JP7050874B2 - Work management system - Google Patents

Description

The present invention relates to a work management system that manages work by a work vehicle that travels along a travel route map.

The field management system according to Patent Document 1 has a map data recording unit having a field map layer for recording field map data, and a field work data recording for recording field work data generated for each work for a field in a field work layer for each model. It is equipped with a data management unit that manages field map data and field work data at a common coordinate position, and an evaluation unit that evaluates farm farming in the field based on the field work data. Further, a travel locus data generation unit is provided which processes the own vehicle position calculated using the GPS unit over time and generates travel locus data indicating the travel locus of the work vehicle, and the generated travel locus data is generated. Incorporated into field work data. A more appropriate farming plan is planned by referring to the farming evaluation of each field obtained from this field work data.

The agricultural support system according to Patent Document 2 has a work plan setting means for setting a work plan relating the agricultural work and the agricultural work period for each field, a work plan storage means for storing the work plan, and completion or incompleteness of the agricultural work. It is provided with a work result storage means for storing each field, a calculation means for calculating the progress status for the work plan, and a progress display means for displaying the progress status. The calculation means calculates the completion rate of the fields where the farm work is completed in the field group extracted from the work plan storage means for the fields where the same farm work is performed, and the progress display means sets the completion rate of the fields as the progress status. Display as. This makes it easy to grasp the progress of the work plan for each field.

Japanese Unexamined Patent Publication No. 2017-68533 Japanese Unexamined Patent Publication No. 2015-4971

The systems disclosed in Patent Document 1 and Patent Document 2 realize computer management of agricultural work in each field, and open the way for computer utilization in agriculture. However, in each system, the farm work is computer-managed on a field-by-field basis. However, in reality, there are many large fields and fields with complicated polygonal shapes, and in such fields, the fields are divided into a plurality of sections, and farm work is performed for each section. Moreover, when the farm work is performed by a work vehicle that automatically travels along the set travel route map (travel route map data), the travel route map is set for each divided section. In particular, if the field has a complicated polygonal shape, even if the area is small, it is divided into a plurality of sections having a relatively simple geometric shape, and a traveling route map is set in the sections. In addition, if the condition of the field is not uniform and has unique local characteristics (soft soil, hard soil, sloping ground, etc.), the field is divided according to the characteristics, and each divided section is used. The work run of the work vehicle must also be changed.

From the above-mentioned actual situation, there is a demand for a work management system capable of managing work by a work vehicle that works based on a travel route map in a more appropriate form.

The work management system according to the present invention manages work by a work vehicle traveling on a work site along a travel route map, and works along one or more travel route maps set in the work site. A work history storage unit that stores the work content of the traveling vehicle by linking it to the travel route map in units of the travel route map, and the work content from the work history storage unit using the travel route map as a search condition. It is provided with a data management unit for extracting the data, and a display data generation unit for generating display data for displaying the extracted work contents on a display device.

According to this configuration, one or more travel route maps can be set in the work area to be worked, and the work contents when the work travels along the set travel route map is stored in the work history storage unit. Stored. The work content stored in the work history storage unit can be extracted from the travel route map as a search condition and can be displayed on the display device. That is, it is possible to extract the work content by using one or more travel route maps set for the work travel in the field as a search condition instead of the field unit. For example, even if the work vehicle performs work travel with different work parameters according to the travel route map set in each division, the work content (work history) of each division, in other words, the work of each travel route map unit. The content is extracted and displayed.

In one of the preferred embodiments of the present invention, the travel route map is superimposed on the map image of the work area and displayed on the display device, and one of the displayed travel route maps can be selected. It is regarded as an input operation using the travel route map as the search condition. In this configuration, when searching for the work contents performed in the work area, not only the work area is displayed on the search screen, but also the travel route map set in the work area is displayed together with the work area. .. By selecting and operating a desired travel route map from the displayed travel route map, the work content performed by the work vehicle along the travel route map is extracted.

In one of the preferred embodiments of the present invention, the work content representing the work performed by the work run based on the selected travel route map is displayed on the display device together with the travel route map. In this configuration, not only the travel route but also the work contents of the work travel carried out along the travel route are displayed at the same time, so that it becomes easy to grasp the work vehicle on which the work traveled.

The geology and shape of the work site do not change over time, but the travel route map set for the work site may change for each work. Especially when the work area is a field and the work vehicle is an agricultural work vehicle, the work is carried out every season. Therefore, in order to extract a travel route map for a specific work period, it is necessary to add a time stamp such as a date to the attribute value of the travel route map. For that purpose, if a method such as adding the work date for which the travel route map is set to the attribute value of the travel route map stored in the travel route map storage unit is adopted, the travel route map can be created according to the work date. It is convenient because it can be identified. Therefore, in one of the preferred embodiments of the present invention, the travel route map is stored in the travel route map storage unit with the work time as an attribute value in a form identified in time series, and the data management. The unit is configured to extract the travel route map from the travel route map storage unit using the work time (work date, etc.) as a search condition.

In one of the preferred embodiments of the present invention, the work is described in order to output the work contents in the work place in chronological order, determine the history of the past work, and refer to it for a future work plan. The contents are stored in the work history storage unit together with the work time when the work contents are performed, and the data management unit extracts the work contents from the work history storage unit using the work time as a search condition. It is configured as follows.

It is a side view which shows the tractor which can run automatically as an example of the work vehicle which adopted the work management system. It is a schematic diagram which shows an example of two traveling route maps set in the field as a work place. It is a functional block diagram for demonstrating the function of the control system of a tractor. It is a schematic diagram explaining the data structure in a database module and the display of the work history of a travel route map unit. It is a screen diagram which shows an example of the screen displayed on the display device. It is a screen diagram which shows an example of the screen displayed on the display device. It is a screen diagram which shows an example of the screen displayed on the display device. It is a screen diagram which shows an example of the screen displayed on the display device.

Next, one embodiment of the work vehicle incorporating the work management system according to the present invention will be described with reference to the drawings. The work vehicle of this embodiment is a tractor that works and travels along a travel route map set in a field as a work site. FIG. 1 is a side view of such a tractor. As shown in FIG. 1, this tractor is provided with a driver's cab 20 at the center of a vehicle body 10 supported by front wheels 11 and rear wheels 12. The rear part of the vehicle body 10 is equipped with a rotary type tilling device 30 as a working device for performing ground work via a hydraulic elevating mechanism 31. Therefore, the field is cultivated by the work running of this tractor. The front wheel 11 functions as a steering wheel, and the traveling direction of the tractor is changed by changing the steering angle thereof. The steering angle of the front wheels 11 is changed by the operation of the steering mechanism 13. The steering mechanism 13 includes a steering motor 14 for automatic steering. During manual driving, the front wheels 11 are steered by operating the steering wheel 22 arranged in the driver's cab 20. This tractor is equipped with a satellite positioning module 80 in the cabin 21 of the tractor in order to realize the own vehicle position detection function. As a component of the satellite positioning module 80, a satellite antenna for receiving GNSS (global navigation satellite system) signals (including GPS signals) is attached to the ceiling area of the cabin 21. Further, in order to complement the satellite navigation by the satellite positioning module 80, an inertial navigation module 81 incorporating a gyro acceleration sensor and a magnetic orientation sensor is provided. The satellite positioning module 80 and the inertial navigation module 81 can be incorporated in the same unit housing. In the driver's cab 20, in this embodiment, a general-purpose terminal device 6 configured by a tablet computer is mounted on a cradle installed in the cockpit. The general-purpose terminal device 6 has a wireless data transmission function, and even if it is removed from the cradle and taken out of the work vehicle by the observer, data communication with the control system of the tractor is possible. The general-purpose terminal device 6 has a function of providing information to the driver and the manager, and a function of inputting information from the driver and the manager.

FIG. 2 shows a plurality of fields, and the fields targeted for this work are surrounded by a thick line frame. This field is a modified hexagon, but is divided into a simple quadrangle, a first section and a second section, with a dividing line set in the center. In the first section, a travel route map having a travel route connecting a long straight route with a U-turn route is set. In the second section, a travel route map having a quadrangular spiral travel route is set. In this example, a traveling route map having a different shape is set for the first section and the second section, but of course, a traveling route map having the same shape may be set, or a traveling route map having a different shape may be set. May be set. In addition, when the field is divided into multiple sections due to differences in the ground conditions (hardness, slope, etc.) of the field, even if a travel route map of the same shape is set, the work travels along the travel route map. The control parameters (vehicle speed, tillage depth, etc.) of the tractor as one of the work contents recorded at the time are set differently.

FIG. 3 shows a functional block diagram of the control system of the work vehicle. The control system of this embodiment includes a control unit 5 including one or more ECUs, a wireless module 70, a satellite positioning module 80, an inertial navigation module 81, and a general-purpose terminal device 6. The control unit 5 is fixedly connected to the vehicle-mounted LAN of the tractor. The general-purpose terminal device 6 is connected to the control unit 5 via a cradle and an in-vehicle LAN. However, the general-purpose terminal device 6 removed from the cradle and taken out of the vehicle can be connected to the control unit 5 via the wireless module 70. The satellite positioning module 80 and the inertial navigation module 81 are connected to the control unit 5 via an in-vehicle LAN.

The general-purpose terminal device 6 is substantially a computer having a wireless communication function such as a tablet computer, and is provided with a touch panel 60, an input / output processing unit 61, and the like as standard functions. The touch panel 60 has a graphic interface function and is used as a display device or an input device. The input / output processing unit 61 processes data input wirelessly or by wire and data output wirelessly or by wire. Further, a computer program that realizes the travel route generation unit 62 and the work travel management module 63 is installed in the general-purpose terminal device 6. The work travel management module 63 includes a display data generation unit 64 and a database module 65. The database module 65 uses the memory of the general-purpose terminal device 6 to create a database of information related to work travel. The display data generation unit 64 generates display data for displaying information on the work running managed by the database module 65 on the touch panel 60.

The travel route generation unit 62 generates a travel route map based on the field outline data and the entrance / exit position data indicating the position and shape of the entrance / exit of the field. At that time, when the field is divided into a plurality of sections based on the user's instruction or the like, the travel route generation unit 62 generates a travel route map for each division. The field map data, the field outline data, and the like necessary for creating the travel route map are input by downloading from the cloud computer 9 or reading from a portable memory or the like.

The control unit 5 includes an output processing unit 7 and an input processing unit 8 as input / output interfaces. The output processing unit 7 is connected to the vehicle traveling equipment group 71 and the working equipment group 72. The vehicle traveling device group 71 includes control devices related to vehicle traveling, such as an engine control device, a shift control device, a braking control device, and a steering control device. The working equipment group 72 includes a power control device such as a PTO clutch that turns on and off the power transmission to the tilling device 30, and an elevating cylinder control device of the elevating mechanism 31 that raises and lowers the cultivating device 30.

A traveling system detection sensor group 82, a working system detection sensor group 83, a traveling mode switch 84, and the like are connected to the input processing unit 8. The travel mode switch 84 is a switch for selecting either an automatic travel mode in which the vehicle travels by automatic steering or a manual steering mode in which the vehicle travels by manual steering. For example, by operating the driving mode switch 84 while driving in the automatic steering mode, the vehicle can be switched to driving by manual steering, and by operating the driving mode switching device 84 while driving in the manual steering mode, the vehicle can be automatically steered. Can be switched to running. The traveling system detection sensor group 82 includes sensors for detecting the state of operating tools such as an engine speed adjusting tool, an accelerator pedal, a brake pedal, and a steering wheel 22. The work system detection sensor group 83 includes a sensor for detecting the driving state and posture of the tilling device 30.

The control unit 5 is provided with a work travel control module 50, a vehicle position calculation unit 57, and a work content recording unit 58. The own vehicle position calculation unit 57 calculates the own vehicle position, which is the coordinate position (map coordinates or field coordinates) of the vehicle body 10, based on the positioning data sequentially sent from the satellite positioning module 80. At that time, if the positioning data is missing or a positioning data error occurs, the position of the own vehicle is calculated based on the measurement data from the inertial navigation module 81.

The work content recording unit 58 includes a travel system detection sensor group 82, a work system detection sensor group 83, a signal from the travel mode switch 84, internal data handled by the work travel control module 50, and manual operation input by a driver or a monitor. Based on the above, the work contents including various information in the work running of this tractor are recorded in a timely manner (giving a type stamp or the like). Further, the work content recorded by the work content recording unit 58 includes warning information for the driver or the observer. The warning information includes tilting of the vehicle body 10 more than allowed, misalignment of the vehicle position with respect to the target traveling path more than allowed, engine trouble such as overheating, running out of fuel, running out of battery, and the like.

The work travel control module 50 includes a travel control unit 51, a work control unit 52, an engine control unit 53, an automatic work travel command unit 54, a travel route setting unit 55, and a coordinated travel management unit 56. The travel control unit 51 controls the vehicle travel equipment group 71 such as the steering motor 14. This work vehicle can travel in both automatic driving (automatic steering) and manual driving (manual steering). Therefore, the travel control unit 51 has a manual travel control function and an automatic travel control function. When the manual travel control function is executed, the vehicle travel equipment group 71 is controlled based on the operation by the driver. When the automatic travel control function is executed, the travel control unit 51 controls the vehicle travel equipment group 71 based on the automatic steering command given from the automatic work travel command unit 54. The work control unit 52 gives a work control signal to the work equipment group 72 in order to control the movement of the tilling device 30. The engine control unit 53 gives an engine control signal to the operating equipment of the engine.

The travel route setting unit 55 takes in the travel route map generated by the travel route generation unit 62 of the general-purpose terminal device 6 and expands it in the memory as a target travel route for the automatic travel of the tractor. In the case of manual driving, this travel route map can be used for guidance for the work vehicle to travel along the travel route.

The automatic work travel command unit 54 calculates the directional deviation and the position deviation between the travel route map set as the target travel route by the travel route setting unit 55 and the vehicle position calculated by the vehicle position calculation unit 57. Then, an automatic steering command for eliminating the directional deviation and the positional deviation is generated and given to the traveling control unit 51. Further, the automatic work travel command unit 54 gives a work device operation command to the work control unit 52 according to the position of the own vehicle and the travel state of the own vehicle.

The cooperative travel management unit 56 has a function of acquiring the traveling state and working state of the tractor of the cooperating partner and controlling the working traveling of the tractor of the coordinating partner, and a function of controlling its own work traveling from the working vehicle of the cooperating partner. Have. Before the cooperative travel is performed, the travel route generation unit 62 generates a travel route map of the tractor participating in the cooperative travel based on the instructed cooperative travel pattern. That is, the travel route map is generated for each tractor participating in the cooperative travel.

The database module 65 of the general-purpose terminal device 6 includes a data management unit 66, a work location information storage unit 67, a travel route map storage unit 68, and a work history storage unit 69. In this embodiment, the work site information storage unit 67 stores information about the field such as the map position and external shape data of the field, and the type of grown agricultural products. The travel route map storage unit 68 stores one or more travel route maps generated by the travel route generation unit 62 and set by the travel route setting unit 55 in each field (work area). The travel route map may be set in the same work area or a division of the work area in different forms depending on the time. Therefore, the travel route map is stored in the travel route map storage unit 68 in a form identified in time series. As a result, the data management unit 66 can extract the travel route map, for example, using the work date as a search condition. The work history storage unit 69 stores the work content recorded in the work content recording unit 58 in the work travel based on the travel route map in a form linked to the corresponding travel route map. This work content is also stored in the work history storage unit 69 in a form identified in time series. Therefore, the data management unit 66 can extract the work content by using the work date as a search condition.

The data management unit 66 extracts data matching the search conditions input by the user from the work location information storage unit 67, the travel route map storage unit 68, and the work history storage unit 69, and gives the data to the display data generation unit 64. .. Further, the data management unit 66 distributes and stores various types of information to the work location information storage unit 67, the travel route map storage unit 68, and the work history storage unit 69. The data given to the display data generation unit 64 is converted into display data using the preset template and format, and is displayed on the touch panel 60.

With reference to FIG. 4, the data structure in the database module 65 and the display of the work history in the travel route map unit will be described. As shown in FIG. 4, in the work area information storage unit 67, the work area information (field information) is stored by linking with the work area image showing the position and outer shape of the work area. In the travel route map storage unit 68, the travel route map is stored by linking with the work area or, when the work area is divided into a plurality of sections, by linking with the divided sections. The work history storage unit 69 links the work content with the corresponding travel route map and stores it.

In the example of FIG. 4, the touch panel 60, which is a display device, shows a process of displaying the work history in a section further selected from a plurality of sections in the work area. First, a map image showing the periphery of the work site to be processed is cut out from the map image data. Next, the work area image linked to the work area information extracted by the work area information storage unit 67 is assigned to the map image around the work area with the work area to be processed as a search condition. At that time, if the work area is divided, the division line is also assigned. Further, display data is generated in which the two travel route maps belonging to the selected work area are superimposed on the work area image, and displayed on the touch panel 60. When the user selects a desired one from the two travel route maps displayed on the touch panel 60, the corresponding work history is extracted from the work history storage unit 69 using the selected travel route map as a search condition. , Displayed on the touch panel 60. When another travel route map is selected, the work content linked to the travel route map is displayed. That is, the work content representing the work performed by the work travel based on the travel route map selected and operated is displayed on the touch panel 60 together with the travel route map.

5 to 8 show the transition of the screen of the touch panel 60 in the process of extracting the work history in the desired work area from the database module 65 and displaying it on the touch panel 60.

FIG. 5 is a start screen for starting a management program used for field management by the work travel management module 63 by using the graphic interface built on the touch panel 60. When the history button is clicked on this start screen, the search condition screen shown in FIG. 6 is displayed. On this search condition screen, a map image of a field group in the area to which the user belongs is displayed, and the field related to the user is displayed in a form in which other fields are identified (diagonal lines in FIG. 6). Further, the map area showing the travel route map set within the time set for this field is shown by a thick line frame. By clicking this map area, as shown in FIG. 7, the work contents in the work running based on the travel route map of this map area are displayed in the work content display column. In FIG. 7, the map images of the field groups are also displayed side by side. When the work content over a long period of time is displayed, the work day narrowing down column can be used to further narrow down the work day period.

In FIG. 7, when the detail display button is clicked from the button group arranged adjacent to the work content display column, the work history detail display screen shown in FIG. 8 is displayed. This screen shows the details of the work as well as the detailed view of the corresponding travel route map.

The configuration disclosed in the above embodiment (including another embodiment, the same shall apply hereinafter) can be applied in combination with the configuration disclosed in other embodiments as long as there is no contradiction. The embodiments disclosed in the present specification are examples, and the embodiments of the present invention are not limited thereto, and can be appropriately modified without departing from the object of the present invention.

[Another embodiment]
(1) In the above-described embodiment, the work travel management module 63 is constructed in the general-purpose terminal device 6, but the work travel management module 63 can be constructed in the control unit 5. At that time, the display function and the input operation function by the touch panel 60 are transferred to the display and operation buttons equipped on the vehicle body 10, or the touch panel equipped on the vehicle body 10. It is also possible to construct a part of the work travel management module 63, for example, the database module 65 in the control unit 5. Furthermore, it is also possible to build the database module 65 on the cloud computer 9.
(2) In the above-described embodiment, the travel route generation unit 62 is constructed in the general-purpose terminal device 6, but the travel route generation unit 62 can also be constructed in the control unit 5 or the cloud computer 9.
(3) Each functional unit shown in FIG. 3 is divided mainly for the purpose of explanation. In practice, each functional unit may be integrated with other functional units, or may be further divided into a plurality of functional units.
(4) In the above-described embodiment, a tractor equipped with a tilling device 30 as a work device is taken up as a work vehicle incorporating the work management system of the present invention. It is possible to incorporate the work management system of the present invention into various work vehicles such as fertilizer fertilizers, agricultural work vehicles such as combines, and construction work vehicles.

The present invention is applicable to a work management system that manages work by a work vehicle that works on a work site along a travel route map.

5: Control unit 50: Work travel control module 51: Travel control unit 54: Automatic work travel command unit 55: Travel route setting unit 56: Coordinated travel management unit 57: Own vehicle position calculation unit 58: Work content recording unit 6: General-purpose Terminal device 60: Touch panel 61: Input / output processing unit 62: Travel route generation unit 63: Work travel management module 64: Display data generation unit 65: Database module 66: Data management unit 67: Work location information storage unit 68: Travel route map Storage unit 69: Work history storage unit 80: Satellite positioning module 81: Inertial navigation module 82: Travel system detection sensor group 83: Work system detection sensor group

Claims (5)

It is a work management system that manages the work by the work vehicle that works on the work site according to the travel route map.
A work history storage unit that stores the work contents of the work vehicle that works and travels along one or more of the travel route maps set in the work site by linking with the travel route map in units of the travel route map . ,
A data management unit that extracts the work content from the work history storage unit using the travel route map as a search condition.
A work management system including a display data generation unit that generates display data for displaying the extracted work contents on a display device. The travel route map is superimposed on the map image of the work area and displayed on the display device, and selecting one of the displayed travel route maps is an input operation using the travel route map as the search condition. The work management system according to claim 1. The work management system according to claim 2, wherein the work content representing the work performed by the work based on the selected operation of the travel route map is displayed on the display device together with the travel route map. The travel route map is stored in the travel route map storage unit with the work time as an attribute value in a form identified in time series, and the data management unit uses the work time as a search condition to store the travel route map. The work management system according to any one of claims 1 to 3, wherein the data is extracted from the travel route map storage unit. The work content is stored in the work history storage unit together with the work time when the work content is performed, and the data management unit can use the work time as a search condition from the work history storage unit. The work management system according to any one of claims 1 to 4, wherein the work content is extracted.

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