JP2023086963A - Work information generation device - Google Patents

Abstract

To provide a work information generation device which can generate work information including ridge-by-ridge information on each ridge in a farm field where work has been done using time-based position information on a work vehicle.SOLUTION: A work information generation device is provided, comprising: an acquisition unit configured to acquire time-series information including time-based position information on a work vehicle as measured while the wok vehicle moves within a farm field with multiple ridges; a grouping unit configured to group the time-series information acquired by the acquisition unit for respective ridges; and a work information generation unit configured to generate work information including ridge-by-ridge information on each ridge on the basis of the time-series information on each group.SELECTED DRAWING: Figure 5

Description

The present invention relates to a work information generation device.

In Patent Document 1, when the agricultural work machine is a rice transplanter, a seedling planting data generation unit in the model-dependent data generation unit generates data regarding the seedling planting amount, the seedling planting depth, and the distance between plants and rows in the seedling planting work. is stated. However, Patent Literature 1 does not describe how to generate data relating to the seedling planting amount, the seedling planting depth, the distance between plants and the distance between rows.

JP 2017-68533 A

For example, in planting crops, planting crops with optimum furrow length, number of furrows, furrow spacing, etc. leads to maximization of final yield and optimization of quality. Although it is important to confirm whether agricultural work such as planting work has been carried out according to a preset plan, it is difficult to perform this confirmation manually in terms of labor and cost.
An object of the present invention is to provide a work information generating device that can generate work information including ridge-by-ridge information for each ridge in a field where work has been performed, using time-based position information of a work vehicle. is.

An embodiment of the present invention comprises an acquisition unit that acquires time-series information including position information of the work vehicle measured at each time while the work vehicle is traveling in an agricultural field having a plurality of ridges; A grouping unit that groups the time-series information acquired by the acquisition unit for each ridge, and a work information generation unit that generates work information including ridge unit information for each ridge based on the time-series information for each group. and to provide a work information generation device.

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

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 on the ridge, the work start position and work end position on the ridge, and the work start and end positions on the ridge. and average vehicle speed on the ridge.
In one embodiment of the invention, the work information includes the number of furrows and the distance between furrows 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-by-ridge information for each ridge includes an average vehicle speed for each ridge, and based on the average vehicle speed for each ridge, ridges that are likely to have obstacles nearby are identified. It further includes a specifying unit for specifying, and the specifying unit is configured to specify a ridge having an average vehicle speed lower than a predetermined threshold value as a ridge with a high possibility that an obstacle exists nearby.

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

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
FIG. 1 is a schematic diagram showing the configuration of a work information generation system to which a work information generation device according to one 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 within 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 travel machine and a work machine towed by the travel machine, and a work vehicle in which a travel section and a work section are integrated.
The working 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 travel machine 2A is a tractor. In the following, the travel machine 2A will be referred to as the tractor 2A. Types of the work machine 2B include, for example, a planter, a cultivator, a plow, a fertilizer applicator, a lawn mower, and a sowing machine. Examples of the working vehicle in which the traveling section and the working section are integrated include a rice transplanter, a combine harvester, and the like.

The tractor 2A has a function of measuring the position of the tractor 2A (work vehicle 2) using a positioning satellite 6. FIG. The tractor 2A transmits position information and operation information to the management server 3 . The management server 3 receives the position information and operation information transmitted from the tractor 2A and stores them in the storage unit.
In this specification, the term “ridge” refers to an elongated rectangular crop growing area extending in one direction, and includes a crop growing area where soil is heaped up as well as a crop growing area where soil is not heaped up. shall be taken.

Below, the case where the management server 3 produces|generates work information based on the positional information and operation information which have been transmitted to the management server 3 from the working vehicle 2 which planted is demonstrated.
FIG. 2 is a side view mainly showing the tractor 2A. 3 is a plan view of FIG. 2. FIG.
The tractor 2A has a traveling machine body 12 as a vehicle body that travels in the field. Various work machines such as a planter, a cultivator, a plow, a fertilizer applicator, a lawn mower, and a sowing machine can be selectively mounted on the traveling body 12 .

As shown in FIG. 2, the traveling 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 in the front part of the traveling body 12 . In this embodiment, the bonnet 15 accommodates an engine 16 as a drive source for the tractor 2A, a fuel tank (not shown), and the like. 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. Also, an electric motor may be employed as a drive source instead of or in addition to the engine 16 .

A cabin 17 for a user to board is arranged behind the bonnet 15 . Inside the cabin 17 are arranged a steering handle 18 for a user to perform a steering operation, a seat 19 on which the user can sit, various operation devices for performing various operations, and the like. Note that the tractor 2A is not limited to the one with the cabin 17, and may be configured without the cabin 17.

As shown in FIG. 2, a chassis 20 of the tractor 2A is provided under the traveling body 12. As shown in FIG. The chassis 20 includes a body frame 21, a transmission 22, a front axle 23, a rear axle 24, and the like.
The body frame 21 is a support portion in the front part of the tractor 2A, and supports the engine 16 directly or via a vibration isolating member or the like. Transmission 22 transforms the power from engine 16 and transmits it to front axle 23 and rear axle 24 . The front axle 23 transmits power input from the transmission 22 to the front wheels 13 . The rear axle 24 transmits power input from the transmission 22 to the rear wheels 14 .

In this embodiment, the traveling body 12 is equipped with a sugarcane planting machine for planting sugarcane as the working machine 2B. Since the configuration of the sugarcane planting machine is publicly known, the illustration of the specific configuration of the sugarcane planting machine is omitted for convenience of explanation. As the sugarcane planting machine, for example, a sugarcane planting machine (sugarcane transplanting machine) disclosed in JP-A-2017-192327 can be used.

The sugarcane planting machine disclosed in Japanese Unexamined Patent Publication No. 2017-192327 includes a grooving section for forming a ditch in a field, a cutting section for cutting sugarcane seedlings to produce cane seeds, and dropping the cane seeds into the ditch. It is equipped with a guide section, a soil covering section for covering the seed cane seedlings, and a seat for a worker who feeds the sugarcane seedlings into the cutting section. A part of the driving force of the engine 16 of the tractor 2A is transmitted to the sugarcane planting machine via a PTO shaft (not shown).

FIG. 4 is a schematic diagram for explaining how the work vehicle 2 is planting sugarcane in a farm field. The work vehicle 2 may be driven manually or may be driven automatically.
In the field F, a plurality of elongated rectangular ridges L for growing crops are formed in stripes. Of the two ends of the ridge L, the lower end in FIG. 4 is called the front end, and the upper end in FIG. 4 is called the back end.

The work vehicle 2 carries out the sugarcane planting work while moving along the ridge L in such a posture that the left and right front wheels 13 and the left and right rear wheels 14 of the tractor 2A hold the ridge L therebetween. The work vehicle 2 travels, for example, from the front side toward the far side end of the leftmost ridge L. Then, when reaching the far side end of the ridge L, the work vehicle 2 turns to the right in the traveling direction and moves to the far side end of the ridge L adjacent to the right.

Next, the work vehicle 2 travels along the ridge L from the far end toward the near side. Then, when reaching the front end of the ridge L, the work vehicle 2 turns leftward in the traveling direction and moves to the front end of the ridge L adjacent to the right. Such running operation is repeated. Therefore, the movement path of the work vehicle 2 is generally zigzagging as indicated by the dashed lines in FIG.
FIG. 5 is a block diagram showing electrical configurations of the tractor 2A and the management server 3. As shown in FIG.

The tractor 2</b>A includes a tractor control section 30 . The tractor control unit 30 includes a microcomputer having a CPU and memory (volatile memory, non-volatile memory, etc.) 31 .
The tractor control unit 30 controls operations of the traveling machine body 12 (movements such as forward movement, backward movement, stopping, and turning) and operations of the working machine 2B. The tractor control section 30 is electrically connected to controllers 41 for controlling each section of the tractor 2A. The controllers 41 include an engine controller that controls the number of revolutions of the engine 16, a vehicle speed controller that controls the vehicle speed of the tractor 2A, a steering controller that controls the steering angle of the front wheels 13 of the tractor 2A, and a rotation of the PTO shaft. Including PTO axis controller, etc. A vehicle speed sensor 42 is provided in the vehicle speed controller.

The tractor control unit 30 is further connected with 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 reception antenna 48 is electrically connected to the position information calculation unit 43 . The satellite signal receiving antenna 48 receives signals from the positioning satellites 6 (see FIG. 1) that constitute the satellite positioning system. The satellite positioning system is, for example, GNSS (Global Navigation Satellite System). The position information calculator 43 calculates the position of the tractor 2A (more precisely, the satellite signal reception antenna 48) based on the positioning signal received by the satellite signal reception antenna 48. FIG. Specifically, the position information calculator 43 generates positioning information including time information and position information. The position information consists of, 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 is composed of, 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 nonvolatile 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 section 30 includes an information acquisition processing section 32 . The information acquisition processing unit 32 acquires position information for each time calculated by the position information calculation unit 43 and stores it in the position information storage unit 51 . The information acquisition processing unit 32 also acquires operation information given from the tractor control unit 30 at each time 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 interval between plants set by the operation unit 46, and the like.

Then, the information acquisition processing unit 32 acquires 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, when the power key is turned off). is sent to the management server 3 at the timing specified by the user. In the following description, 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 has 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 is composed of, 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 or nonvolatile 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 position/operation information for each time received from the tractor control unit 30 .
The farm field table 76 stores information about farm fields. Specifically, for each registered farm field, the farm field table 76 contains, for example, a farm field ID, field position specifying information, predicted planting amount per unit length of ridge, expected yield per unit length of ridge, and the like. remembered.

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

The first work information storage table 77 stores ridge unit information for each ridge with respect to the field where the planting work was performed. In the second work information storage table 78, work information for each field is stored with respect to the field where the planting work has been performed.
The server control unit 60 includes a microcomputer having a CPU and 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 . Hereinafter, the field for which work information is to be generated is referred to as a "processed field", and while the sugarcane planting work is being performed on the processed field, The accumulated position/operation information for each time will be referred to as "time-series information to be processed". It is assumed that time-series information to be processed is stored in the time-series information storage unit 75 .

The grouping unit 63 groups the time-series information to be processed for each ridge. Specifically, the grouping section 63 includes a moving direction calculating section 81 , a main moving direction determining section 82 , a determining section 83 and a classifying section 84 .
The moving direction calculator 81 calculates the moving direction of the work vehicle 2 at the position corresponding to each piece of position information based on the time-series information to be processed. However, precisely, 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 moving direction determination unit 82 determines the main moving direction of the work vehicle 2 based on the moving directions corresponding to all the position information (excluding the position information with the earliest time) calculated by the moving direction calculating unit 81. Determine the main direction of travel.
The determination unit 83 determines whether the position corresponding to each piece of position information is a position inside the ridge or a position outside the ridge based on the moving direction of the work vehicle 2 at the position corresponding to each piece of position information and the main moving direction. judge.

Based on the determination result of the determination unit 83, the classification unit 84 groups the time-series information to be processed for each ridge.
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.
Details of the operations of the grouping unit 63 and the work information generating unit 64 will be described below.

FIG. 6 is a flowchart showing the procedure of work information generation processing executed by the grouping unit 63 and the work information generation unit 64. As shown in FIG.
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 piece of position information included in the time-series information to be processed (step S1).

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

For example, the moving direction of the work vehicle 2 at a position corresponding to certain position information is calculated as follows. In the first latitude-longitude coordinate system, let certain position information be position information of interest, let the longitude and latitude of position information obtained one time before the position information of interest be (λ1, φ1), and position information of interest Assuming that the longitude and latitude of are (λ2, φ2), the moving direction (moving direction angle) θ of the position corresponding to the target 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 within the range of −90 degrees to +90 degrees.
Next, the main moving direction determination unit 82 in the grouping unit 63 calculates the probability density function of the distribution of these moving directions based on the moving directions corresponding to all the position information (step S2).

Specifically, the main moving direction determining unit 82 calculates a probability density function (kernel density function) of the distribution of moving directions 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 looks like a smooth histogram of the distribution of movement directions. Note that the graph of FIG. 8 does not exactly correspond to the movement trajectory of FIG.

Returning to FIG. 6, next, the main movement direction determination unit 82 detects the peak of the probability density function (step S3). Then, the main moving direction determination unit 82 determines the moving direction θ corresponding to the peak having the highest peak height among the detected peaks as the main moving direction θ _M of the work vehicle 2 (step S4). In the example of FIG. 8, the main moving direction _θM is 50 degrees.
Next, the determination unit 83 in the grouping unit 63 performs determination processing 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 flow chart showing the procedure of determination processing executed by the determination unit 83 in step S5.
First, the determination unit 83 sets the position information with the second earliest time (position information with the second oldest time) among the position information included in the time-series information to be processed as position information of interest ( step S21).

Next, the determination unit 83 determines whether or not the absolute value |θ−θ _M | of the difference between the moving direction θ of the target position information and the main moving direction θ _M 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 position-of-interest information is a position within a ridge (step S23). And the determination part 83 progresses 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 target position information (position information whose time is newer than the target position information). If there is position information later in time than the target position information (step S24: YES), the process proceeds to step S25.

In step S25, the determination unit 83 sets, as position-of-interest information, the position information at the time closest to the time of the position-of-interest information among the position information later in time than the position-of-interest information. That is, the determination unit 83 updates the attention position information. And the determination part 83 returns to step S22.
In step S22, if it is determined that |θ−θ _M |>α (step S22: NO), the determination unit 83 determines that |θ−θ _M |>α a predetermined number of times or more. It is determined whether or not they are continuous (step S26). If the determination that |θ−θ _M |>α is not continuously made for N times or more (step S26: NO), the determination unit 83 determines that the position-of-interest information is a position within the ridge ( step S23). And the determination part 83 progresses to step S24.

In step S26, when it is determined that |θ−θ _M |>α is continuously determined N times or more (step S26: YES), the determination unit 83 determines that the target position information is outside the ridge. (step S27). And the determination part 83 progresses to step S24.
If it is determined in step S24 that there is no position information later in time than the current attention position information (step S24: NO), the determination unit 83 terminates the processing of step S5 and returns to step S6 of FIG. transition 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 separates the time-series information to be processed 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 to be processed. Group by ridge. A ridge number (ridge ID) is assigned to the time-series information in units of groups in order from the earliest time.

Next, the work information generation unit 64 performs field width calculation processing for calculating the length of the processing target field F in the direction orthogonal to the main moving direction _θM (hereinafter referred to as "field width W") ( step S7).
FIG. 10 is a flow chart showing the procedure of the farm field width calculation process executed by the work information generator 64 in step S7.

First, as shown in FIG. 11, the work information generator 64 sets a point corresponding to predetermined position information as an origin O′, and draws a straight line passing through the origin O′ and parallel to the main moving direction _θM of the work vehicle 2. A second latitude/longitude coordinate system is set with a first axis and a straight line passing through the origin O′ and perpendicular to the first axis as a second axis (step S31).
In the example of FIG. 11, the westernmost point among the positions corresponding to the position information is set as the origin O' of the second latitude/longitude coordinate system. Also, 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 coordinate-transforms each piece of position information of the first latitude/longitude coordinates into position information of the second latitude/longitude coordinates (step S32). Then, as shown in FIG. 12, the work information generator 64 calculates the minimum longitude λ'min and maximum longitude λ'max and the minimum latitude φ'min and maximum latitude φ'max in the second latitude/longitude coordinates. , a rectangular area E that approximates the processing target field F is generated (step S33). Specifically, the work information generator 64 generates points a (λ'min, φ'min), points b (λ'min, φ'max), and points c (λ'max, φ'max). , d(λ'max, φ'min) as vertexes, is generated as a rectangular region approximating the field F to be processed.

Next, the work information generation unit 64 calculates the length of the side orthogonal to the main moving direction _θM as the field width W, among the sides of the rectangular area approximating the processing target field F (step S34). . In the example of FIG. 12, the work information generator 64 calculates the distance from the point a to the point d as the field width W. In the example of FIG. The work information generation unit 64 ends the farm field width calculation process, and proceeds to step S8 in 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 processing target field F. are stored in the first work information storage table 77 (step S8).

An example of the contents of the first work information storage table 77 is shown in FIG. As shown in FIG. 13, the ridge unit information for a given ridge includes field ID, work name, ridge number (ridge ID), date, start time, end time, start point position, end point position, ridge length, average vehicle speed, Includes spacing and planting volume.
The farm field ID is the farm field ID for the farm field F to be processed. The farm field ID is acquired from the farm 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, information representing the type of work machine 2B is included in the operation information transmitted from work vehicle 2 to management server 3, and server control unit 60 identifies the work name from the information representing the type of work machine 2B.

The ridge number is the 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 work end position on the ridge, respectively.

The start time and the position of the start point are the time and position of the earliest piece of time-series information of the group corresponding to the ridge, respectively. The end time and end point position are the time and position of the latest information 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 starting point position to the ending point position. The average vehicle speed is the average vehicle speed while the work vehicle 2 is traveling on the ridge. The average vehicle speed is, for example, the average value of vehicle speeds 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 interval between plants is the interval between plants included in the time-series information of the group corresponding to the ridge. The term “interplant spacing” refers to the distance between two adjacent plants in the longitudinal direction of the ridge. The planting amount is the weight (predicted amount) of the crop planted on the ridge. The planting amount is calculated based on the predicted planting amount per unit length of the ridge of the processing target field F stored in the field table 76 and the ridge length. Specifically, the planting amount is calculated based on {(ridge length)×(predicted 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-by-ridge 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. The field-by-field work information for the processing target field F includes, as shown in FIG. 14, field ID, number of ridges, total ridge length, ridge spacing, planting amount, and expected yield.

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

When the process of step S9 ends, the work information generation unit 64 ends the current work information generation process.
In this embodiment, it is possible to generate work information including ridge-by-ridge information for each ridge in a field where work has been performed, using position information of the work vehicle 2 at each time. More specifically, by using positional information of the working vehicle 2 for each time and operating information (vehicle speed, distance between plants) of the working vehicle 2, work information including ridge unit information for each ridge in the field where the work is performed is generated. be able to.

Specifically, field ID, work name, ridge number (ridge ID), date, start time, end time, start point position, end point position, ridge length, average vehicle speed, distance between plants and planting amount are used as ridge unit information can be generated. Thereby, it is possible to easily check whether the planting work has been carried out according to the preset plan.
In addition, in this embodiment, based on the ridge unit information, it is possible to generate work information for each field, such as the number of ridges, total ridge length, ridge spacing, planting amount, and expected yield. It is possible to more accurately confirm whether the work has been performed.

In this embodiment, since the average vehicle speed for each ridge is obtained, there are the following advantages. For example, if an obstacle such as a sprinkler exists near a ridge, the driver of the work vehicle 2 can visually recognize the obstacle during the planting work, so that the work vehicle 2 can avoid colliding with the obstacle. drive workers to Therefore, the average vehicle speed with respect to the ridge becomes slow. On the other hand, at the time of harvesting work, obstacles are likely to be covered with crops. As a result, the driver of the harvester cannot see the obstacle, and the harvester may collide with the obstacle.

Therefore, after the planting work, ridges where the 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 an identification 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 identifying unit identifies a ridge where the average vehicle speed is slower than a predetermined threshold value as a ridge where there is a high possibility that an obstacle exists nearby. During harvesting, the operator of the harvester can preliminarily identify ridges that are likely to have obstacles nearby based on the ridge information about the identified obstacles, thereby preventing the harvester from colliding with obstacles. easier to avoid.

Although the embodiments of the present invention have been described above, the present invention can also be implemented in other forms. 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 instead of transmitting the vehicle speed to the management server 3, the vehicle speed is calculated on the management server 3 side. good too. Specifically, the management server 3 calculates the vehicle speed based on the position information for each time. More specifically, of the two temporally adjacent positional information, the positional information that is earlier in time is set as the first positional information, and the positional information that is later in time is set as the second positional information. The vehicle speed at the second position is obtained 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. can ask.

Further, in the above-described embodiment, the space between plants is transmitted from the work vehicle 2 to the management server 3 as the operation information. However, the spacing between plants may be stored in the field table 76 . In this case, the work information generation unit 64 acquires the spacing between plants from the field table 76 .
Further, a machine setting table storing information on machine settings (plans) may be provided in the storage unit 74 of the management server 3 . The machine setting table stores, for example, a machine ID, a machine name (running machine name), a setting start date and time, a setting end date and time, a work machine name, and a set spacing between each registered machine. In this case, the work information generator 64 acquires the interval between plants from the machine setting table.

In the above-described embodiment, the vehicle speed and the interval between plants are transmitted from the work vehicle 2 to the management server 3 as operation information, but the vehicle speed and the interval between plants do not have to be transmitted to the management server 3 . In this case, the average vehicle speed and the interval between stocks are not generated as the ridge unit information.
In the above-described embodiment, the GNSS single positioning system is used as the positioning system for positioning the work vehicle 2. Other positioning systems may be used.

In the above-described embodiment, the work vehicle 2 is composed of the traveling machine 2A, which is a tractor, and the working machine 2B, which is a planting machine. It may be a work machine other than that. Moreover, the work vehicle 2 may be a work vehicle in which the traveling portion and the working portion 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, fertilizing work, chemical spraying work, and harvesting work are performed on a certain field, the planting amount in the planting work, the fertilizer amount in the fertilizing 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 the planting amount for the ridge, the fertilizer application amount for the ridge, the chemical application amount for the ridge, and the 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 (running machine)
2B working machine 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 first work information storage table 78 second work information storage table 81 movement direction calculation unit 82 main movement direction determination unit 83 Determining unit 84 Classifying unit

Claims (6)

an acquisition unit that acquires time-series information including position information of the work vehicle for each time measured while the work vehicle is traveling in a field having a plurality of ridges;
A grouping unit that groups the time-series information acquired by the acquisition unit for each ridge;
a work information generating unit that generates work information including ridge unit information for each ridge based on the time-series information for each group;
The work information generating device, wherein the ridge unit information for each ridge includes an expected yield or yield for each ridge. The grouping unit
a movement direction calculation unit that calculates a movement direction of the work vehicle at a position corresponding to each of the position information based on the time-series information acquired by the acquisition unit;
a main moving direction determination unit that determines a main moving direction, which is a main moving direction of the work vehicle, based on the moving directions corresponding to all the position information calculated by the moving direction calculating unit;
Based on the movement direction of the work vehicle at the position corresponding to each position information and the main movement direction, it is determined whether the position corresponding to each position information is a position inside the ridge or a position outside the ridge. a determination unit;
The work information generating apparatus according to claim 1, further comprising a classification unit that groups the time-series information acquired by the acquisition unit for each ridge based on the determination result of the determination unit. The ridge unit information for each ridge includes the length of the ridge, the work start time and work end time on the ridge, the work start position and work end position on the ridge, and the average vehicle speed on the ridge. The work information generating device according to claim 1 or 2, further comprising at least one of The work information generation device according to any one of claims 1 to 3, wherein the work information includes the number of ridges and the distance between ridges in the field. The work information generating device according to any one of claims 1 to 4, wherein the ridge-unit information for each ridge further includes at least one of the amount of fertilizer applied to the ridge and the amount of chemical applied to the ridge. The ridge unit information for each ridge further includes an average vehicle speed for each ridge,
further comprising a specifying unit that specifies a ridge that is likely to have an obstacle nearby based on the average vehicle speed for each ridge;
Any one of claims 1 to 5, wherein the identification unit is configured to identify a ridge where an average vehicle speed is slower than a predetermined threshold as a ridge where there is a high possibility that an obstacle exists nearby. The work information generation device according to the item.

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