JP2023141276A - Work management method, work management system, and work management program - Google Patents

Abstract

To provide a work management method for estimating a work type, a work management system, and a work management program.SOLUTION: In a work management system 1000, a work management device 200 for executing a work management method estimates a first work type of work to be performed by a work device 30 in a field 500 based on route information including specification information that indicates a movement route along which the work device 30 that moves autonomously moves in the field 500 and has information on a work width of the work device 30 to output work information indicating a first work type. Further, the work management device acquires correction information indicating that the first work type is corrected to the second work type to correct the estimated first work type to the second work type based on the acquired correction information.SELECTED DRAWING: Figure 1

Description

The present invention relates to a work management method, a work management system, and a work management program.

In recent years, research has been carried out on using information on field operations for analysis of cultivation management.

Patent Document 1 discloses a technique for receiving operation information from a work device used in work in a field and estimating the work type of work performed in the field based on the received operation information.

JP2021-089477A

The technique described in Patent Document 1 estimates the work type based on operation information when the work device performs the work, so the work type is estimated after the work is completed. Therefore, it is not possible to estimate the type of work being performed in the field in real time.

In view of the above situation, one of the purposes of the present disclosure is to estimate the type of work performed by a work device. Other objectives can be understood from the following description and description of the embodiments.

Below, means for solving the problems will be explained using numbers and symbols used in the detailed description. These numbers and symbols are added in parentheses for reference in order to show an example of the correspondence between the claims and the detailed description. Therefore, the scope of the claims should not be construed as being limited by the parenthesized descriptions.

A work management method according to an embodiment for achieving the above object is based on route information representing a travel route (600, 650) along which a work device (30) that autonomously moves in a field (500) is scheduled to travel. , including estimating the first work type of the work performed by the work device (30) in the field (500). The work management method also includes outputting work information representing the first work type.

A work management system (1000) according to an embodiment for achieving the above object includes an estimation section (250) and an output section (260). The estimating unit (250) is configured to move the working device (30) autonomously in the field (500) based on route information representing the travel route (600, 650) that the working device (30) is scheduled to move. ) estimates the first work type of the work to be performed. The output unit (260) outputs work information representing the first work type.

A work management program (420) according to an embodiment for achieving the above object includes a route representing a travel route (600, 650) along which a work device (30) that autonomously moves in a field (500) is scheduled to travel. Based on the information, the calculation device (120, 220, 320) is caused to estimate the first work type of the work to be performed by the work device (30) in the field (500). Further, the work management program (420) causes the computing device (120, 220, 320) to output work information representing the first work type.

According to the above embodiment, the user can efficiently check the work types registered in the work management device.

FIG. 1 is a schematic diagram of a work management system in one embodiment. FIG. 3 is a diagram illustrating a movement route along which a working device that performs work such as fertilization moves in one embodiment. FIG. 3 is a diagram illustrating a movement route along which a harvesting work device moves in one embodiment. FIG. 2 is a diagram showing the configuration of a control device in one embodiment. It is a diagram showing functional blocks executed by the work management system in one embodiment. FIG. 1 is a diagram showing the configuration of a work management device in an embodiment. FIG. 2 is a diagram showing the configuration of a terminal in one embodiment. It is a flow chart showing processing by a work management system in one embodiment. FIG. 3 is a diagram illustrating work information displayed by a terminal in one embodiment.

(Embodiment 1)
A work management system 1000 according to this embodiment of the invention will be described with reference to the drawings. In this embodiment, as shown in FIG. 1, a work management system 1000 includes a control device 100 that controls a work device 30, a work management device 200, and a terminal 300. The control device 100 is communicably connected to the work device 30. The work management device 200 is communicably connected to the control device 100 and the terminal 300 via a network 20, for example, the Internet.

The control device 100 controls the work device 30 that performs work in the field 500. For example, the control device 100 determines a planned travel route for the work device 30 in the field 500 and outputs information representing the determined travel route to the work device 30.

The work device 30 performs work while autonomously moving within the field 500 along a movement route determined by the control device 100. For example, the work device 30 includes a tractor that pulls a work machine and performs work. Furthermore, the working device 30 may be a vehicle that is integrally formed with a working machine, such as a combine harvester. Further, the working device 30 may be a drone that sprays agricultural chemicals.

Here, the movement route determined by the control device 100 differs depending on the type of work performed by the work device 30, for example, the work type representing fertilization, tillage, pest control, harvesting, etc. For example, when the work device 30 performs fertilization, tillage, etc., as shown in FIG. 601 and a plurality of turning paths 602. On the other hand, when the working device 30 performs harvesting, as shown in FIG. 3, the movement path 650 has a path that goes around the contour of the field 500 so as to move away from the contour of the field 500 with each rotation.

Further, as shown in FIG. 2, the travel route 600 for fertilizing and the travel route 600 for tilling are two linear routes 601 that are adjacent and parallel to each other, for example, a first straight route 601-1 and a second straight route. 601-2 and 601-2 have different overlap widths 611 of the areas in which the work is performed. For example, when the working device 30 moves along the first linear path 601-1, it performs work in the first working area along the first linear path 601-1 having a working width 610. Here, the working width 610 represents the length in the direction orthogonal to the traveling direction of the working device 30 in the area where the working device 30 moves to perform work. The overlap width 611 is, for example, a first work area where the work device 30 moves along the first straight path 601-1 to perform work, and a second straight path 601-2 adjacent to the first straight path 601-1. It represents the length in the direction orthogonal to the traveling direction of the working device 30 in the overlapping area with the second working area along which work is performed.

Further, the movement route 600 for fertilization and the movement route 600 for epidemic prevention, for example, pesticide spraying, differ in the distance between two adjacent linear routes 601. For example, in the epidemic prevention travel route 600, the distance between two adjacent straight routes 601 is determined according to the length of the boom of a boom sprayer used when spraying pesticides. Here, the length of the boom is longer than the working width of a working machine used for other types of work, such as fertilization and tillage. Therefore, in the movement route 600 for epidemic prevention, the distance between two adjacent straight routes 601 is longer than for other work types. In this way, as shown in FIG. 2, in the movement path 600 formed by a plurality of straight paths 601 and a plurality of turning paths 602, information used to determine the movement path 600, for example, depending on the type of work, The overlap width 611 and working width 610 are different.

For this reason, the work management device 200 acquires route information representing the movement route of the work device 30 from the control device 100, and estimates the work type of the work to be performed by the work device 30 in the field 500 based on the acquired route information. do. Work information representing the estimated work type is output to the terminal 300. A user, for example, a work manager, an owner of the field 500, etc., can check the work being performed by the work device 30 in real time based on the work information displayed on the terminal 300.

Note that the work device 30 includes a positioning device, for example, a GNSS (Global Navigation Satellite System) receiver, and acquires position information representing the position of each time the work device 30 moves. The acquired position information is output to the control device 100 and used for control of the work device 30 by the control device 100.

(Work management system configuration)
As shown in FIG. 1, the configuration of a control device 100 included in a work management system 1000 will be described. As shown in FIG. 4, the control device 100 includes an input/output device 110, an arithmetic device 120, a communication device 130, and a storage device 140. Control device 100 includes, for example, a computer, a tablet, a mobile terminal, and the like. Information for the arithmetic unit 120 to execute processing is input to the input/output device 110 . In addition, the input/output device 110 outputs the results of processing performed by the arithmetic device 120. The input/output device 110 includes various input devices and output devices, and includes, for example, a keyboard, a mouse, a microphone, a display, a speaker, a touch panel, and the like.

The communication device 130 is directly connected to the work device 30 wirelessly, for example, via a wireless LAN (Local Area Network), and communicates with the work device 30 . The communication device 130 transfers the signal acquired from the work device 30 to the arithmetic device 120. Further, the signal generated by the arithmetic device 120 is transferred to the work device 30.

Further, the communication device 130 is electrically connected to the network 20 and communicates with each device via the network 20. The communication device 130 transfers the signal acquired from the work management device 200 to the calculation device 120. Further, the signal generated by the arithmetic device 120 is transferred to the work management device 200. The communication device 130 includes various interfaces such as a transmitter/receiver used for wireless communication such as a wireless LAN (Local Area Network) or a cellular network, a NIC (Network Interface Card), and a USB (Universal Serial Bus).

The storage device 140 stores various data for controlling the work device 30, such as a work device control program 400. The storage device 140 is used as a non-transitory tangible storage medium that stores the work device control program 400. The work equipment control program 400 may be provided as a computer program product recorded on the computer-readable storage medium 1 or may be provided as a computer program product downloadable from a server.

The arithmetic device 120 reads and executes the work device control program 400, thereby realizing the route determining section 150, as shown in FIG. The route determining unit 150 determines a movement route on which the working device 30 performs work within the farm field 500 . Route information representing the determined movement route is output to the work device 30 and the work management device 200.

Next, the configuration of the work management device 200 shown in FIG. 1 will be explained. As shown in FIG. 6, the work management device 200 includes an input/output device 210, an arithmetic device 220, a communication device 230, and a storage device 240. Work management device 200 is, for example, a computer. Information for the arithmetic unit 220 to execute processing is input to the input/output device 210 . In addition, the input/output device 210 outputs the results of processing performed by the arithmetic device 220. The input/output device 210 includes various input devices and output devices, and includes, for example, a keyboard, a mouse, a microphone, a display, a speaker, a touch panel, and the like. The input/output device 210 may be omitted.

The communication device 230 is electrically connected to the network 20 and communicates with each device via the network 20. The communication device 230 transfers the route information acquired from the control device 100 to the arithmetic device 220. Further, the signal generated by the arithmetic device 220 is transferred to the terminal 300. The communication device 230 includes various interfaces such as a NIC (Network Interface Card) and a USB (Universal Serial Bus).

The storage device 240 stores various data for estimating the type of work performed by the work device 30, such as work data 410 and a work management program 420. The storage device 240 is used as a non-transitory tangible storage medium that stores the work management program 420. The work management program 420 may be provided as a computer program product recorded on the computer readable storage medium 2 or may be provided as a computer program product downloadable from a server.

Work data 410 stores work information regarding work performed by work device 30. The work information includes, for example, information representing the field 500 where the work device 30 worked, the type of work performed by the work device 30, the movement route of the work device 30, and the like. The work information is output to and displayed on the terminal 300, for example.

The computing device 220 reads and executes the work management program 420 from the storage device 240 and performs various data processing for estimating the type of work performed by the work device 30. For example, the arithmetic device 220 includes a central processing unit (CPU).

The calculation device 220 reads and executes the work management program 420, thereby realizing an estimating section 250 and an output section 260, as shown in FIG. The estimating unit 250 estimates the type of work to be performed by the work device 30 based on the movement route determined by the control device 100. The output unit 260 outputs work information representing the estimated work type to the terminal 300.

Next, the configuration of the terminal 300 shown in FIG. 1 will be explained. As shown in FIG. 7, the terminal 300 includes an input/output device 310, an arithmetic device 320, a communication device 330, and a storage device 340. Terminal 300 includes, for example, a computer, a tablet, a mobile phone, and the like. Information for the arithmetic unit 320 to execute processing is input to the input/output device 310 . In addition, the input/output device 310 outputs the results of processing performed by the arithmetic device 320. The input/output device 310 includes various input devices and output devices, and includes, for example, a keyboard, a mouse, a microphone, a display, a speaker, a touch panel, and the like.

The communication device 330 is electrically connected to the network 20 and communicates with each device via the network 20. The communication device 330 transfers the signal acquired from the work management device 200 to the calculation device 320. Further, the signal generated by the arithmetic device 320 is transferred to the work management device 200. The communication device 330 includes various interfaces such as a transceiver used for wireless communication such as a wireless LAN (Local Area Network) or a cellular network, a NIC (Network Interface Card), and a USB (Universal Serial Bus).

The storage device 340 stores various data, such as a display program 430, for displaying work information regarding the work performed by the work device 30. The storage device 340 is used as a non-transitory tangible storage medium that stores the display program 430. The display program 430 may be provided as a computer program product recorded on the computer readable storage medium 3 or may be provided as a computer program product downloadable from a server.

The arithmetic device 320 reads and executes the display program 430, thereby realizing the display section 350 in cooperation with the input/output device 310, as shown in FIG. The display unit 350 acquires field information from the work management device 200 and displays the acquired field information.

(Operation of work management device)
A worker who performs work in the field 500 inputs a registration operation into the arithmetic device 120 of the control device 100 to register the work area in which the work is performed in the field 500 to the control device 100 . When the registration operation is input to the calculation device 120, the calculation device 120 of the control device 100 reads and executes the work device control program 400. When the work equipment control program 400 is executed, the arithmetic device 120 executes the process shown in FIG. 8, which is part of the field information management method.

In step S110, the route determining unit 150 implemented by the arithmetic device 120 registers a work area in the field 500. For example, the route determining unit 150 instructs the worker to move the working device 30 by manual steering along a route that goes around the contour of the field 500. The route determining unit 150 acquires position information of the working device 30 when the worker moves the working device 30 along the contour of the field 500. Based on the acquired position information, the route determining unit 150 registers the area surrounded by the route traveled by the working device 30 as the work area in which the work is performed in the field 500.

In step S120, the route determining unit 150 determines a moving route along which the working device 30 moves within the farm field 500 to perform the work. For example, the route determining unit 150 receives information for determining a travel route. A user, for example a worker, inputs into the input/output device 210 specification information of the working device 30 used to determine a movement route, such as a working width 610 and an overlap width 611 in which work is performed by the working device 30. In addition, the user inputs a route pattern to the input/output device 210, for example, a route having a plurality of linear routes 601 that reciprocates within the field 500 as shown in FIG. 2, a route that goes around the field 500 as shown in FIG. input. The route determining unit 150 determines a movement route for the work device 30 to perform work within the work area based on the input specification information, the route pattern, and the registered work area.

The route determining unit 150 outputs route information representing the determined moving route to the work device 30 and controls the work device 30. The work device 30 performs work in the field 500 based on instructions from the route determining section 150.

The route determining unit 150 also outputs route information representing the determined travel route to the work management device 200. The route information output to the work management device 200 includes specification information input by the user, such as a work width 610 and an overlap width 611. Further, the route information may include information representing the position of the registered work area, for example, latitude and longitude.

In step S<b>130 , the estimation unit 250 of the work management device 200 determines the work field where the work is to be performed by the work device 30 based on the route information acquired from the route determination unit 150 of the control device 100 . For example, the estimation unit 250 extracts the position of the work area from the route information and determines the field 500 including the position of the work area as the work field where the work device 30 performs the work. Here, information representing the area of the field 500 is stored in the work data 410.

In step S<b>140 , the estimation unit 250 estimates the work type of the work to be performed by the work device 30 based on the route information acquired from the route determination unit 150 of the control device 100 . For example, the estimation unit 250 estimates the work type using a learned model obtained by machine learning. In this case, the trained model has been trained to estimate the work type from the route information. Further, the estimation unit 250 may estimate the work type based on the model of the work device 30. In this case, the storage device 240 stores work correspondence data that associates the model of the work device 30 with the work type. The estimation unit 250 estimates the work type based on the work correspondence data. The estimated work type is stored in the work data 410 shown in FIG. 6 by the estimation unit 250 in association with the determined work field. Furthermore, the estimating unit 250 may store route information representing the movement route of the work device 30 in the work data 410 in association with the determined work field.

In step S150, the output unit 260 outputs work information representing the estimated work type to the terminal 300. For example, the work information represents the estimated work type in association with the field 500 where the work was performed by the work device 30.

In step S160, the display unit 350 of the terminal 300 displays the work information acquired from the output unit 260 of the work management device 200 on the input/output device 210. For example, the display unit 350 extracts the field 500 where the work was performed by the work device 30 and the work type of the work performed by the work device 30 from the work information. As shown in FIG. 9, the display unit 350 displays a work image on the map that represents an area corresponding to the extracted field 500, for example, an area corresponding to the first working field 521, in a display format according to the work type. Display 700. A user, such as a work manager or the owner of the field 500, can view the work image 700 displayed on the input/output device 210 of the terminal 300 to determine the type of work currently being performed in the field 500. It can be confirmed.

The area corresponding to the field 500 where work is being performed is displayed in different display formats depending on the type of work. For example, as shown in FIG. 9, the work type of the work being performed in the first working field 521 and the work type of the work being performed in the second working field 522 are displayed in different display formats. Ru. For example, the color of the area corresponding to the first working field 521 is different from the color of the area corresponding to the second working field 522. Further, the pattern representing the area corresponding to the first working field 521 may be different from the pattern representing the area corresponding to the second working field 522. Thereby, the user can easily confirm the type of work being performed in each field 500.

In addition, when the same type of work is being performed in the first working field 521 and the second working field 522, specification information set in the working device 30 that performs the work in either one, for example, the working width. 610, overlap width 611 or route pattern may be wrong. Therefore, by viewing the work image 700, the user can quickly discover errors in the information set in the work device 30.

Further, the terminal 300 may display on the input/output device 210 information representing the completed field 510 where the work has been completed and the unworked field 530 where the work has not started. In this case, the route determining unit 150 of the control device 100 determines whether the work by the work device 30 has been completed based on the position of the work device 30. For example, the route determining unit 150 determines that the work by the working device 30 is completed when the working device 30 reaches the end point of the movement route. When the route determination unit 150 determines that the work of the work device 30 is completed, it outputs completion information indicating that the work has been completed to the work management device 200. The estimation unit 250 of the work management device 200 stores the acquired completion information in the work data 410. The output unit 260 outputs work information including information representing the field 500 where the work has been completed to the terminal 300. For example, as shown in FIG. 9, the terminal 300 displays a work image that shows an area on the map showing a field 500 where work has been completed, for example, an area showing a work completed field 510, in a display format that can be distinguished from the field 500 that is currently being worked on. Display 700. Thereby, the user can easily grasp the work status in each field 500.

The display unit 350 of the terminal 300 may receive modification information for modifying the estimated work type. For example, when the work type of the work in the field 500 displayed on the input/output device 310 is different from the work type of the work that is actually being performed, the user may receive correction information representing the work type of the work that is actually being performed. is input to the input/output device 310. The display unit 350 outputs the input correction information to the work management device 200. The estimation unit 250 of the work management device 200 stores the corrected work type in the work data 410 in association with the corresponding field 500 based on the correction information. As a result, even if the estimation unit 250 of the work management device 200 estimates the work type incorrectly, the correct work type is stored in the work data 410.

(Modified example)
The configuration described in the embodiment is an example, and the configuration can be changed within a range that does not impede functionality. For example, in step S130 shown in FIG. 8, the estimation unit 250 of the work management device 200 may determine the work field where the work device 30 performs the work using any method. For example, the estimation unit 250 may determine the working field where the working device 30 performs work based on the position of the working device 30. In this case, the control device 100 acquires position information representing the position of the work device 30 from the work device 30. The acquired position information is included in route information and output to the work management device 200. The estimation unit 250 determines a field 500 that includes the position of the working device 30 or a field 500 closest to the position of the working device 30 as the working field.

Further, when the route information represents a position on the movement route of the work device 30, for example, latitude and longitude, the estimation unit 250 may determine a work field where the work device 30 performs work based on the position on the movement route. good. For example, the estimation unit 250 determines the field 500 including the position on the movement route as the working field.

Further, in step S140 shown in FIG. 8, the estimation unit 250 may estimate the work type of the work performed by the work device 30 using any method. For example, the estimation unit 250 may estimate the work type using a learned model and a threshold value. For example, when there are a plurality of work types estimated using a learned model, the estimation unit 250 may estimate the work type using a threshold value. For example, the estimation unit 250 determines that multiple work types have been estimated using the trained model when the difference between the probability of the estimated work type and the certainty of other work types is smaller than a threshold. It's okay. In this case, when the work width 610 is larger than the first threshold value, the estimation unit 250 may estimate that the work type of the work performed by the work device 30 is "pest control". The estimating unit 250 estimates that the work type of the work performed by the work device 30 is "fertilization" when the work width 610 is less than or equal to the first threshold and the overlap width 611 is less than the second threshold. good. The estimating unit 250 estimates that the work type of the work performed by the work device 30 is "plowing" when the work width 610 is less than or equal to the first threshold and the overlap width 611 is more than or equal to the second threshold. Good too.

Further, the estimating unit 250 may estimate the work type without using part of the route information, for example, specification information of the work device 30.

The work area in which work is performed by the work device 30 may be registered in the control device 100 in advance. Further, a previously registered work area may be used. In this case, the process of step S110 shown in FIG. 8 may be omitted.

When the work area is registered in advance in the control device 100, step S120 shown in FIG. 8 may be executed at any time before the work device 30 performs work in the field. For example, a user, such as a worker, may input specification information of the work device 30, such as a route pattern, the day before the work is to be performed using the work device 30. In this case, the route determination unit 150 of the control device 100 determines the movement route of the work device 30 based on the input specification information.

Further, the output unit 260 of the work management device 200 may store work plan information representing one year of cultivation-related work in a field where work is performed by the work device 30. For example, the work plan information represents the type of work to be performed in a field in one year and the order of the work. For example, the work plan information is input by the user to the input/output device 310 of the terminal 300, and is output from the terminal 300 to the work management device 200. In this case, when the work type estimated by the estimation unit 250 is different from the work type represented in the work plan information, the output unit 260 sends confirmation information to the terminal 300 for checking the work to be performed by the work device 30. You can also output it. The display unit 350 of the terminal 300 displays confirmation information to prompt the user to confirm the work performed by the work device 30. Thereby, the user can reduce the possibility of accidentally performing work that differs from the work plan before starting work in the field. Furthermore, the user can be prevented from performing work based on incorrect specification information of the work device 30.

Further, the specification information of the working device 30 may be registered in the control device 100 in advance. Further, specification information registered in the past may be used. In this case, the input operation by the user may be omitted in the process of step S120 shown in FIG.

The embodiments and modified examples described above are merely examples, and the configurations described in each embodiment and modified example may be arbitrarily changed and/or combined in any manner within a range that does not impede functionality. It's okay. Furthermore, some of the functions described in the embodiments and modified examples may be omitted if the necessary functions can be realized. For example, the work management device 200 may execute some or all of the processing of the control device 100. Further, the control device 100 or the terminal 300 may execute some or all of the processing of the work management device 200. Furthermore, the work management device 200 may execute some or all of the processing of the terminal 300. Further, the work management program 420 may include the work device control program 400 and may also include the display program 430. Further, the work management system 1000 may not include the terminal 300 and may display work information on an external terminal that is not included in the work management system 1000.

1, 2, 3: Storage medium 20: Network 30: Work device 100: Control device 110: Input/output device 120: Arithmetic device 130: Communication device 140: Storage device 150: Route determining unit 200: Work management device 210: Input/output Device 220: Computing device 230: Communication device 240: Storage device 250: Estimating section 260: Output section 300: Terminal 310: Input/output device 320: Computing device 330: Communication device 340: Storage device 350: Display section 400: Work equipment control Program 410 : Work data 420 : Work management program 430 : Display program 500 : Field 510 : Completed field 521 : First working field 522 : Second working field 530 : Unworked field 600 : Movement route 601 : Straight path 602 : Turning path 610 : Working width 611 : Overlapping width 650 : Moving path 700 : Working image 1000 : Work management system

Claims (8)

Estimating a first work type of work to be performed by the work device in the field based on route information representing a planned travel route of the work device that moves autonomously in the field;
outputting work information representing the first work type;
work management methods including; The work management method according to claim 1, wherein the route information includes specification information of the work device. 3. The work management method according to claim 2, wherein the specification information includes a work width when the work device performs the work. The movement path includes a first linear path and a second linear path adjacent to and parallel to the first linear path,
The specification information includes a first work area where the work is performed by moving the work device along the first linear path, and a first work area where the work is performed by moving the work device along the second linear path. 4. The work management method according to claim 2, further comprising an overlapping width representing a length in a direction perpendicular to a direction in which the first linear path extends in an overlapping area where the second working area overlaps with the second work area where the work is performed. further comprising acquiring completion information indicating that the work performed by the work device in the field has been completed;
The work management method according to any one of claims 1 to 4, wherein the work information includes information representing the field where the work has been completed. obtaining modification information indicating that the first work type is modified to a second work type;
modifying the estimated first work type to the second work type based on the modification information;
The work management method according to any one of claims 1 to 5, further comprising: an estimation unit that estimates a first work type of work to be performed by the work device in the field based on route information representing a planned travel route of the work device that moves autonomously in the field;
an output unit that outputs work information representing the first work type;
A work management system equipped with Estimating a first work type of work to be performed by the work device in the field based on route information representing a planned travel route of the work device that moves autonomously in the field;
outputting work information representing the first work type;
A work management program that causes a computing device to execute.

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