JP2021018542A - Work information creation device - Google Patents

Abstract

To provide a work information creation device capable of creating work information including ridge unit information for each ridge in a farm field where work has been performed, using positional information for each time of a work vehicle.SOLUTION: A work information creation device comprises: an acquisition unit that acquires time-series information including position information for each time of a work vehicle measured while the work vehicle is traveling in a farm field having a plurality of ridges arranged in a stripe shape; a grouping unit that groups the time-series information acquired by the acquisition unit for each ridge; and a work information creation unit that creates work information including ridge unit information for each ridge based on the time-series information for each group.SELECTED DRAWING: Figure 5

Description

The present invention relates to a work information generator.

In Patent Document 1, when the agricultural work machine is a rice transplanter, the seedling planting data generation unit in the machine-dependent data generation unit generates data on the seedling planting amount, seedling planting depth, inter-strain and inter-row data in the seedling planting work. It is stated that. However, Patent Document 1 does not describe how to generate data on the seedling planting amount, the seedling planting depth, and the inter-strain and inter-row data.

JP-A-2017-68533

For example, in the crop planting work, planting the crop with the optimum ridge length, number of ridges, ridges, etc. leads to maximization of the final yield and optimization of quality. It is important to confirm whether the farming work such as planting work has been carried out according to the preset plan, but it is difficult to perform this confirmation manually from the viewpoint of labor and cost.
An object of the present invention is to provide a work information generation device capable of generating work information including ridge unit information for each ridge in a field where work has been performed, using position information for each time of a work vehicle. Is.

In one embodiment of the present invention, time-series information including time-by-time position information of the work vehicle measured while the work vehicle is traveling in a field having a plurality of ridges arranged in a stripe shape is acquired. The work information including the ridge unit information for each ridge is provided based on the acquisition unit, the grouping unit that divides the time series information acquired by the acquisition unit into groups for each ridge, and the time series information for each group. Provided is a work information generation device including a work information generation unit to be generated.

In this configuration, it is possible to generate work information including ridge unit information for each ridge in the field where the work is performed by using the position information for each time of the work vehicle.
In one embodiment of the present invention, the grouping unit calculates the movement direction of the work vehicle at a position corresponding to each position information based on the time series information acquired by the acquisition unit. A main movement direction determination unit that determines the main movement direction, which is the main movement direction of the work vehicle, based on the movement direction corresponding to all the position information calculated by the movement direction calculation unit, and each position. A determination unit that determines whether the position corresponding to each position information is a position inside the ridge or a position outside the ridge, based on the movement direction of the work vehicle at the position corresponding to the information and the main movement direction. A classification unit that groups the time-series information acquired by the acquisition unit based on the determination result of the determination unit into each ridge is included.

In one embodiment of the present invention, the ridge unit information for each ridge includes the length of the ridge, the work start time and work end time in the ridge, the work start position and work end position in the ridge, and the work end position. Includes at least one of the average vehicle speeds on the ridges.
In one embodiment of the invention, the work information includes the number of ridges and ridges in the field.
In one embodiment of the present invention, the ridge unit information for each ridge includes at least one of a planting amount for the ridge, a fertilizer application amount for the ridge, a chemical application amount for the ridge, and a yield for the ridge.

In one embodiment of the present invention, the ridge unit information for each ridge includes the average vehicle speed for each ridge, and based on the average vehicle speed for each ridge, a ridge that is likely to have an obstacle nearby is formed. The specific portion further includes a specific portion to be specified, and the specific portion is configured to identify a ridge whose average vehicle speed is slower than a predetermined threshold as a ridge in which an obstacle is likely to be present nearby.

FIG. 1 is a schematic diagram showing a configuration of a work information generation system to which the work information generation device according to the embodiment of the present invention is applied. FIG. 2 is a side view mainly showing a tractor. FIG. 3 is a plan view of FIG. FIG. 4 is a schematic view for explaining how a work vehicle performs sugarcane planting work in a field. FIG. 5 is a block diagram showing the electrical configuration of the tractor and the management server. FIG. 6 is a flowchart showing a procedure of work information generation processing executed by the grouping unit and the work information generation unit. FIG. 7 is a schematic diagram showing each position information of the latitude and longitude coordinate system included in the time series information to be processed in the first latitude and longitude coordinate system. FIG. 8 is a graph showing an example of the probability density function calculated in step S2. FIG. 9 is a flowchart showing a procedure of the determination process executed by the determination unit in step S5 of FIG. FIG. 10 is a flowchart showing a procedure of the field width calculation process executed by the work information generation unit in step S7 of FIG. FIG. 11 is a schematic diagram for explaining the process of step S31 of FIG. FIG. 12 is a schematic diagram for explaining the process of step S33 of FIG. FIG. 13 is a schematic diagram showing an example of the contents of the first work information storage table. FIG. 14 is a schematic diagram showing an example of the contents of the second work information storage table.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 is a schematic diagram showing a configuration of a work information generation system to which the work information generation device according to the embodiment of the present invention is applied.
The work information generation system 1 includes a work vehicle 2 and a management server 3 as a work information generation device. The management server 3 is provided in the management center 4. The work vehicle 2 can communicate with the management server 3 via the communication network 5.

In this specification, the work vehicle 2 includes a work vehicle including a traveling machine and a working machine towed by the traveling machine, and a working vehicle in which a traveling unit and a working unit are integrated.
The work vehicle 2 illustrated in FIG. 1 includes a traveling machine 2A and a working machine 2B towed by the traveling machine 2A. In the example of FIG. 1, the traveling machine 2A is a tractor. In the following, the traveling machine 2A will be referred to as a tractor 2A. Types of working machine 2B include, for example, a planting machine, a cultivator, a plow, a fertilizer application machine, a mower, a sowing machine and the like. Examples of the work vehicle in which the traveling unit and the working unit are integrated include a rice transplanter, a combine harvester, and the like.

The tractor 2A has a function of positioning the position of the tractor 2A (working vehicle 2) by using the positioning satellite 6. The tractor 2A transmits the location information and the operation information to the management server 3. The management server 3 receives the position information and the operation information transmitted from the tractor 2A and stores them in the storage unit.
In this specification, the “ridge” refers to an elongated rectangular crop growing area extending in one direction, and includes a crop growing area in which soil is raised and a crop growing area in which soil is not raised. Soil.

In the following, a case where the management server 3 generates the work information based on the position information and the operation information transmitted from the work vehicle 2 that performed the planting work to the management server 3 will be described.
FIG. 2 is a side view mainly showing the tractor 2A. FIG. 3 is a plan view of FIG.
The tractor 2A includes a traveling machine body 12 as a vehicle body portion that travels in the field. Various working machines such as a planting machine, a cultivator, a plow, a fertilizer applicator, a mower, and a sowing machine can be selected and mounted on the traveling machine body 12.

As shown in FIG. 2, the traveling machine body 12 of the tractor 2A has a front portion supported by a pair of left and right front wheels 13 and a rear portion supported by a pair of left and right rear wheels 14.
A bonnet 15 is arranged at the front portion of the traveling machine body 12. In the present embodiment, the engine 16, the fuel tank (not shown), and the like, which are the drive sources of the tractor 2A, are housed in the bonnet 15. The engine 16 can be configured by, for example, a diesel engine, but is not limited to this, and may be configured by, for example, a gasoline engine. Further, as a drive source, an electric motor may be adopted instead of or in addition to the engine 16.

Behind the bonnet 15, a cabin 17 for the user to board is arranged. Inside the cabin 17, a steering wheel 18 for the user to steer, a seat 19 for the user to sit on, various operation devices for performing various operations, and the like are arranged. The tractor 2A is not limited to the one with the cabin 17, and may have a configuration without the cabin 17.

As shown in FIG. 2, a chassis 20 of the tractor 2A is provided in the lower part of the traveling machine body 12. The chassis 20 is composed of an airframe frame 21, a transmission 22, a front axle 23, a rear axle 24, and the like.
The airframe frame 21 is a support portion at the front portion of the tractor 2A, and supports the engine 16 directly or via a vibration isolator or the like. The transmission 22 changes the power from the engine 16 and transmits it to the front axle 23 and the rear axle 24. The front axle 23 transmits the power input from the transmission 22 to the front wheels 13. The rear axle 24 transmits the power input from the transmission 22 to the rear wheels 14.

In this embodiment, the traveling machine body 12 is equipped with a sugar cane planting machine for planting sugar cane as a working machine 2B. Since the configuration of the sugar cane planting machine is known, the specific configuration of the sugar cane planting machine is not shown for convenience of explanation. As the sugar cane planting machine, for example, a sugar cane planting machine (sugar cane transplanting machine) disclosed in Japanese Patent Application Laid-Open No. 2017-192327 can be used.

The sugar cane planting machine disclosed in Japanese Patent Application Laid-Open No. 2017-192327 has a groove-growing portion for forming a groove in a field, a cutting portion for cutting sugar cane seedlings to produce seed millet, and dropping seed millet into the groove. It is equipped with a guide section, a soil covering section that covers seed millet, and a seat for workers to put sugar cane seedlings into the cutting section. A part of the driving force of the engine 16 of the tractor 2A is transmitted to the sugar cane planting machine via a PTO shaft (not shown).

FIG. 4 is a schematic view for explaining how the work vehicle 2 performs sugarcane planting work in the field. The work vehicle 2 may be driven by manual driving or by automatic driving.
In the field F, a plurality of elongated rectangular ridges L for growing crops are formed in a striped shape. Of both ends of the ridge L, the lower end of FIG. 4 is referred to as the front end, and the upper end of FIG. 4 is referred to as the back end.

The work vehicle 2 performs sugarcane planting work while moving along the ridge L in a posture in which the left and right front wheels 12 and the left and right rear wheels 14 of the tractor 2A each sandwich the ridge L. The work vehicle 2 travels from the front side to the back end with respect to the leftmost ridge L, for example. Then, when the work vehicle 2 reaches the inner end of the ridge L, the work vehicle 2 turns to the right in the traveling direction and moves to the inner end of the ridge L adjacent to the right.

Next, the work vehicle 2 travels on the ridge L from the back end toward the front side. Then, when the front end of the ridge L is reached, the work vehicle 2 turns to the left in the traveling direction and moves to the front end of the ridge L adjacent to the right. Such a traveling operation is repeatedly performed. Therefore, the movement path of the work vehicle 2 is generally a zigzag shape as shown by a broken line in FIG.
FIG. 5 is a block diagram showing an electrical configuration of the tractor 2A and the management server 3.

The tractor 2A includes a tractor control unit 30. The tractor control unit 30 includes a microcomputer provided with a CPU and a memory (volatile memory, non-volatile memory, etc.) 31.
The tractor control unit 30 controls the operation of the traveling machine body 12 (movements such as forward movement, reverse movement, stop, turning, etc.) and the movement of the work machine 2B. Controllers 41 for controlling each part of the tractor 2A are electrically connected to the tractor control unit 30. The controllers 41 control the rotation speed of the engine 16, the engine controller that controls the rotation speed of the engine 16, the vehicle speed controller that controls the vehicle speed of the tractor 2A, the steering controller that controls the steering angle of the front wheels 12 of the tractor 2A, and the rotation of the PTO axis. Includes PTO axis controller and the like. A vehicle speed sensor 42 is provided in the vehicle speed controller.

The tractor control unit 30 is further connected to a position information calculation unit 43, a communication unit 44, a display unit 45, an operation unit 46, a storage unit 47, and the like.
A satellite signal receiving antenna 48 is electrically connected to the position information calculation unit 43. The satellite signal receiving antenna 48 receives a signal from the positioning satellite 6 (see FIG. 1) constituting the satellite positioning system. The satellite positioning system is, for example, GNSS (Global Navigation Satellite System). The position information calculation unit 43 calculates the position of the tractor 2A (strictly speaking, the satellite signal receiving antenna 48) based on the positioning signal received by the satellite signal receiving antenna 48. Specifically, the position information calculation unit 43 generates positioning information including time information and position information. The position information includes, for example, latitude information and longitude information.

The communication unit 44 is a communication interface for the tractor control unit 30 to communicate with the management server 3 via the communication network 5. The display unit 45 includes, for example, a liquid crystal display. The operation unit 46 is provided with a plurality of levers, switches, and the like.
The storage unit 47 is composed of a storage device such as a non-volatile memory. The storage unit 47 is provided with a position information storage unit 51, an operation information storage unit 52, and the like.

The tractor control unit 30 includes an information acquisition processing unit 32. The information acquisition processing unit 32 acquires the position information for each time calculated by the position information calculation unit 43 and stores it in the position information storage unit 51. Further, the information acquisition processing unit 32 acquires the operation information given for each time from the tractor control unit 30 and stores it in the operation information storage unit 52. The operation information includes the vehicle speed detected by the vehicle speed sensor 42, the stock spacing set by the operation unit 46, and the like.

Then, the information acquisition processing unit 32 sets the position information for each time stored in the position information storage unit 51 and the operation information for each time stored in the operation information storage unit 52 at a predetermined timing (for example, the power key is turned off). It is transmitted to the management server 3 at the timing). In the following, the "position information and operation information for each time" transmitted to the management server 3 may be referred to as "position / operation information for each time".

The management server 3 includes a server control unit 60. A communication unit 71, an operation display unit 72, an operation unit 73, a storage unit 74, and the like are connected to the control unit 60. The communication unit 71 is a communication interface for the control unit 60 to communicate with the tractor control unit 30 via the communication network 5. The operation display unit 72 includes, for example, a touch panel display. The operation unit 73 includes, for example, a keyboard, a mouse, and the like. The storage unit 74 is composed of a storage device such as a hard disk and a non-volatile memory.

The storage unit 74 is provided with a time-series information storage unit 75, a field table 76, a first work information storage table 77, a second work information storage table 78, and the like. The time-series information storage unit 75 stores the position / operation information for each time received from the tractor control unit 30.
Information about the field is stored in the field table 76. Specifically, in the field table 76, for example, the field ID, the field position identification information, the predicted planting amount per unit length of the ridge, the estimated yield per unit length of the ridge, and the like are displayed for each registered field. Be remembered.

The field ID is identification information for identifying the field. The field position identification information is information for specifying the position of the field, and includes, for example, position information of a plurality of feature points on the contour line of the field. The predicted planting amount per unit length of the ridge is the predicted planting amount per unit length of the ridge for the field. The estimated yield per unit length of the ridge is the estimated yield per unit length of the ridge for the field.

In the first work information storage table 77, ridge unit information for each ridge is stored in the field where the planting business is performed. In the second work information storage table 78, work information for each field is stored for the field where the planting work is performed.
The server control unit 60 includes a microcomputer provided with a CPU and a memory (ROM, RAM, etc.) 61. The control unit 60 includes an information acquisition unit 62, a grouping unit 63, and a work information generation unit 64.

When the information acquisition unit 62 receives the position / operation information for each time from the tractor 2A, the information acquisition unit 62 stores the received position / operation information for each time in the time-series information storage unit 75. In the following, the field for which work information is to be generated is referred to as a “field to be treated”, and is stored in the storage unit 47 (51, 52) of the tractor 2A while the sugarcane planting work is being performed on the field to be treated. The accumulated position / operation information for each time is referred to as "time-series information to be processed". It is assumed that the time-series information storage unit 75 stores the time-series information to be processed.

The grouping unit 63 groups the time-series information to be processed for each ridge. Specifically, the grouping unit 63 includes a movement direction calculation unit 81, a main movement direction determination unit 82, a determination unit 83, and a classification unit 84.
The movement direction calculation unit 81 calculates the movement direction of the work vehicle 2 at the position corresponding to each position information based on the time series information of the processing target. However, to be precise, the moving direction of the work vehicle 2 at the position corresponding to the position information with the earliest time (position information with the oldest time) in the time series information to be processed is not calculated.

The main movement direction determination unit 82 is the main movement direction of the work vehicle 2 based on the movement direction corresponding to all the position information (excluding the position information with the earliest time) calculated by the movement direction calculation unit 81. Determine the main movement direction.
The determination unit 83 determines whether the position corresponding to each position information is the position inside the ridge or the position outside the ridge based on the moving direction of the work vehicle 2 at the position corresponding to each position information and the main moving direction. judge.

The classification unit 84 groups the time-series information to be processed for each ridge based on the determination result of the determination unit 83.
The work information generation unit 64 generates work information including ridge unit information for each ridge based on the time series information for each group.
Hereinafter, the details of the operations of the grouping unit 63 and the work information generation unit 64 will be described in detail.

FIG. 6 is a flowchart showing a procedure of work information generation processing executed by the grouping unit 63 and the work information generation unit 64.
First, the movement direction calculation unit 81 in the grouping unit 63 calculates the movement direction of the work vehicle 2 at the position corresponding to each position information included in the time series information to be processed (step S1).

FIG. 7 is a schematic diagram showing each position information (longitude, latitude) of the latitude and longitude coordinate system (geographic coordinate system) included in the time series information to be processed in the first latitude and longitude coordinate system. The first latitude-longitude coordinate system is, for example, as shown in FIG. 7, a coordinate system having longitude on the X-axis and latitude on the Y-axis.
In FIG. 7, F indicates a field to be treated. In FIG. 7, S schematically represents the movement locus of the work vehicle 2 during the planting work. This movement locus is a curve obtained by connecting each position information included in the time-series information to be processed in chronological order. In FIG. 7, the movement locus is simplified and drawn, and the actual movement locus is more complicated than the movement locus shown in FIG. Further, in the example of FIG. 7, the shape of the field F to be treated is rectangular for convenience of explanation, but the shape of the field F to be treated may be a shape other than the rectangle.

The moving direction of the work vehicle 2 at the position corresponding to a certain position information is calculated as follows, for example. In the first latitude / longitude coordinate system, a certain position information is set as the attention position information, and the longitude and latitude of the position information acquired one time before the attention position information are set as (λ1, φ1), and the attention position information. Assuming that the longitude and latitude of are (λ2, φ2), the moving direction (moving direction angle) θ of the position corresponding to the attention position information is calculated based on the following equation (1).

θ = tan ^-1 {(φ2-φ1} / (λ2-λ1))… (1)
The moving direction θ takes a value in the range of −90 degrees to +90 degrees.
Next, the main movement direction determination unit 82 in the grouping unit 63 calculates the probability density function of the distribution of these movement directions based on the movement directions corresponding to all the position information (step S2).

Specifically, the main movement direction determination unit 82 calculates the probability density function (kernel density function) of the distribution in the movement direction by kernel density estimation. FIG. 8 is a graph showing an example of the probability density function calculated in step S2. This graph is a curve that smoothes the histogram of the distribution in the moving direction. The graph of FIG. 8 does not accurately correspond to the movement locus of FIG. 7.

Returning to FIG. 6, the main movement direction determination unit 82 then detects the peak of the probability density function (step S3). Then, the main movement direction determination unit 82 determines the movement direction θ corresponding to the peak having the highest peak height among the detected peaks as the main movement direction θ _M of the work vehicle 2 (step S4). In the example of FIG. 8, the main movement direction θ _M is 50 degrees.
Next, the determination unit 83 in the grouping unit 63 performs a determination process for determining whether each position information included in the time-series information to be processed is a position inside the ridge or a position outside the ridge (). Step S5).

FIG. 9 is a flowchart showing a procedure of the determination process executed by the determination unit 83 in step S5.
First, the determination unit 83 sets the position information having the second earliest time (the position information having the second oldest time) as the attention position information among the position information included in the time series information to be processed (the position information having the second oldest time). Step S21).

Next, the determination unit 83 determines whether or not the absolute value | θ−θ _M | of the difference between the movement direction θ and the main movement direction θ _M of the attention position information is equal to or less than a predetermined threshold value α (> 0). (Step S22).
If | θ−θ _M | ≦ α (step S22: YES), the determination unit 83 determines that the attention position information is the position in the ridge (step S23). Then, the determination unit 83 proceeds to step S24. In step S24, it is determined whether or not the time-series information to be processed includes position information whose time is later than the attention position information (position information whose time is newer than the attention position information). If there is position information whose time is later than the attention position information (step S24: YES), the process proceeds to step S25.

In step S25, the determination unit 83 sets the position information at the time closest to the time of the attention position information as the attention position information among the position information whose time is later than the attention position information. That is, the determination unit 83 updates the attention position information. Then, the determination unit 83 returns to step S22.
When it is determined in step S22 that | θ-θ _M |> α (step S22: NO), the determination unit 83 determines that | θ-θ _M |> α is N times or more. It is determined whether or not they are continuous (step S26). When the determination that | θ−θ _M |> α is not continuous N times or more (step S26: NO), the determination unit 83 determines that the attention position information is the position in the ridge (step S26: NO). Step S23). Then, the determination unit 83 proceeds to step S24.

In step S26, when it is determined that the determination that | θ−θ _M |> α is continuous N times or more (step S26: YES), the determination unit 83 has the attention position information outside the ridge. It is determined that the position is (step S27). Then, the determination unit 83 proceeds to step S24.
If it is determined in step S24 that there is no position information whose time is later than the current attention position information (step S24: NO), the determination unit 83 ends the process of step S5, and step S6 of FIG. Move to.

Returning to FIG. 6, in step S6, the classification unit 84 groups the time-series information to be processed for each ridge. Specifically, the classification unit 84 divides the time-series information of the processing target at the boundary between the position information determined to be inside the ridge and the position information determined to be outside the ridge, thereby dividing the time-series information of the processing target. Group by ridge. Then, the ridge number (ridge ID) is assigned to the time-series information of each group in order from the earliest time.

Next, work information generation unit 64 has a length in the direction orthogonal to the main movement direction theta _M in processed field F (hereinafter, referred to as "field width W".) Perform field width calculation processing for calculating the ( Step S7).
FIG. 10 is a flowchart showing a procedure of the field width calculation process executed by the work information generation unit 64 in step S7.

First, as shown in FIG. 11, the work information generation unit 64 sets the point corresponding to the predetermined position information as the origin O', and draws a straight line passing through the origin O'and parallel to the main movement direction θ _M of the work vehicle 2. A second latitude-longitude coordinate system is set with the first axis and a straight line passing through the origin O'and orthogonal to the first axis as the second axis (step S31).
In the example of FIG. 11, the point on the west side of the position corresponding to the position information is set as the origin O'of the second latitude / longitude coordinate system. Further, the first axis is set as the Y'axis and the second axis is set as the X'axis.

Next, the work information generation unit 64 converts each position information of the first latitude / longitude coordinates into the position information of the second latitude / longitude coordinates (step S32). Then, as shown in FIG. 12, the work information generation unit 64 has a minimum value λ'min and a maximum value λ'max of longitude and a minimum value φ'min and a maximum value φ'max of latitude in the second latitude-longitude coordinates. To generate a rectangular region E that is close to the field F to be treated (step S33). Specifically, the work information generation unit 64 has a point a (λ'min, φ'min), a point b (λ'min, φ'max), and a point c (λ'max, φ'max). , A rectangular region E having a point d (λ'max, φ'min) as an apex is generated as a rectangular region that approximates the field F to be treated.

Next, work information generation unit 64, out of the sides of the rectangular area that approximates the processing target field F, the length of the side perpendicular to the main movement direction theta _M, is calculated as the field width W (step S34) .. In the example of FIG. 12, the work information generation unit 64 calculates the distance from the point a to the point d as the field width W. The work information generation unit 64 finishes the field width calculation process and proceeds to step S8 of FIG.
Returning to FIG. 6, in step S8, the work information generation unit 64 generates ridge unit information for each ridge based on the time series information in each group, the field width W, and the field information of the field F to be processed. Then, it is stored in the first work information storage table 77 (step S8).

FIG. 13 shows an example of the contents of the first work information storage table 77. As shown in FIG. 13, the ridge unit information for a certain ridge includes the field ID, work name, ridge number (ridge ID), date, start time, end time, start point position, end point position, ridge length, average vehicle speed, and so on. Includes inter-strain and planting volume.
The field ID is a field ID for the field F to be treated. The field ID is obtained from the field table 76. The work name is the name of the work performed on the ridge. The work name is specified, for example, as follows. That is, the operation information transmitted from the work vehicle 2 to the management server 3 includes information indicating the type of the work machine 2B, and the server control unit 60 specifies the work name from the information representing the type of the work machine 2B.

The ridge number is a ridge number assigned by the classification unit 84 in step S6. The date is the date when the work was performed on the ridge. The start time (hour / minute) and end time (hour / minute) are the work start time and work end time, respectively. The start point position (latitude / longitude) and the end point position (latitude / longitude) are the work start position and the work end position in the ridge, respectively.

The start time and the start point position are the times and positions of the information having the earliest time among the time series information of the group corresponding to the ridge, respectively. The end time and the end point position are the times and positions of the information with the latest time among the time series information of the group corresponding to the ridge, respectively.
The ridge length is the length of the ridge, and is the distance from the start point position to the end point position. The average vehicle speed is the average vehicle speed at which the work vehicle 2 is traveling on the ridge. The average vehicle speed is, for example, the average value of the vehicle speed included in the time series information of the group corresponding to the ridge. The average vehicle speed may be calculated by dividing the ridge length by the time from the start time to the end time.

The inter-stock is the inter-stock included in the time series information of the group corresponding to the ridge. The term "between stocks" means the distance between two stocks adjacent to each other in the length direction of the ridge. The planting amount is the weight (predicted amount) of the crop planted for the ridge. The planting amount is calculated based on the predicted planting amount per unit length of the ridges of the field F to be treated stored in the field table 76 and the ridge length. Specifically, the planting amount is calculated based on {(ridge length) × (estimated planting amount per unit length of ridge)}.

When the process of step S8 is completed, the work information generation unit 64 generates work information for each field based on the ridge unit information for each ridge and the field width W generated in step S8, and stores the second work information. Store in table 78 (step S9).
An example of the contents of the second work information storage table 78 is shown in FIG. As shown in FIG. 14, the work information for each field with respect to the field F to be treated includes the field ID, the number of ridges, the total ridge length, the ridges, the planting amount, and the expected yield.

The field ID is a field ID for the field F to be treated. The number of ridges is the number of ridges included in the field F to be treated. The total ridge length is the total ridge length of each ridge included in the field F to be treated. The ridge is the distance between the width center lines of the two adjacent ridges in the field F to be treated. The furrows are calculated by dividing the field width W calculated in step S7 by the number of furrows.
The planting amount is the sum of the planting amounts of each ridge contained in the field F to be treated. The expected yield is the expected yield for the field F to be treated. The expected yield is calculated based on the estimated yield per unit length of the ridges of the field F to be treated stored in the field table 76 and the total ridge length. Specifically, the expected yield is calculated based on {(total ridge length) × (estimated yield per unit length of ridge)}.

When the process of step S9 is completed, the work information generation unit 64 ends the current work information generation process.
In this embodiment, the work information including the ridge unit information for each ridge in the field where the work is performed can be generated by using the position information for each time of the work vehicle 2. More specifically, using the position information of the work vehicle 2 for each time and the operation information of the work vehicle 2 (vehicle speed, space between stocks), work information including ridge unit information for each ridge in the field where the work was performed is generated. be able to.

Specifically, the field ID, work name, ridge number (ridge ID), date, start time, end time, start point position, end point position, ridge length, average vehicle speed, inter-strain and planting amount are used as ridge unit information. Can be generated. This makes it possible to easily confirm whether the planting work has been carried out according to a preset plan.
Further, in this embodiment, work information for each field such as the number of ridges, total ridge length, ridges, planting amount and expected yield can be generated based on the ridge unit information, so that the planting can be performed according to a preset plan. It is possible to confirm more accurately whether the work has been carried out.

In this embodiment, since the average vehicle speed for each ridge can be obtained, there are the following advantages. For example, when an obstacle such as a sprinkler exists near the ridge, the driver of the work vehicle 2 can visually recognize the obstacle during the planting work, so that the work vehicle 2 should avoid a collision with the obstacle. Drive the worker to. Therefore, the average vehicle speed for the ridge becomes slow. On the other hand, during harvesting work, obstacles are likely to be covered by crops. Then, the driver of the harvester cannot see the obstacle, and the harvester may collide with the obstacle.

Therefore, after the planting work, the ridges whose average vehicle speed is slower than a predetermined threshold value are specified as ridges where there is a high possibility that an obstacle exists nearby. Specifically, the management server 3 is provided with a specific unit that identifies ridges that are likely to have obstacles nearby, based on the average vehicle speed for each ridge obtained after the work. The specific part identifies a ridge whose average vehicle speed is slower than a predetermined threshold value as a ridge where an obstacle is likely to be present nearby. During the harvesting operation, the harvester operator can pre-identify the ridges that are likely to have obstacles nearby based on the ridge information about the identified obstacles, thus colliding with the harvester's obstacles. Is easier to avoid.

Although the embodiments of the present invention have been described above, the present invention can also be implemented in other embodiments. For example, in the above-described embodiment, the vehicle speed detected by the vehicle speed sensor 42 is transmitted to the management server 3, but the vehicle speed is calculated on the management server 3 side without transmitting the vehicle speed to the management server 3. May be good. Specifically, the management server 3 calculates the vehicle speed based on the position information for each time. More specifically, of the two time-adjacent position information, the time-earlier position information is referred to as the first position information, and the time-later position information is referred to as the second position information. The vehicle speed at the second position is calculated by dividing the distance from the first position represented by the first position information to the second position represented by the second position information by the time interval between the two position information. You can ask.

Further, in the above-described embodiment, the work vehicle 2 transmits the operation information between the stocks to the management server 3. However, the space between the stocks may be stored in the field table 76. In this case, the work information generation unit 64 acquires the stock spacing from the field table 76.
Further, the storage unit 74 of the management server 3 may be provided with a machine setting table that stores information on machine settings (plans). In the machine setting table, for example, a machine ID, a machine name (traveling machine name), a setting start date and time, a setting end date and time, a working machine name, a set stock interval, etc. are stored for each registered machine. In this case, the work information generation unit 64 acquires the stock spacing from the machine setting table.

Further, in the above-described embodiment, the vehicle speed and the stocks are transmitted from the work vehicle 2 to the management server 3 as operation information, but the vehicle speed and the stocks do not have to be transmitted to the management server 3. In this case, the average vehicle speed and the stock spacing are not generated as the ridge unit information.
Further, in the above-described embodiment, the GNSS independent positioning system is used as the positioning system for positioning the position of the work vehicle 2, but the independent positioning system such as RTK-GNSS (real-time kinematic GNSS) or the like is used. A positioning system other than the above may be used.

In the above-described embodiment, the work vehicle 2 is composed of a traveling machine 2A made of a tractor and a working machine 2B made of a planting machine. However, the working machine 2B is a planting machine such as a fertilizer applicator, a chemical sprayer, and a harvester. It may be a working machine other than. Further, the work vehicle 2 may be a work vehicle in which a traveling unit and a working unit are integrated.
Further, when a plurality of types of work (agricultural work) are performed on a certain field, the management server 3 (server control unit 60) may generate and manage work information of each work for each ridge. For example, when planting work, fertilization work, chemical spraying work and harvesting work are performed on a certain field, the planting amount in the planting work, the fertilizer application amount in the fertilization work, the chemical spraying amount in the chemical spraying work and the yield in the harvesting work. May be generated and managed for each ridge. In other words, the ridge unit information for each ridge may include at least one of a planting amount for the ridge, a fertilizer application amount for the ridge, a chemical application amount for the ridge, and a yield for the ridge.

In addition, various design changes can be made within the scope of the matters described in the claims.

1 Work information generation system 2 Work vehicle 2A Tractor (traveling machine)
2B Work equipment 3 Management server 30 Tractor control unit 32 Information acquisition processing unit 41 Controllers 42 Vehicle speed sensor 43 Position information calculation unit 44 Communication unit 47 Storage unit 51 Position information storage unit 52 Operation information storage unit 60 Server control unit 62 Information acquisition unit 63 Grouping unit 64 Work information generation unit 71 Communication unit 74 Storage unit 75 Time series information storage unit 76 Field table 77 1st work information storage table 78 2nd work information storage table 81 Movement direction calculation unit 82 Main movement direction determination unit 83 Judgment unit 84 Classification unit

Claims (6)

An acquisition unit that acquires time-series information including time-by-time position information of the work vehicle measured while the work vehicle is traveling in a field having a plurality of ridges arranged in a stripe shape.
A grouping unit that groups the time-series information acquired by the acquisition unit for each ridge, and a grouping unit.
A work information generation device including a work information generation unit that generates work information including ridge unit information for each ridge based on time series information for each group. The grouping section
A movement direction calculation unit that calculates the movement direction of the work vehicle at a position corresponding to each position information based on the time series information acquired by the acquisition unit.
A main movement direction determination unit that determines the main movement direction, which is the main movement direction of the work vehicle, based on the movement directions corresponding to all the position information calculated by the movement direction calculation unit.
Based on the moving direction of the work vehicle at the position corresponding to each position information and the main moving direction, it is determined whether the position corresponding to each position information is the position inside the ridge or the position outside the ridge. Judgment unit and
The work information generation device according to claim 1, further comprising a classification unit that groups time-series information acquired by the acquisition unit based on the determination result of the determination unit for each ridge. The ridge unit information for each ridge includes the length of the ridge, the work start time and work end time in the ridge, the work start position and work end position in the ridge, and the average vehicle speed in the ridge. The work information generator according to claim 1 or 2, which comprises at least one of. The ridge unit work information generation device according to any one of claims 1 to 3, wherein the work information includes the number of ridges and ridges in the field. The ridge unit information for each ridge includes at least one of a planting amount for the ridge, a fertilizer application amount for the ridge, a chemical application amount for the ridge, and a yield for the ridge, any one of claims 1 to 4. The work information generator described in the section. The ridge unit information for each ridge includes the average vehicle speed for each ridge.
It further includes a specific part that identifies the ridges that are likely to have obstacles nearby, based on the average vehicle speed for each ridge.
The specific unit is configured to identify a ridge whose average vehicle speed is slower than a predetermined threshold value as a ridge having a high possibility of an obstacle nearby, any one of claims 1 to 5. The work information generator described in the section.

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