JP2023023767A - Operation trajectory classification method, operation trajectory classification system, and operation trajectory classification program - Google Patents

Abstract

To efficiently acquire a work trajectory in which a work vehicle has executed work of an operation trajectory in which the work vehicle has moved.SOLUTION: An operation trajectory classification method includes: (S2) preparing positioning information in a plurality of positioning points (70) obtained by measuring, at a plurality of time points, the position of a work vehicle (2) executing predetermined work while moving inside a farm field (9); (S3) generating operation trajectory information indicating an operation trajectory (80) in which the work vehicle has moved on the basis of the positioning information; (S4) calculating predetermined parameters indicating the state of the work vehicle at each of the plurality of positioning points on the basis of the positioning information; (S5) classifying the operation trajectory into a first part where the work vehicle has executed work as a work trajectory (83), and into a second part where the work vehicle has not executed work as non-work trajectories (81, 82, and 85) on the basis of the parameters; and (S6) outputting work trajectory information indicating the work trajectory.SELECTED DRAWING: Figure 3

Description

The present invention relates to an operation trajectory classification method, an operation trajectory classification system, and an operation trajectory classification program, and for example, an operation trajectory classification method, an operation trajectory classification system, and an operation trajectory classification method for classifying trajectories generated when a working vehicle that performs agricultural work in a field operates. It can be suitably used for a trajectory classification program.

There is a demand for work KPIs (Key Performance Indexes) for agricultural work performed by work vehicles in fields. The work KPI includes, for example, the planting amount in the planting work, the fertilization amount in the fertilization work, the harvest amount in the harvesting work, and the like. In order to obtain the work KPI, among the operation trajectories that the work vehicle moves in the field, the work trajectory that the work vehicle moves while performing actual farm work is separated, the length is obtained, and this length and the work amount per unit length can be multiplied by However, even if a user can manually select a work trajectory by operating a touch panel displaying the work trajectory, it is not easy to automatically separate the work trajectory from the work trajectory.

In relation to the above, Patent Document 1 (Japanese Patent No. 6697955) describes that the traveling time of a vehicle body equipped with a work device for performing ground work on a work site is defined as the time required for straight running to perform ground work. , and the time required for turning without performing ground work. This classification is performed by utilizing the fact that the state of the traveling mechanism equipped on the vehicle body differs greatly between straight traveling and turning traveling. In addition, slip occurs between the ground and the wheels of the traveling mechanism based on the target traveling time, which is the appropriate time to travel a predetermined distance, and the actual traveling time during which the vehicle body has actually traveled this distance. A technique for calculating slip ratios for each of straight-ahead travel and corner travel is disclosed.

Japanese Patent No. 6697955

In the technique of Patent Document 1, it is necessary to continuously monitor the state of the traveling mechanism while the vehicle body is traveling in order to distinguish between straight traveling and turning traveling. Whether this classification is performed while the vehicle body is running or after the vehicle body is running, it is necessary to monitor the state of the running mechanism during the entire running process from the start to the end of the running of the vehicle body.

In view of the above situation, the present disclosure provides an operation trajectory classification method, an operation trajectory classification system, and an operation trajectory classification program that can easily obtain a work trajectory in which a work vehicle performs work among the operation trajectories traveled by the work vehicle. One of the purposes is to provide Other problems and novel features will become apparent from the description of the specification and the accompanying drawings.

The means for solving the problems will be described below using the numbers used in (Mode for Carrying Out the Invention). These numbers are added to clarify the correspondence relationship between the description of the claims and the description of the invention. However, these numbers should not be used to interpret the technical scope of the invention described in (claims).

According to one embodiment, the operation trajectory classification method includes a plurality of positioning points ( Preparing positioning information in 70) (S2); generating operation trajectory information representing an operation trajectory (80) along which the work vehicle (2) moves based on the positioning information (S3); Based on the calculation (S4), a predetermined parameter representing the state of the work vehicle (2) at each of the plurality of positioning points (70), and based on the parameters, the work vehicle ( 2) classifies the first portion where work was performed as a work trajectory (83), and classifies the second portion where work vehicle (2) did not work as non-work trajectories (81, 82, 85) (S5). ) and outputting work trajectory information representing the work trajectory (83) (S6).

According to one embodiment, the operating trajectory classification system (1) includes an input unit (511), a generation unit (512), a calculation unit (513), a classification unit (514), and an output unit (515). and An input unit (511) prepares positioning information at a plurality of positioning points (70) obtained by measuring the position of a working vehicle (2) that performs work while moving inside a field (9) at a plurality of times. do. A generating unit (512) generates operation trajectory information representing an operation trajectory (80) along which the work vehicle (2) moves based on the positioning information. A calculation unit (513) calculates a predetermined parameter representing the state of the work vehicle (2) at each of the plurality of positioning points (70) based on the positioning information. Based on the parameters, the classification unit (514) classifies the portion of the operation trajectory (80) in which the work vehicle (2) has performed work as a work trajectory (83). The output unit (515) outputs work trajectory information representing the work trajectory (83).

According to one embodiment, the operation trajectory classification program (521) is for realizing predetermined processing by executing it. This process prepares positioning information at a plurality of positioning points (70) obtained by measuring the position of the working vehicle (2) that performs work while moving inside the field (9) at a plurality of times ( S2); generating operation trajectory information representing an operation trajectory (80) along which the work vehicle (2) has moved based on the positioning information (S3); and generating a plurality of positioning points (70) based on the positioning information. calculating (S4) a predetermined parameter representing the state of the work vehicle (2) in each of the above; is classified as a work trajectory (83), and the second part where the work vehicle (2) did not work is classified as a non-work trajectory (81, 82, 85) (S5), and the work trajectory (83) is classified as and outputting work trajectory information representing (S6).

According to one embodiment, the work trajectory along which the work vehicle performed the work can be easily obtained from among the operation trajectories along which the work vehicle has moved.

FIG. 1 is a diagram showing one configuration example of an operation trajectory classification system according to one embodiment. FIG. 2 is a block circuit diagram showing one configuration example of the operating trajectory classification device according to one embodiment. FIG. 3 is a flow chart showing one configuration example of an operation trajectory classification program according to one embodiment. FIG. 4A is a diagram illustrating an example of an operation trajectory according to one embodiment; FIG. 4B is a partially enlarged view of FIG. 4A. FIG. 5 is a diagram illustrating an example of parameters according to one embodiment. FIG. 6 is a graph showing an example of vehicle speed distribution according to one embodiment. FIG. 7 is a diagram illustrating an example of classified operation trajectories according to one embodiment. FIG. 8 is a graph showing an example of distribution of movement directions according to one embodiment.

Embodiments for implementing the operation trajectory classification method, the operation trajectory classification system, and the operation trajectory classification program according to the present invention will be described below with reference to the accompanying drawings.

(First embodiment)
As shown in FIG. 1 , an operation trajectory classification system 1 according to one embodiment includes an operation trajectory classification device 5 . The operation trajectory classification device 5 receives, via the network 4 , positioning information obtained by measuring the position of the vehicle-mounted terminal 3 mounted on the work vehicle 2 that performs work while moving inside the field 9 . Further, the operating trajectory classification device 5 outputs to the external terminal 6 via the network 4 information representing the results of the classification of the trajectory traveled by the work vehicle 2 for work in the field 9 . The working vehicle 2 may be, for example, a tractor equipped with a working machine that performs agricultural work in the field 9, or a combine harvester integrated with the working machine. Hereinafter, a case where the work vehicle 2 applies fertilizer will be described, but one embodiment is not limited to this example.

As shown in FIG. 2, the operating trajectory classification device 5 according to one embodiment may have a configuration as a so-called computer. That is, the operating trajectory classification device 5 according to one embodiment includes a bus 50 , an arithmetic device 51 , a storage device 52 , an input/output device 53 and a communication device 54 . Arithmetic device 51 , storage device 52 , input/output device 53 and communication device 54 are communicably connected to each other via bus 50 .

The computing device 51 implements predetermined processing by executing the operation trajectory classification program 521 stored in the storage device 52 . The operation trajectory classification program 521 may be read from the recording medium 520 and stored in the storage device 52 . Recording medium 520 may be non-transitory and tangible.

The arithmetic device 51 includes an input unit 511 , a generation unit 512 , a calculation unit 513 , a classification unit 514 and an output unit 515 . Here, the input unit 511, the generation unit 512, the calculation unit 513, the classification unit 514, and the output unit 515 are virtual functional units that perform processing realized by the arithmetic device 51 executing the operation trajectory classification program 521. . Details of the processing performed by the input unit 511, the generation unit 512, the calculation unit 513, the classification unit 514, and the output unit 515 will be described later.

FIG. 3 is a flow chart showing one configuration example of the operation trajectory classification program 521 according to one embodiment. An operation example of the operation trajectory classification device 5 according to one embodiment, that is, one configuration example of the operation trajectory classification method according to one embodiment will be described with reference to the flowchart of FIG.

The flowchart of FIG. 3 starts, for example, when the operating trajectory classification device 5 is activated. When the flowchart of FIG. 3 starts, step S1 is executed.

In step S1, the input unit 511 of the arithmetic device 51 of the operation trajectory classification device 5 prepares field information. Here, the function of the input unit 511 is realized by the operation device 51 executing the operation trajectory classification program 521 . The farm field information represents the position and shape of the farm field 9 . In FIG. 4A, the shape of field 9 is rectangular, but this is only an example and one embodiment does not limit the shape of field 9 .

As an example, the farm field information may be obtained by performing predetermined image processing on photographed data obtained by photographing the farm field 9 from above. The farm field information may be acquired before the flowchart of FIG. 3 starts. In this case, the field information is stored in the storage device 52, and the input unit 511 may prepare the field information by reading the field information from the storage device 52 in step S1. As an example, the farm field information may include the latitude and longitude of each of the vertices of the farm field 9 .

After step S1 in FIG. 3, step S2 is executed. In step S2, the input unit 511 prepares positioning information. As in step S<b>1 , the function of the input unit 511 is realized by the arithmetic unit 51 executing the operation trajectory classification program 521 . Positioning information is a set of information representing positions of a plurality of positioning points. The positioning information may include the latitude and longitude of the position where the positioning was performed and the time when the positioning was performed. Each positioning point is a location measured by the in-vehicle terminal 3 using a GNSS (Global Navigation Satellite System) or the like when the work vehicle 2 performs work while moving inside the field 9. is. Also, the position information of a plurality of positioning points is sequentially measured at a plurality of times. Strictly speaking, this position information represents the position of the vehicle-mounted terminal 3, but substantially represents the position of the work vehicle 2 on which the vehicle-mounted terminal 3 is mounted. represents

The positioning information measured by the in-vehicle terminal 3 may be sequentially transmitted to the operation trajectory classification device 5 each time it is measured, or may be collectively transmitted to the operation trajectory classification device 5 when the work in the field 9 is completed. good too. The operating trajectory classification device 5 receives the positioning information and stores it in the storage device 52 . The positioning information may have been obtained before the flow chart of FIG. 3 is started. In this case, the positioning information is stored in the storage device 52, and the input unit 511 may prepare the positioning information by reading the positioning information from the storage device 52 in step S2.

After step S2 in FIG. 3, step S3 is executed. In step S3, the generation unit 512 generates operation trajectory information representing an operation trajectory along which the work vehicle 2 has moved, based on the positioning information. First, the operation trajectory will be explained, and then the operation trajectory information will be explained.

The operation trajectory can be broadly classified into a work trajectory in which the work vehicle 2 moves while working on the field 9 and a non-work trajectory in which the work vehicle 2 moves without working. The non-working trajectory can be further classified into a turning trajectory, a leaving/merging trajectory, a movement trajectory, and the like. The turning trajectory is a trajectory along which the work vehicle 2 turns when moving from one of the linear work areas arranged in parallel to another work area. The detachment and merging trajectory is for the work vehicle 2 to depart from the work trajectory in the middle of the work and move to the replenishment station to replenish materials such as fertilizer, or conversely move from the replenishment station to join the work trajectory. It is a trajectory that The movement trajectory is a trajectory along which the work vehicle 2 moves for other purposes. Hereinafter, a case where the work vehicle 2 performs the fertilization work will be described.

FIG. 4A is a diagram showing an example of an operation trajectory 80 according to one embodiment. As an example, the operating trajectory 80 can be classified into a moving trajectory 81, a turning trajectory 82, a working trajectory 83, and a separation/merging trajectory 85A and 85B. A movement trajectory 81 is a trajectory along which the work vehicle 2 moves without performing work. In the example of FIG. 4A, the movement trajectory 81 has the shape of a straight line. The turning trajectory 82 is a trajectory along which the work vehicle 2 moves for the purpose of changing the movement direction without performing work. In the example of FIG. 4A, the turning trajectory 82 has a semicircular shape. A work trajectory 83 is a trajectory along which the work vehicle 2 moves while performing work. In the example of FIG. 4A, the work trajectory 83 has the shape of a straight line. The detachment/merging trajectory 85A is a trajectory along which the work vehicle 2 departs from the detachment/merging point 84A of the work trajectory 83, moves to the supply point 86, and returns from the replenishment point 86 to the detachment/merging point 84A. Similarly, the detachment and merging trajectory 85B is a trajectory along which the work vehicle 2 departs from the merging and detaching point 84B of the work trajectory 83, moves to the replenishment point 86, and returns from the replenishment point 86 to the detachment and merging point 84B. In the example of FIG. 4A, the diverging and merging trajectories 85A and 85B are indicated by dashed lines. Hereinafter, when the separation and confluence points 84A and 84B are not distinguished, they will simply be collectively referred to as a confluence and separation point 84. FIG. Further, when the leaving and joining trajectories 85A and 85B are not distinguished, they are collectively referred to simply as a leaving and joining trajectory 85. FIG.

In the example of FIG. 4A , the work vehicle 2 enters the farm field 9 from the lower left position in the drawing, travels straight along the movement trajectory 81 , turns along the turning trajectory 82 , and then travels straight along the work trajectory 83 . Fertilizer is applied while The work vehicle 2 turns and moves to the adjacent work locus 83 to continue the operation of performing the fertilization work, and leaves the work locus 83 at a detachment junction point 84 to replenish the fertilizer as needed and replenishment point 86. After replenishing the fertilizer, it returns from the replenishment point 86 to the detachment junction point 84 to join the work locus 83 and resumes the fertilization work.

FIG. 4B is a partially enlarged view of FIG. 4A. More specifically, FIG. 4B is a partially enlarged view of a region 90 mainly including the portion of the turning trajectory 82 in FIG. 4A. As shown in FIG. 4B, an operation trajectory 80 along which the work vehicle 2 actually moves includes trajectories 71A, 71B, 71C, 71D, 71E, and 71F connecting the positioning points 70A, 70B, 70C, 70D, 70E, 70F, and 70G. including. In the example of FIG. 4B, the trajectories 71B, 71C, 71D, 71E are curves. Hereinafter, when the positioning points 70A to 70G are not distinguished, they will simply be collectively referred to as the positioning point 70. FIG. Further, when the trajectories 71A to 71F are not distinguished, they are simply referred to as trajectories 71 collectively.

The operation trajectory information is obtained by connecting the positioning points 70 included in the positioning information in the order of measurement. At this time, a trajectory 71 between two positioning points 70 adjacent in measurement order is approximated by straight estimated trajectories 72A, 72B, 72C, 72D, 72E, and 72F, as shown in FIG. Hereinafter, when the trajectories 72A to 72F are not distinguished from each other, they will simply be collectively referred to as an estimated trajectory 72. FIG.

After step S3 in FIG. 3, step S4 is executed. In step S4, the calculation unit 513 calculates parameters used for classifying the operation trajectory 80 based on the positioning information. Hereinafter, a case where this parameter is the vehicle speed of the work vehicle 2 will be described, but this is merely an example and does not limit one embodiment.

The inventor believes that the movement trajectory 81, the turning trajectory 82, the work trajectory 83, and the separation and merging trajectory 85 of the operation trajectory 80 differ in the vehicle speed of the work vehicle 2. It was confirmed that it is possible to classify based on This is particularly noticeable when the working area of the work vehicle 2 is, for example, linear and the respective working areas are parallel to each other. Therefore, in one embodiment, the vehicle speed is calculated as a parameter for each positioning point 70 in step S4, and the operation trajectory 80 is classified based on the vehicle speed corresponding to each positioning point 70 in subsequent step S5.

In step S<b>4 , the calculator 513 calculates the vehicle speed of the work vehicle 2 for each positioning point 70 . As an example, the distance from the first positioning point 70 of interest to the second positioning point 70 whose position is measured next is calculated from the first time when the position of the first positioning point 70 is measured, The vehicle speed is calculated by dividing the position of the second positioning point 70 by the time until the second time when the position is measured. The calculation unit 513 stores the vehicle speed calculated for each positioning point 70 in the storage device 52 in association with each positioning point 70 .

After step S4 in FIG. 3, step S5 is executed. In step S5, the classification unit 514 classifies the operation trajectory 80 based on the parameters calculated in step S4. Specifically, the classification unit 514 classifies, as the work trajectory 83 , the portion of the operation trajectory 80 where the work vehicle 2 has performed the work. The classification unit 514 may further classify a portion of the operation trajectory 80 in which the work vehicle 2 did not perform work as a non-work trajectory. More specifically, the classification unit 514 may classify the non-working trajectory into some or all of the movement trajectory 81 , turning trajectory 82 , and separation/merging trajectory 85 .

The inventor believes that the vehicle speed on the working trajectory 83 is higher than the vehicle speed on the turning trajectory 82 and lower than the vehicle speed on the moving trajectory 81 and the leaving and merging trajectory 85, thus classifying these three types of vehicle speed ranges. It was confirmed that the positioning points 70 included in the work trajectory 83 can be extracted by appropriately setting the two thresholds for . For example, the classification unit 514 calculates the distribution of the vehicle speed at each positioning point 70, and estimates the trajectory connecting the positioning points 70 whose corresponding vehicle speed is between the first threshold and the second threshold in the order of measurement. 72 is classified as work trajectory 83 .

FIG. 6 is a graph showing an example of vehicle speed distribution according to one embodiment. In this graph, the horizontal axis represents the vehicle speed for each predetermined range, and the vertical axis represents the number of data. Here, the number of data is the total number of positioning points 70 whose corresponding vehicle speed is included in each range of the horizontal axis among the positioning points 70 included in the positioning information.

When there are linear work areas arranged in parallel inside the field 9, and the work vehicle 2 moves while turning between these work areas and makes a round trip to and from the supply point 86 as necessary, There are maxima at three velocities other than zero velocity. These three maximum values are the turning speed when the work vehicle 2 turns along the turning locus 82, the work speed when the work vehicle 2 moves along the work locus 83 while performing work, and the working speed. and the moving speed when the vehicle 2 moves along the moving trajectory 81 or the leaving/merging trajectory 85 . As described above, the working speed is presumed to be higher than the turning speed and lower than the moving speed. This is because when turning, it moves slowly in order to turn as short a radius as possible, and at other non-working times it can move at high speed independent of the optimum speed for the work. Based on the above, the classification unit 514 estimates that the slowest maximum value (hereinafter referred to as the speed V1) of the three maximum values is the representative value of the speed during turning, and the fastest maximum value (hereinafter referred to as the speed V1). , velocity V3) is estimated to be the representative value of the velocity during movement, and the remaining intermediate maximum value (hereinafter referred to as velocity V2) is estimated to be the representative value of the velocity during work. Note that the speed V0 is zero, which corresponds to a state where the work vehicle 2 is stopped at the merge point 84, the replenishment point 86, or the like.

The threshold T1 is appropriately set between the speed V0 and the speed V1. The threshold T1 is, for example, the speed at the local minimum formed between the speed V0 and the speed V1. The threshold T2 is appropriately set between the speed V1 and the speed V2. The threshold T2 is, for example, the speed at the local minimum formed between the speed V1 and the speed V2. The threshold T3 is appropriately set between the speed V2 and the speed V3. The threshold T3 is, for example, the speed at the local minimum formed between the speed V2 and the speed V3. The turning speed range is defined as a range from threshold T1 to threshold T2, the working speed range is defined as a range from threshold T2 to threshold T3, and the moving speed range is defined as a range equal to or greater than threshold T3. .

The classification unit 514 classifies each positioning point 70 included in the positioning information into a positioning point during turning, a positioning point during operation, or a positioning point during movement according to the range in which the vehicle speed corresponding to each positioning point 70 is included. Classify into points. Here, the positioning point during turning is the positioning point 70 presumed to be included in the turning trajectory 82, the positioning point during work is the positioning point 70 presumed to be included in the work trajectory 83, and the positioning point during movement is It is a positioning point 70 presumed to be included in the moving trajectory 81 or the leaving and joining trajectory 85 .

The classification unit 514 classifies the working trajectory 80 into the working trajectory 83 or the non-working trajectory based on the result of classifying the positioning points 70 . Here, the non-working trajectory includes a moving trajectory 81, a turning trajectory 82, and a leaving/merging trajectory 85. FIG. In other words, among the positioning points 70 included in the positioning information, a set of positioning points 70 corresponding to which the vehicle speed is higher than the threshold T2 and lower than the threshold T3 is classified as the work trajectory 83 . Also, the other positioning points 70 are classified as non-work trajectories. The results of this classification are stored in storage device 52 .

The classification unit 514 may perform processing for removing noise data included in the positioning points 70 classified as the work trajectory 83 . For example, the processing performed here is performed as part of a non-work trajectory, which exists between two positioning points 70 classified as part of a work trajectory 83 from among the positioning points 70 arranged in the order of measurement. A correction process is included to classify the detected positioning points 70 as part of the work trajectory 83 when a small number of classified consecutive positioning points 70 are detected. Here, the total number of the small number of continuous positioning points 70 is equal to or less than a predetermined threshold, and this threshold is set so that the movement trajectory 81, turning trajectory 82, separation/merging trajectory 85, etc. are not erroneously corrected to the work trajectory 83, for example , is appropriately set based on the sampling period for measuring the position of the positioning point 70 . As an example, the sampling period is 5 seconds and this threshold is 3.

In addition, the processing performed here is, for example, one of the work trajectories 83 existing between two positioning points 70 classified as part of the non-work trajectory from among the positioning points 70 arranged in the order of measurement. It includes a correction process for classifying the detected positioning points 70 as part of the non-working trajectory when consecutive positioning points 70 below a predetermined threshold classified as parts are detected. This threshold value is appropriately set, for example, based on the sampling period for measuring the positions of the positioning points 70 so as not to erroneously correct the work trajectory 83 to the movement trajectory 81, turning trajectory 82, separation/merging trajectory 85, or the like.

The classification unit 514 may further classify the non-working trajectory into the movement trajectory 81 , the turning trajectory 82 , or the leaving and joining trajectory 85 . Among the positioning points 70 classified as non-working trajectories, a set of positioning points 70 corresponding to vehicle speeds higher than the threshold T1 and lower than the threshold T2 is classified as a turning trajectory 82 . For the moving trajectory 81 or the leaving/merging trajectory 85, first, among the positioning points 70 classified as non-work trajectories, a set of positioning points 70 whose corresponding vehicle speed is higher than the threshold value T3 and whose measurement order is continuous is extracted. do. Next, in the extracted set, both the positioning point 70 measured immediately before the first measured positioning point 70 and the positioning point 70 measured immediately after the last measured positioning point 70 are A set that includes positioning points 70 that are classified as part of the work trajectory 83 and whose distance from the replenishment point 86 is shorter than a predetermined threshold is classified as a detachment and merging trajectory 85 . The rest of the extracted set is classified as a movement trajectory 81 .

After step S5 in FIG. 3, step S6 is executed. In step S<b>6 , the output unit 515 outputs work locus information representing the work locus 83 . The output unit 515 controls the communication device 54 to transmit the work locus information to the external terminal 6 . The external terminal 6 notifies the user of the reception of the work trajectory information, and optically outputs the work trajectory 83 represented by the work trajectory information on the screen according to the user's operation.

The output unit 515 may further output non-work trajectory information representing a non-work trajectory in addition to the work trajectory information. At this time, the external terminal 6 may display on the screen a classified operation trajectory 87 partly classified as the work trajectory 83 .

Furthermore, in addition to the work trajectory information, the output unit 515 may output moving trajectory information representing the moving trajectory 81, turning trajectory information representing the turning trajectory 82, and leaving/merging trajectory information representing the leaving/merging trajectory 85. good. At this time, the external terminal 6 may display on the screen the classified operation trajectory 87, which is entirely classified as the movement trajectory 81, turning trajectory 82, work trajectory 83, and separation/merging trajectory 85. FIG. FIG. 7 is a diagram showing an example of a classified operation trajectory 87 according to one embodiment. In the example of FIG. 7, among the classified operating trajectories 87, the moving trajectory 81 is indicated by a thin solid line, the turning trajectory 82 is indicated by a thin broken line, the work trajectory 83 is indicated by a thick solid line, and the leaving and joining trajectories 85A and 85B are dashed lines. is shown.

(Modification, Part 1)
The output unit 515 may further output work state information representing the work state of the work vehicle 2 that has performed work along the work locus 83 . In this case, in step S<b>6 , the output unit 515 outputs the traveling distance and traveling time of the work vehicle 2 on the work locus 83 as work state information on the work locus 83 . Furthermore, the output unit 515 may output the travel distance and travel time of the work vehicle 2 on the non-work trajectory as work state information on the non-work trajectory.

In this case, in step S5, the calculation unit 513 calculates the work trajectory 83 based on the position of the work vehicle 2 measured at each of the positioning points 70 classified as the work trajectory 83 and the time when the measurement was performed. The travel distance and travel time of the work vehicle 2 at are calculated as the work state information of the work locus 83 . Further, the calculation unit 513 calculates the travel distance and travel time of the non-work trajectory by the work vehicle 2 based on the positions measured at the respective positioning points 70 classified as the non-work trajectory and the time when the measurement was performed. , is calculated as work state information in the non-work trajectory. The work state information of the non-work trajectory may be calculated and output for each of the movement trajectory 81, the turning trajectory 82, and the leaving/merging trajectory 85. FIG.

(Modification, Part 2)
The output unit 515 may further output operation evaluation information representing an index for evaluating the operation state of the work vehicle 2 that has performed work along the work locus 83 . The operation information includes, for example, planting amount, fertilization amount, harvest amount, etc. at each of the positioning points 70 . Here, the amount of seedlings planted is the amount of seedlings planted in a planting operation performed by a planting machine or a planting machine pulled by a tractor. The fertilization amount is the amount of fertilizer spread by the fertilizing work performed by the fertilizing machine or the fertilizing work machine pulled by the tractor. The harvested amount is the harvested amount obtained by the yield sensor during the harvesting work performed by the harvesting machine with the work vehicle towed by the harvester or the tractor. In this case, in step S<b>6 , the output unit 515 outputs the operation information of the work vehicle 2 along the work locus 83 as the operation evaluation information of the work vehicle 2 along the work locus 83 . Furthermore, the output unit 515 may output the operation information on the non-work trajectory as the operation evaluation information of the work vehicle 2 on the non-work trajectory.

In this case, in step S1 or before, the vehicle-mounted terminal 3 of the work vehicle 2 further acquires the operation information of the work vehicle 2 when measuring the position of each positioning point and acquiring the positioning information. Then, the input unit 511 of the operation trajectory classification device 5 acquires the operation information in addition to the positioning information from the vehicle-mounted terminal 3 .

Furthermore, in this case, in step S<b>5 , the calculation unit 513 calculates the total value represented by the operation information acquired at each positioning point 70 classified as the work trajectory 83 as the operation evaluation information of the work trajectory 83 . Furthermore, the calculation unit 513 may calculate the sum of the values represented by the operation information acquired at each positioning point 70 classified as the non-work trajectory as the operation evaluation information of the non-work trajectory. The operation evaluation information of the non-working trajectory may be calculated and output for each of the movement trajectory 81, the turning trajectory 82, and the leaving/merging trajectory 85. FIG.

As described above, according to one embodiment, the work trajectory 83 along which the work vehicle 2 performed work can be easily obtained from among the operation trajectories 80 along which the work vehicle 2 has moved. Furthermore, according to the modified example described above, the operation evaluation information in the work locus 83 can be obtained.

(Second embodiment)
In the first embodiment described above, the vehicle speed of the work vehicle 2 is used as a parameter used for classifying the operation locus 80 . In this embodiment, it will be explained that the movement direction of the work vehicle 2 can be used as this parameter.

In other words, the inventor believes that the distribution of the movement direction of the work vehicle 2 in the work trajectory 83 among the operation trajectories 80 concentrates in a specific direction, and the distribution of the movement direction of the work vehicle 2 in the turning trajectory 82, the separation/merging trajectory 85, and the like. It was confirmed that there is a trend that can be distinguished from the distribution. This tendency is particularly noticeable when the working area of the work vehicle 2 is, for example, linear and the respective working areas are parallel to each other. Therefore, in the present embodiment, in step S4, the movement direction of each positioning point 70 is calculated, and in subsequent step S5, the operation trajectory 80 is classified based on the distribution of movement directions.

The configuration of the operating trajectory classification system 1 according to this embodiment is the same as the configuration in the first embodiment shown in FIG. The configuration of the operating trajectory classification program 521 according to this embodiment is obtained by adding the following changes to steps S4 and S5 to the configuration of the first embodiment shown in FIG. Hereinafter, changes between steps S4 and S5 will be described.

In step S4, the calculation unit 513 calculates the movement direction of each of the positioning points 70 as a straight line from the focused positioning point 70 to the positioning point 70 whose position is measured next to the focused positioning point 70, for example. Calculate approximately as the direction of The moving direction of the work vehicle 2 calculated for each positioning point 70 is stored in the storage device 52 .

In step S5, the classification of the operation trajectories 80 based on the distribution of movement directions is performed, for example, as follows. First, the calculation unit 513 calculates the movement direction of the work vehicle 2 at each positioning point 70, and determines which range the calculated movement direction is included in, out of a plurality of ranges obtained by equally dividing the azimuth by a predetermined angle. Calculate The azimuth is a value that represents the direction of interest as an angle with respect to a predetermined azimuth (for example, north). Here, when the movement directions of the work area in the work locus 83 are concentrated in the first direction and the second direction opposite to the first direction, the corresponding movement directions are in the first range including the first direction. and the number of data of positioning points 70 whose corresponding moving direction is included in the second range including the second bearing form two maximum values in the distribution of the number of data in each range. do. Therefore, the classification unit 514 detects two maximum values based on the number of data in each range, and selects a set of positioning points 70 included in the two ranges in which the azimuth in the corresponding moving direction has these two maximum values. , as the work trajectory 83 . The classification unit 514 may further classify a set of positioning points 70 whose corresponding moving directions are included in other ranges as non-work trajectories.

FIG. 8 is a graph showing an example of distribution of movement directions according to one embodiment. In this graph, the horizontal axis indicates the azimuths in the moving direction arranged for each predetermined range, and the vertical axis indicates the number of data. Here, the number of data is the total number of positioning points 70 whose azimuth in the corresponding moving direction is included in each range of the horizontal axis among the positioning points 70 included in the positioning information. In the example of FIG. 8, two local maxima are formed in the first range including the first direction D1 and the second range including the second direction D2. At this time, the classification unit 514 classifies, as the work trajectory 83, a set of positioning points 70 whose corresponding moving directions are included in the first range or the second range.

As described above, according to the present embodiment, among the operation trajectories 80, the work trajectory 83 along which the work vehicle 2 performed the work can be classified based on the moving direction of the work vehicle 2. FIG.

Although the invention made by the inventor has been specifically described above based on the embodiment, it should be noted that the invention is not limited to the embodiment, and that various modifications can be made without departing from the gist of the invention. Not even. Moreover, each feature described in the embodiments can be freely combined within a technically consistent range.

In each of the embodiments described above, a case where the work vehicle 2 performs the fertilization work has been described, but each embodiment is not limited to this example. As a modified example, each embodiment can also be applied when the work vehicle 2 performs planting work or harvesting work. When the work vehicle 2 performs the planting work, the work vehicle 2 moves from the detachment/merging point 84 along the detachment/merging trajectory 85 to the replenishment point 86 as necessary, replenishes the seedlings, and then returns to the same detachment/merging trajectory 85. may retreat along and return to the breakaway junction 84 to resume planting operations. Here, it is preferable that the detachment and merging trajectory 85 be arranged so as to avoid the area where the planting work has already been completed. Further, when the work vehicle 2 performs harvesting work, the work vehicle 2 moves from the detachment and merging point 84 along the detachment and merging trajectory 85 to the replenishment point 86 as necessary, discharges the harvested material, and then continues the detachment and merging. It may proceed along the trajectory 85 and return to the disengagement junction 84 to resume the harvesting operation.

In the first embodiment described above, the vehicle speed thresholds T1, T2, and T3 are determined based on the minimum value of the vehicle speed, but the present embodiment is not limited to this example. As a modified example, the vehicle speed thresholds T1, T2, and T3 may be manually determined in advance by the user.

In the above-described second embodiment, the moving direction of the work vehicle 2 at each positioning point 70 is determined from the focused positioning point 70 to the next measured positioning point 70 after the focused positioning point 70. It was calculated approximately as the direction of a straight line leading to This calculation method is merely an example and does not limit the present embodiment. As an example of another calculation method, the moving direction of the work vehicle 2 at each positioning point 70 is calculated from the positioning point 70 whose position is measured immediately before the positioning point 70 of interest. may be approximately calculated as the direction of a straight line (strictly speaking, a line segment) leading to the positioning point 70 whose position is measured next to .

In the first embodiment described above, the operation trajectories 80 are classified by focusing on the vehicle speed of the work vehicle 2 . Further, in the above-described second embodiment, the operation trajectory 80 is classified by focusing on the moving direction of the work vehicle 2 . By combining these first and second embodiments, both the vehicle speed and the moving direction of the work vehicle 2 may be used to classify the operation trajectory 80 .

1 operation trajectory classification system 2 work vehicle 3 vehicle terminal 4 network 5 operation trajectory classification device 50 bus 51 arithmetic device 511 input unit 512 generation unit 513 calculation unit 514 classification unit 515 output unit 52 storage device 520 recording medium 521 operation trajectory classification program 53 Input/output device 54 Communication device 6 External terminal 70A, 70B, 70C, 70D, 70E, 70F, 70G Positioning points 71A, 71B, 71C, 71D, 71E, 71F Trajectory 72A, 72B, 72C, 72D, 72E, 72F Estimated trajectory 80 Operation trajectory 81 Movement trajectory (third trajectory)
82 turning trajectory (second trajectory)
83 work trajectory (first trajectory)
84A, 84B Leaving and merging point 85A, 85B Leaving and merging trajectory (third trajectory)
86 Replenishment point 87 Classified operation trajectory 9 Field 90 Area D1, D2 Direction T1 Threshold T2 Threshold (first speed)
T3 threshold (second speed)
V0, V1, V2, V3 speed

Claims (9)

Preparing positioning information at a plurality of positioning points obtained by measuring the position of a work vehicle that performs work while moving inside a field at a plurality of times;
generating operation trajectory information representing an operation trajectory traveled by the work vehicle based on the positioning information;
calculating a predetermined parameter representing the state of the work vehicle at each of the plurality of positioning points based on the positioning information;
Based on the parameters, a first portion of the operating trajectory where the work vehicle performed the work is classified as a working trajectory, and a second portion where the work vehicle did not perform the work is classified as a non-working trajectory. and
and outputting work trajectory information representing the work trajectory. In the operating trajectory classification method according to claim 1,
The calculating includes:
An operation trajectory classification method, including calculating, as the parameter, a vehicle speed between two positioning points whose measurement order is adjacent among the plurality of positioning points. In the operation trajectory classification method according to claim 2,
The classifying includes:
Classifying a first trajectory in which the work vehicle moves at a speed higher than a predetermined first speed as the work trajectory on which the work vehicle performs the work;
and classifying a second trajectory in which the work vehicle moves at a speed lower than the first speed as a turning trajectory in which the work vehicle does not perform the work. In the operation trajectory classification method according to claim 3,
The classifying includes:
An operation trajectory classification method, further comprising classifying a third trajectory in which the work vehicle moves at a speed higher than a predetermined second speed, which is higher than the first speed, as a movement trajectory in which the work vehicle does not perform the work. In the operating trajectory classification method according to claim 1,
The calculating includes:
An operation trajectory classification method, comprising: calculating, as the parameter, a direction of a line segment connecting two positioning points whose measurement order is adjacent among the plurality of positioning points. In the operation trajectory classification method according to any one of claims 1 to 5,
calculating travel distance and travel time in each of the first portion and the second portion based on the work locus information;
An operation locus classification method, further comprising: outputting information representing the travel distance and the travel time as work state information representing a work state of the work vehicle on the work locus. In the operation trajectory classification method according to any one of claims 1 to 6,
obtaining operation information representing an operation state of the work vehicle when measuring the position;
creating operation evaluation information representing an index for evaluating the operation state of the work vehicle on the work trajectory based on the operation information;
and outputting the operation evaluation information. an input unit that prepares positioning information at a plurality of positioning points obtained by measuring the position of a work vehicle that performs work while moving inside a field at a plurality of times;
a generation unit that generates operation trajectory information representing an operation trajectory traveled by the work vehicle based on the positioning information;
a calculation unit that calculates a predetermined parameter representing the state of the work vehicle at each of the plurality of positioning points based on the positioning information;
a classification unit that classifies, as a work trajectory, a portion of the operation trajectory where the work vehicle has performed the work, based on the parameter;
an output unit that outputs work trajectory information representing the work trajectory. An operation trajectory classification program for realizing predetermined processing by executing
The processing is
Preparing positioning information at a plurality of positioning points obtained by measuring the position of a work vehicle that performs work while moving inside a field at a plurality of times;
generating operation trajectory information representing an operation trajectory traveled by the work vehicle based on the positioning information;
calculating a predetermined parameter representing the state of the work vehicle at each of the plurality of positioning points based on the positioning information;
Classifying a portion of the operation trajectory where the work vehicle performed the work as a work trajectory based on the parameter;
and outputting work trajectory information representing the work trajectory.

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