;
A work information acquisition unit for acquiring the work information generated by the work information generation unit;
Based on the work information acquired by the work information acquisition unit, generates a work command that is a work command to be performed by a subsequent vehicle that performs a subsequent work performed after the preceding work among the work, And a work command section that commands the following vehicle.

  According to the present invention, the work information is generated based on the preceding work performed by the preceding vehicle. And the following vehicle can perform the following work based on the generated work information.

  Therefore, the following vehicle can perform the following operation by effectively using the information of the preceding operation performed by the preceding vehicle. Thereby, the work of the following vehicle becomes efficient. That is, according to the present invention, the work vehicle can work efficiently.

Furthermore, in the present invention,
The preceding vehicle is provided with a work information output unit that outputs the work information generated by the work information generation unit to the work information acquisition unit,
It is preferable that the succeeding vehicle is provided with a work command acquisition unit that acquires the work command instructed by the work command unit.

  According to this configuration, work information and work commands can be transmitted and received between the preceding vehicle and the following vehicle by communication. This makes it possible to construct a work vehicle management system with high versatility.

Furthermore, in the present invention,
As the preceding vehicle, it is preferable to manage a work vehicle that is the same model as the following vehicle and is smaller than the following vehicle.

  When the preceding vehicle is larger than the following vehicle, work information is generated based on the preceding work performed by the large work vehicle. Then, the small work vehicle performs a follow-up operation based on the generated operation information.

  That is, in this case, the work of a small work vehicle becomes efficient.

  On the other hand, according to said structure, work information is produced | generated based on the prior | preceding work performed with the small work vehicle. And a large sized work vehicle can perform a follow-up operation | work based on the produced | generated work information.

  Therefore, the large work vehicle can perform the following work by effectively using the information on the preceding work performed by the small work vehicle. Thereby, the work of a large work vehicle becomes efficient.

  Here, comparing the case where the work of a small work vehicle becomes efficient and the case where the operation of a large work vehicle becomes efficient, the case where the work of a large work vehicle becomes efficient The overall work efficiency is easy to improve.

  That is, according to said structure, compared with the case where a preceding vehicle is larger than a following vehicle, the efficiency of the whole operation | work is easy to improve.

  The same model means that the types of work vehicles are the same. For example, when the preceding vehicle is a self-removing combine and the following vehicle is a normal combine, the preceding vehicle and the following vehicle are both the same model because they are both combine.

Furthermore, in the present invention,
Managing the harvester as the preceding vehicle and the following vehicle,
It is preferable that the work information generated by the work information generation unit includes time-dependent position information of the preceding vehicle in cutting around the preceding vehicle.

  According to this configuration, the succeeding vehicle efficiently performs the harvesting operation in the area left uncut inside the area that has been trimmed around the surrounding car based on the positional information of the preceding car in the surrounding trimming by the preceding car. Can be done.

Furthermore, in the present invention,
As the preceding vehicle, either one of the self-ejecting combine and the ordinary combine is managed,
It is preferable to manage one of the self-removing combine and the ordinary combine as the following vehicle.

  In general, the self-removing combine has a lower harvest loss than the ordinary combine. In addition, the ordinary combine can determine the travel route without being restricted by the stripe in the field of the row planting.

  Here, according to said structure, it is easy to perform an efficient operation | work combining the each advantage of a self-desorption type combine and a normal type combine.

Furthermore, in the present invention,
As the preceding vehicle, manage the manual traveling machine,
It is preferable to manage an automatic traveling machine as the following vehicle.

  According to this configuration, work information is generated based on the preceding work performed by the manual traveling machine. Then, the automatic traveling machine can efficiently perform the subsequent work according to the work command generated based on the work information.

It is a block diagram which shows the structure regarding a work vehicle management system. It is a figure which shows the perimeter cutting by a 1st combine. It is a figure which shows an outer periphery area | region and a work object area | region. It is a figure which shows a mode that a 2nd combine performs harvesting traveling along the harvesting traveling route. It is a figure which shows the harvesting work performed in a some agricultural field. It is a figure which shows the harvesting work performed in a some agricultural field. It is a figure which shows the harvesting work performed in a some agricultural field. It is a figure which shows the harvesting work performed in a some agricultural field. It is a block diagram which shows the structure regarding the work vehicle management system in 1st another embodiment. It is a block diagram which shows the structure regarding the work vehicle management system in 1st another embodiment.

[Configuration of work vehicle management system]
As shown in FIG. 1, the work vehicle management system A includes a work information generation unit 12, a work information output unit 13, a work information acquisition unit 31, a work command unit 32, and a work command acquisition unit 23. The work vehicle management system A includes a first combine 1 (corresponding to “work vehicle” and “harvesting machine” according to the present invention) and a second combine 2 (“work vehicle” and “harvest machine” according to the present invention). Equivalent)

  The first combine 1 and the second combine 2 perform harvesting operations at different timings in the same field. The 1st combine 1 is a preceding vehicle and performs the preceding work performed ahead of the harvesting work. Moreover, the 2nd combine 2 is a follow-up vehicle, and performs the follow-up work performed after the preceding work among the harvest work.

  Here, as an example of the harvesting work by the first combine 1 and the second combine 2, a case where the first combine 1 and the second combine 2 perform the harvesting work in the field G shown in FIGS. 2 to 4 will be described.

  First, as shown in FIG. 2, the 1st combine 1 performs surrounding cutting as a preceding vehicle. And when the surrounding harvesting by the 1st combine 1 is completed, the agricultural field G will be in the state shown in FIG. That is, a portion of the field G where the first combine 1 has performed the surrounding cutting is an already cut region. And the area | region inside this already cut area is left uncut.

  In FIG. 3, this trimmed area is shown as an outer peripheral area SA. Further, an area left uncut inside the outer peripheral area SA is shown as a work area CA.

  And as shown in FIG. 4, the 2nd combine 2 performs the harvesting work in work object area | region CA as a follower vehicle. Then, when the harvesting work in the work target area CA is completed, the entire field G is already harvested.

  In addition, the perimeter cutting performed by the 1st combine 1 is corresponded to the "preceding work" concerning this invention. The harvesting work in the work target area CA performed by the second combine 2 corresponds to the “following work” according to the present invention.

  In the present embodiment, the first combine 1 is smaller than the second combine 2. The first combine 1 is a self-removing combine, and the second combine 2 is a normal combine.

  The first combine 1 is manually operated by an operator. That is, the first combine 1 is a manual traveling machine. Further, the harvesting traveling by the second combine 2 is automatically controlled. That is, the second combine 2 is an automatic traveling machine.

  As described above, the work vehicle management system A manages a work vehicle that is the same model as the following vehicle and smaller than the following vehicle as the preceding vehicle. Moreover, the work vehicle management system A manages the harvester as a preceding vehicle and a following vehicle. In addition, the work vehicle management system A manages the self-removal combine as a preceding vehicle and manages the normal combine as a follower. In addition, the work vehicle management system A manages a manual traveling machine as a preceding vehicle and manages an automatic traveling machine as a following vehicle.

  As shown in FIG. 1, the work information generation unit 12 and the work information output unit 13 in the work vehicle management system A are provided in the first combine 1. The first combine 1 includes a first vehicle position calculation unit 11.

  Further, a work command acquisition unit 23 in the work vehicle management system A is provided in the second combine 2. The second combine 2 includes a second host vehicle position calculation unit 21 and a travel control unit 22.

  Further, the work information acquisition unit 31 and the work command unit 32 in the work vehicle management system A are provided in the management server 3.

  The first vehicle position calculation unit 11 calculates the position coordinates of the first combine 1 over time. The calculated position coordinates of the first combine 1 are sent to the work information generation unit 12.

  The work information generation unit 12 generates work information based on the position coordinates received from the first vehicle position calculation unit 11. The work information is information on work performed by the preceding vehicle. The work information generated by the work information generation unit 12 includes time-dependent positional information of the first combine 1 in the surrounding cutting by the first combine 1.

  Note that the work information generated by the work information generation unit 12 may include information on the yield and taste of the grains harvested by the first combine 1 in the surrounding cutting, or the first combine 1 in the surrounding cutting. Information such as average vehicle speed and fuel consumption may be included.

  As described above, the work vehicle management system A includes the work information generation unit 12 that generates work information that is information on work performed by the preceding vehicle that performs the preceding work that is performed prior to the work.

  The work information generated by the work information generation unit 12 is sent to the work information output unit 13. The work information output unit 13 outputs the work information received from the work information generation unit 12 to the work information acquisition unit 31. Then, the work information acquisition unit 31 sends the work information acquired from the work information output unit 13 to the work command unit 32.

  As described above, the work information output unit 13 that outputs the work information generated by the work information generation unit 12 to the work information acquisition unit 31 is provided in the preceding vehicle. In addition, the work vehicle management system A includes a work information acquisition unit 31 that acquires the work information generated by the work information generation unit 12.

  The work command unit 32 generates a work command based on the work information received from the work information acquisition unit 31 and instructs the second combine 2. The work command is a command for work to be performed by the following vehicle.

  More specifically, the work command unit 32 calculates the outer peripheral area SA and the work target area CA based on the work information received from the work information acquisition unit 31. For example, in the harvesting work in the farm field G shown in FIGS. 2 to 4, the work command unit 32 calculates the outer peripheral area of the farm field G where the first combine 1 has performed the perimeter cutting as the outer peripheral area SA. Then, the work command unit 32 calculates the inside of the calculated outer peripheral area SA as the work target area CA.

  Then, the work command unit 32 calculates a harvest travel route LI that is a travel route for harvest travel in the work target area CA. As shown in FIGS. 3 and 4, in the present embodiment, the harvesting travel route LI is a plurality of parallel lines parallel to each other.

  The work command generated by the work command unit 32 includes the harvesting travel route LI calculated in this way. As shown in FIG. 1, the work command commanded by the work command unit 32 is acquired by the work command acquisition unit 23.

  As described above, the work vehicle management system A is based on the work information acquired by the work information acquisition unit 31 and uses a work command to be performed by the following vehicle that performs the following work that is performed after the preceding work. A work command unit 32 that generates a work command and commands the following vehicle is provided. Further, the following vehicle is provided with a work command acquisition unit 23 that acquires a work command instructed by the work command unit 32.

  The work command acquisition unit 23 sends the work command acquired from the work command unit 32 to the travel control unit 22.

  The second vehicle position calculation unit 21 calculates the position coordinates of the second combine 2 over time. The calculated position coordinates of the second combine 2 are sent to the travel control unit 22.

  The travel control unit 22 performs the automatic travel of the second combine 2 based on the position coordinates of the second combine 2 received from the second vehicle position calculation unit 21 and the work command received from the work command acquisition unit 23. Control. More specifically, as shown in FIG. 4, the travel control unit 22 controls the travel of the second combine 2 so that the harvest travel is performed by automatic travel along the harvest travel route LI.

[About work in multiple fields]
In the following, as an example of harvesting work using the work vehicle management system A, the first combine 1 and the second combine 2 are the first farm field H1, the second farm field H2, and the third farm field H3 shown in FIGS. A flow in the case of harvesting work will be described.

  First, the operator manually operates the first combine 1 to cut the surroundings in the first field H1 as shown in FIG. In the present embodiment, as shown in FIG.

  When the perimeter cutting in the first field H1 is completed, as shown in FIG. 6, the harvesting travel route LI in the work target area CA of the first field H1 is calculated by the work command unit 32. Then, the second combine 2 starts automatic traveling along the harvesting traveling route LI.

  Moreover, as shown in FIG. 6, the operator manually operates the first combine 1 to move to the second farm field H2. And the surrounding cutting in the 2nd agricultural field H2 is started.

  In addition, as shown in FIG. 6, before the harvesting operation by the 2nd combine 2 in the 1st field H1 is completed, the perimeter cutting in the 2nd field H2 can be started. That is, the 1st combine 1 can perform the surrounding cutting in a separate farm field one after another, without waiting for completion of the harvesting work of the 2nd combine 2.

  As shown in FIG. 7, when the perimeter cutting in the second field H2 is completed, the harvesting travel route LI in the work target area CA of the second field H2 is calculated by the work command unit 32 as shown in FIG. Then, the operator manually operates the first combine 1 and moves to the third farm field H3. And as shown in FIG. 8, the perimeter cutting in the 3rd agricultural field H3 is started.

  Further, as shown in FIG. 7, in this example, the harvesting operation by the second combine 2 in the first field H1 is not completed when the surrounding cutting in the second field H2 is completed.

  As shown in FIG. 8, when the harvesting operation by the second combine 2 in the first field H1 is completed, the entire first field H1 is already harvested. Accordingly, the second combine 2 moves to the second farm field H2. And the 2nd combine 2 starts the automatic driving | running | working along the harvesting driving | running route LI in the 2nd agricultural field H2.

  Then, although illustration is abbreviate | omitted, when the harvesting operation | work by the 2nd combine 2 in the 2nd agricultural field H2 is completed, the whole 2nd agricultural field H2 will be already harvested. Moreover, in the 3rd farm field H3, when the circumference cutting by the 1st combine 1 and the harvesting operation by the 2nd combine 2 are completed, the whole 3rd farm field H3 will be already harvested.

  With the configuration described above, work information is generated based on the preceding work performed by the preceding vehicle. And the following vehicle can perform the following work based on the generated work information.

  Therefore, the following vehicle can perform the following operation by effectively using the information of the preceding operation performed by the preceding vehicle. Thereby, the work of the following vehicle becomes efficient. That is, if it is the structure demonstrated above, a work vehicle can work efficiently.

  Moreover, generally the outer peripheral part of a farm field has a complicated shape in many cases. Here, if it is the structure demonstrated above, a manual travel machine will be managed as a preceding vehicle. Therefore, it is easy to travel along the shape of the outer periphery of the field.

  In addition, a space for turning is secured around the central area left uncut after the perimeter cutting is completed. Therefore, the harvesting operation in the central area is easy to perform appropriately even with an automatic traveling machine. Here, if it is the structure demonstrated above, an automatic traveling machine will be managed as a following vehicle. Therefore, the harvesting operation in the central region can be performed without labor.

  Moreover, if it is the structure demonstrated above, the small 1st combine 1 will be managed as a preceding vehicle. Since the small first combine 1 has a small turn compared to the large second combine 2, it is easy to travel along the shape of the outer peripheral portion of the field.

  In addition, a space for turning is secured around the central area left uncut after the perimeter cutting is completed. For this reason, the harvesting operation in the central region can be appropriately performed even with the large second combine 2. Here, if it is the structure demonstrated above, the 2nd combine 2 is managed as a following vehicle. Therefore, the harvesting operation in the central region can be efficiently performed by the large second combine 2.

[First Embodiment]
In the above embodiment, the work information acquisition unit 31 is provided in the management server 3 as shown in FIG. However, the present invention is not limited to this. The work information acquisition unit 31 may be provided in an element other than the management server 3.

  Below, the 1st another embodiment concerning the present invention is described focusing on a different point from the above-mentioned embodiment. Configurations other than the portions described below are the same as in the above embodiment. Moreover, the same code | symbol is attached | subjected about the structure similar to the said embodiment.

  FIGS. 9 and 10 are diagrams showing a configuration relating to the work vehicle management system A in the first alternative embodiment according to the present invention. In the first alternative embodiment, the work information acquisition unit 31 is provided in the terminal T. The terminal T is configured to be detachable from the first combine 1 and the second combine 2.

  In the first alternative embodiment, the work information output unit 13 and the work command acquisition unit 23 are not provided. The work command unit 32 is provided in the second combine 2.

  As shown in FIG. 9, in a state where the terminal T is attached to the first combine 1, the work information generated by the work information generation unit 12 is acquired by the work information acquisition unit 31 in the terminal T.

  Then, after the work information acquisition unit 31 in the terminal T acquires the work information, as shown in FIG. 10, when the worker removes the terminal T from the first combine 1 and attaches it to the second combine 2, the work information becomes It is sent from the work information acquisition unit 31 to the work command unit 32 in the second combine 2.

  The work command unit 32 generates a work command based on the work information received from the work information acquisition unit 31. The generated work command is sent from the work command unit 32 to the travel control unit 22.

  Each embodiment described above is only an example, and the present invention is not limited to this, and can be modified as appropriate.

[Other Embodiments]
(1) In the above embodiment, the harvest traveling route LI calculated by the work command unit 32 is a plurality of parallel lines parallel to each other, but the present invention is not limited to this, and is calculated by the work command unit 32. The harvesting travel route LI may not be a plurality of parallel lines parallel to each other. For example, the harvesting travel route LI calculated by the work command unit 32 may be a spiral travel route.

  (2) The work vehicle management system A may manage an automatic traveling machine as a preceding vehicle.

  (3) The work vehicle management system A may manage a manual traveling machine as a follower.

  (4) The work vehicle management system A may manage a normal combine as a preceding vehicle.

  (5) The work vehicle management system A may manage the self-removing combine as a follower.

  (6) The surrounding cutting may not be performed by the preceding vehicle. In other words, the work information may not include time-dependent position information of the preceding vehicle in the surrounding cutting by the preceding vehicle.

  (7) The preceding vehicle and the following vehicle may be different models. For example, the preceding vehicle may be a rice transplanter and the following vehicle may be a combine. Further, the preceding vehicle may be a tractor and the following vehicle may be a rice transplanter.

  (8) The preceding vehicle may have the same size as the following vehicle, or may be a larger working vehicle than the following vehicle.

  (9) The preceding work may be performed by a plurality of work vehicles. That is, the work vehicle management system A may manage a plurality of preceding vehicles.

  (10) The subsequent work may be performed by a plurality of work vehicles. That is, the work vehicle management system A may manage a plurality of following vehicles.

  (11) The work information generation unit 12 may be provided in elements other than the first combine 1. For example, the work information generation unit 12 may be provided in the second combine 2 or may be provided in the management server 3.

  (12) The work information acquisition unit 31 may be provided in elements other than the management server 3. For example, the work information acquisition unit 31 may be provided in the first combine 1 or may be provided in the second combine 2.

  (13) The work command unit 32 may be provided in an element other than the management server 3. For example, the work command unit 32 may be provided in the first combine 1 or may be provided in the second combine 2.

  (14) The work combiner 31 and the work command unit 32 may be provided in the second combine 2. That is, work information may be transmitted and received by direct communication between the first combine 1 and the second combine 2 without going through the management server 3.

  The present invention can be used not only for a combine but also for a corn harvester, a rice transplanter, a tractor and the like.

1 First combine (preceding vehicle)
2 Second combine (following vehicle)
DESCRIPTION OF SYMBOLS 12 Work information generation part 13 Work information output part 23 Work command acquisition part 31 Work information acquisition part 32 Work command part A Work vehicle management system

Claims (6)

A work vehicle management system that manages a plurality of work vehicles that work at different times in the same field,
A work information generating unit that generates work information that is information of work performed by a preceding vehicle that performs the preceding work performed in advance of the work;
A work information acquisition unit for acquiring the work information generated by the work information generation unit;
Based on the work information acquired by the work information acquisition unit, generates a work command that is a work command to be performed by a subsequent vehicle that performs a subsequent work performed after the preceding work among the work, A work vehicle management system comprising: a work command unit that commands a following vehicle. The preceding vehicle is provided with a work information output unit that outputs the work information generated by the work information generation unit to the work information acquisition unit,
The work vehicle management system according to claim 1, wherein the succeeding vehicle includes a work command acquisition unit that acquires the work command instructed by the work command unit.   The work vehicle management system according to claim 1 or 2, wherein a work vehicle that is the same model as the following vehicle and is smaller than the following vehicle is managed as the preceding vehicle. Managing the harvester as the preceding vehicle and the following vehicle,
The work vehicle management according to any one of claims 1 to 3, wherein the work information generated by the work information generation unit includes time-dependent positional information of the preceding vehicle in surrounding cutting by the preceding vehicle. system. As the preceding vehicle, either one of the self-ejecting combine and the ordinary combine is managed,
The work vehicle management system according to claim 4, wherein one of the self-removing combine and the normal combine is managed as the succeeding vehicle. As the preceding vehicle, manage the manual traveling machine,
The work vehicle management system according to any one of claims 1 to 5, wherein an automatic traveling machine is managed as the succeeding vehicle.

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