JP2024004592A - Work evaluation method, work evaluation system, and work evaluation program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To evaluate, based on specific criteria, work performed by a work device .

SOLUTION: A work evaluation method includes: generating, based on a shape 90 of the farm field 9, reference path information representing a reference path 91 for a work device 2 to move efficiently when the work device 2 performs work while moving within the farm field 9 under autonomous control (S02); and evaluating the work based on a comparison between a work path 81 where the work device 2 has traveled when performing the work while moving within the farm field 9 under the control of worker's manual operation, and the reference path 91 (S04).

SELECTED DRAWING: Figure 3

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to a work evaluation method, a work evaluation system, and a work evaluation program, and can be suitably used, for example, to evaluate work such as agricultural work performed in a field.

BACKGROUND OF THE INVENTION In order to improve the efficiency of work such as agricultural work performed while a work device moves within a field under the control of a worker's manual operation, there is a need to evaluate the work performed.

In connection with the above, Patent Document 1 (Japanese Patent No. 6588603) discloses an invention of a field management system. This field management system uses GPS (Global Positioning System) to detect the position of a farm machine while working on the field, and generates field work data including the running trajectory of the farm machine. . In addition, this field management system performs a farming evaluation of the field based on field work data.

Patent No. 6588603

In the farmland management system of Patent Document 1, since an ideal running trajectory that serves as a reference for the running trajectory of the agricultural machine is not specifically studied, it is difficult to correctly evaluate work in the field.

In view of the above situation, one object of the present disclosure is to provide a work evaluation method, a work evaluation system, and a work evaluation program for evaluating work performed by a work device based on specific criteria. Other objects and novel features will become apparent from the description of this specification and the accompanying drawings.

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.

According to one embodiment, the work evaluation method is based on criteria for efficient movement of the work device (2) when the work device (2) performs work while moving within the field (9) under autonomous control. It includes generating reference route information representing the route (91) based on the shape (90) of the field (9) (S02). The work evaluation method further includes a work route (81) traveled when the work device (2) performs work while moving within the field (9) under manual control by the worker, and a reference route (91). ) (S04).

According to one embodiment, the work evaluation system (1) includes a reference route generation section (521) and a work evaluation section (522). The reference route generation unit (521) generates a reference route (91) for efficient movement of the working device (2) when the working device (2) performs work while moving within the field (9) under autonomous control. The reference route information representing the field (9) is generated based on the shape (90) of the field (9). The work evaluation unit (522) evaluates the work route (81) traveled by the work device (2) while moving within the field (9) under the manual control of the worker, and the reference route ( Evaluate the work based on comparison with 91).

According to one embodiment, the work evaluation program is for realizing predetermined processing by causing the arithmetic device (52) to execute it. This process uses reference route information representing a reference route (91) for efficient movement of the work device (2) when the work device (2) performs work while moving within the field (9) under autonomous control. (S02) based on the shape (90) of the field (9). This process further includes a work route (81) along which the work device (2) traveled while performing work while moving within the field (9) under the manual control of the worker, and a reference route (91). (S04).

According to one embodiment, work performed by a work device can be evaluated based on specific criteria.

FIG. 1 is a diagram illustrating a configuration example of a work evaluation system according to an embodiment. FIG. 2 is a diagram illustrating a configuration example of a work evaluation device according to an embodiment. FIG. 3 is a flowchart illustrating an example of processing of a work evaluation method according to an embodiment. FIG. 4 is a diagram showing an example of the shape of a field whose area has been determined in one embodiment. FIG. 5 is a diagram showing an example of a reference route that is automatically generated for a field having the shape in the example of FIG. FIG. 6 is a diagram showing an example of a work route traveled when the work device performs work under the control of a worker's manual operation in the field having the shape shown in the example of FIG.

DESCRIPTION OF THE PREFERRED EMBODIMENTS A form for implementing a work evaluation method, a work evaluation system, and a work evaluation program according to the present disclosure will be described below with reference to the accompanying drawings.

(Embodiment)
There is a technology that allows working devices that operate under autonomous control to perform desired tasks, such as agricultural work, while moving inside a predetermined field. We also have technology that automatically generates a travel route for efficient movement when work equipment operates under autonomous control, based on the shape of the field, the performance of the work equipment, the content of the work, etc. be. In one embodiment, the movement path generated in this way is used to evaluate the work when the same work equipment moves inside the same field under the control of the operator's manual operation. used as a reference route. Here, the closer the work route traveled by the work device when performing work under the control of the worker's manual operation is to the reference route, the higher the work under the control of the worker's manual operation is evaluated. This evaluation may be output by displaying the work route and the reference route in a superimposed manner.

As shown in FIG. 1, a work evaluation system 1 according to an embodiment includes a mounting terminal 3 mounted on a work device 2 and a work evaluation device 5. The work evaluation system 1 may further include an external terminal 6. As an example, the external terminal 6 may include a smartphone, a tablet terminal, or the like.

The work equipment 2 includes a work vehicle such as a tractor or a combine harvester that performs agricultural work while moving on the ground in the field 9. The work device 2 may further include a drone that performs agricultural work while flying above the field 9.

The on-board terminal 3, the work evaluation device 5, and the external terminal 6 transmit and receive various information through wireless communication and/or wired communication via the network 4. As an example, the onboard terminal 3 uses position information obtained by measuring the positions of multiple points that the working device 2 passes through while moving in the field 9 using GNSS (Global Navigation Satellite System) or the like. is transmitted to the work evaluation device 5 via the network 4. The work evaluation device 5 evaluates the work performed by the work device 2 based on the received position information. The external terminal 6 receives evaluation information representing the evaluation by the work evaluation device 5 via the network 4 and outputs the received evaluation information.

As shown in FIG. 2, the work evaluation device 5 according to one embodiment may be configured as a so-called computer. In the example of FIG. 2, the work evaluation device 5 includes a bus 51, a calculation device 52, a storage device 53, a communication device 54, and an input/output device 55. The bus 51 is configured to connect the arithmetic device 52, the storage device 53, the communication device 54, and the input/output device 55 so as to be able to communicate with each other.

The calculation device 52 includes a reference route generation section 521 and a work evaluation section 522. The storage device 53 includes a work evaluation program storage section 531. The work evaluation program storage unit 531 stores a work evaluation program.

The calculation device 52 realizes the respective functions of the reference route generation section 521 and the work evaluation section 522 by reading and executing the work evaluation program. Each of the reference route generation unit 521 and the work evaluation unit 522 is a virtual functional block that executes processing realized by the cooperation of the arithmetic unit 52 and the storage device 53. The reference route generation unit 521 generates reference route information representing a reference route for efficient movement of the work device 2 when the work device 2 performs work while moving within the field 9 under autonomous control, based on the shape of the field 9. Generate based on. The work evaluation unit 522 compares the work route along which the work device 2 moves within the field 9 when the work device 2 performs work while moving within the field 9 under the control of manual operation by the worker, and the reference route. Evaluate your work based on comparisons. More specific processing of these functional blocks will be described later.

The work evaluation program may be read from an external recording medium 530 and stored in the work evaluation program storage section 531. The recording medium 530 may be a non-transitory and tangible medium.

The communication device 54 communicates with external devices including the onboard terminal 3 and/or the external terminal 6 by wireless communication and/or wired communication via the network 4 .

The input/output device 55 outputs information to the user and receives operations input by the user. As an example, the input/output device 55 includes a display device that outputs an image, a keyboard and/or a mouse that receives input, and the like.

An example of processing of the work evaluation method according to one embodiment will be described with reference to the flowchart of FIG. 3. The processing of the work evaluation method may be started when the work evaluation device 5 is activated. At this time, the processing of the work evaluation method is realized by the arithmetic unit 52 of the work evaluation device 5 executing the work evaluation program.

When the flowchart of FIG. 3 starts, step S01 is executed. In step S01, the reference route generation unit 521 acquires field shape information representing the shape of the field 9. As an example, the reference route generation unit 521 may generate the field shape information based on the position information received from the loading terminal 3. In this case, in order to detect the shape of the field 9, the working device 2 may travel within the field 9 along the boundary of the field 9 under the control of the operator's manual operation. Further, the onboard terminal 3 may measure the positions of a plurality of points that the work device 2 has passed through at this time using GNSS or the like, and transmit the position information obtained in this way to the work evaluation device 5. Furthermore, the reference route generation unit 521 of the work evaluation device 5 calculates a plurality of straight lines connecting a plurality of points around the field 9 that the work device 2 has passed in the order of positioning, based on the received position information. However, area determination may be performed to specify a polygon surrounded by these straight lines as the shape of the field 9, and data obtained by the area determination may be acquired as field shape information. FIG. 4 is a diagram showing an example of the shape 90 of the field 9 whose area has been determined in one embodiment.

In addition to the field shape information, the reference route generation unit 521 acquires work equipment information representing the performance and dimensions of the work equipment 2, and work plan information representing the plan and contents of work to be performed on the field 9. You can. As an example, the reference route generation unit 521 prompts the worker to input work equipment information and work content information into the external terminal 6, and inputs the work equipment information and the work content that the worker input into the external terminal 6. The information may also be received and acquired.

The work device information includes, for example, work width information and turning radius information. The working width information represents the length in the width direction orthogonal to the movement direction of the range in which the working device 2 moves and works in the field 9. As an example, when the working device 2 includes a tractor and a working machine connected to the tractor, the working width represented by the working width information is the working width of the working machine. As another example, when the work device 2 is integrated with a vehicle part for traveling and a work part for performing a desired work, such as a combine harvester, the work width represented by the work width information is This is the working width of the part. The possible turning radius information represents the minimum value of the radius of curvature of a trajectory that can be drawn when the working device 2 turns while moving. The worker may input appropriate numerical values for each of the working width information and the turning radius information by operating the external terminal 6.

The work content information includes, for example, work type information, moving route shape information, interval information, and work speed range information. The work type information represents the type of work. The types of work represented by the work type information include, for example, sowing, fertilization, harvesting, and the like. The moving route shape information represents the type of shape of the route traveled within the field 9 to perform this work. The shape of the moving route represented by the moving route shape information is, for example, a reciprocating pattern in which the moving route is moved along a plurality of paths parallel to each other, a spiral pattern in which the moving route is moved from the outside to the inner side while going around the periphery of the field 9, or a circular pattern in which the moving route is moved along a plurality of paths parallel to each other, a spiral pattern that moves from the outside to the inside while going around the periphery of the field 9, This includes a composite pattern in which the field moves in a spiral pattern in the peripheral area of field 9 and moves in a reciprocating pattern in the central area of field 9. The interval information indicates the interval between the moving route passed by the working device 2 in a completed area where work has already been performed and the moving route passed by the working area adjacent to the worked area and the unworked area where the working device 2 will work from now on. represent. For the interval information, the operator may set an appropriate numerical value depending on the type of work. For example, when the type of work is fertilization, a value obtained by adding an appropriate length to the work width may be set as the interval information so as not to apply fertilizer over an area that has already been fertilized. On the other hand, when the type of work is harvesting, a value obtained by subtracting an appropriate length from the work width may be set as the interval information so as not to leave uncut leaves. The work speed range information represents a speed range for the work device 2 to efficiently perform work while moving within the field 9. The worker may operate the external terminal 6 to input the work type information and the shape of the movement route by determining each from a plurality of options. Further, the worker may operate the external terminal 6 to input appropriate numerical values as the interval information and work speed range information, respectively. Alternatively, the external terminal 6 may store values input by the operator in the past as each parameter, and the operator may operate the external terminal 6 to call up and set the past values.

After step S01, step S02 is executed. In step S02, the reference route generation unit 521 generates reference route information. Here, the reference route information is information representing a reference route, and the reference route is an efficient movement route that is set when the work device 2 performs work while moving within the field 9 under autonomous control.

In one embodiment, the reference route generation unit 521 generates reference route information based on the field shape information, work equipment information, and work content information acquired in step S01. The reference route represented by the reference route information includes a plurality of reference stroke routes and a plurality of reference turning routes.

Each of the plurality of reference stroke routes is a movement route along which the work device 2 performs a desired work while moving linearly. In order for the work device 2 to work efficiently in the field 9, these multiple standard travel routes are necessary to prevent repeating the same work in the same place and to reduce areas that are not subject to work. It is preferable to form the two adjacent reference stroke paths so that they are as parallel as possible to each other. Further, in order to efficiently utilize the area of the field 9, the interval between two adjacent reference travel routes may be set as narrow as possible within the necessary length range according to the work type information. However, if the interval information has been acquired, the interval of the reference travel route may be set according to the interval information.

The plurality of reference turning paths are movement paths along which the working device 2 moves while turning between two adjacent reference stroke paths. The reference turning route may be set to connect the reference stroke routes after the reference stroke routes are set. If the minimum value of the radius of curvature of the reference turning path is less than the turning radius of the working device 2, turning by a fishtail turn may be set. A fishtail turn is a turning motion that is realized by a combination of forward movement while turning and backward movement in a straight line.

The reference route generation unit 521 determines the total number of multiple reference stroke routes and the length and position of each reference stroke route. Further, the reference route generation unit 521 determines the total number of multiple reference turning routes and the length and position of each reference turning route. Furthermore, the reference route generation unit 521 calculates a reference total distance that is the sum of the lengths of the plurality of reference stroke routes and the lengths of the plurality of reference turning routes. The reference route generation unit 521 also generates an estimated work time as the time required when the work device 2 operating under autonomous control performs work while moving along the reference route, based on the reference total distance and work speed range information. Estimate based on.

FIG. 5 is a diagram showing an example of a reference path 91 that is automatically generated for the field 9 having the shape 90 in the example of FIG. In the example of FIG. 5, the reference route 91 is configured such that a straight reference stroke route and a curved reference turning route are alternately connected from a start point 92 to an end point 93.

After step S02 in FIG. 3, step S03 is executed. In step S03, the work evaluation unit 522 determines a work route that represents the work route that the work device 2 actually moved when the work device 2 performed the work while moving within the field 9 under the control of the worker's manual operation. Get information.

More specifically, first, the worker manually controls the working device 2 to perform work on the field 9. Here, the worker may control the work device 2 while referring to the reference route information generated in step S02. In this case, the reference route information is transmitted by the reference route generation unit 521 to the onboard terminal 3 or the external terminal 6, and the operator may check the reference route information displayed on the onboard terminal 3 or the external terminal 6.

The onboard terminal 3 mounted on the working device 2 determines the position of the working device 2 by measuring the position of the point that the working device 2 has passed through using GNSS or the like at multiple times while the working device 2 is working. Get information. The point where the position was measured is called a positioning point. The mounted terminal 3 may periodically measure the position at each positioning point at predetermined time intervals. The position information may include positioning information obtained by measuring the position of each positioning point and time information representing the measurement time at which the position was measured, in association with each other.

Thereafter, the mounted terminal 3 transmits the position information to the work evaluation device 5. The work evaluation unit 522 of the work evaluation device 5 receives and acquires position information. The work evaluation unit 522 may store the acquired position information in the storage device 53.

The work evaluation unit 522 calculates the traveling direction of the working device 2 at each positioning point based on the plurality of positioning points included in the received positional information and the measurement time indicated by the corresponding time information. The work evaluation unit 522 detects a work stroke route and a work turning route included in the work route based on the traveling direction at each positioning point. The work stroke route is a route along which the work device 2 moves linearly or substantially linearly among the work routes. For example, when the angle between the traveling directions of two positioning points with consecutive measurement times is smaller than a predetermined threshold, it is estimated that these two positioning points are included in the same work route. The work rotation route is a route other than the work stroke route among the work routes, along which the work device 2 moves while turning. In many cases, the working path includes a plurality of working stroke paths and a plurality of working turning paths, which are connected one after the other. In the case of a reciprocating pattern, two working stroke paths connected before and after one working turning path are formed approximately in parallel, and the work device 2 performs work on one working stroke path and then continues. By moving to the other work stroke route where the work is performed, a work turning route is formed. In the case of a spiral pattern, two working stroke paths connected before and after one working turning path are formed at right angles or relatively close to right angles, and the working device 2 performs work on one working stroke path and then , the work may be continued while passing through the work turning path while moving to the other work path where the continuation work is to be performed. At this time, the work evaluation unit 522 calculates some or all of the total number of work stroke routes, the length of each work stroke route, the total number of work turning routes, and the length of each work turning route. You can.

FIG. 6 is a diagram showing an example of a work path 81 traveled when the work device 2 performs work on the field 9 having the shape 90 in the example of FIG. 4 under the control of a worker's manual operation. In the example of FIG. 6, the work path 81 starts at a starting point 82 and ends at an ending point 83. In the example of FIG. 6, among all the working stroke routes included in the working route 81, two working stroke routes connected before and after any given working turning route are formed parallel or almost parallel, so that the working route 81 The shape of is estimated to be a reciprocating pattern.

After step S03 in FIG. 3, step S04 is executed. In step S04, the work evaluation unit 522 evaluates the work performed on the field 9 by the work device 2 under the control of the worker's manual operation. More specifically, the work evaluation unit 522 evaluates the work based on the result of comparing the work route 81 represented by the work route information acquired in step S03 with the reference route 91 represented by the reference route information generated in step S02. I do. The closer the work route 81 is to the reference route 91, the higher the work evaluation unit 522 evaluates the work.

As an example, the work evaluation unit 522 evaluates the parameters of the work route 81 by comparing the work route 81 and the reference route 91 with respect to predetermined parameters. The parameters to be compared for the work route 81 may include at least one of the total work distance and the number of work turns. The total working distance is the distance traveled by the working device 2 from the start of the work to the completion of the work under manual control by the worker, and includes the length of each of the plurality of work stroke paths and the plurality of work turning paths. is the sum of the respective lengths of . The number of work turns is the number of times the work device 2 turns under the manual control of the worker from the start of the work until the work is completed, and is the total number of work turning paths.

The work evaluation unit 522 evaluates the total work distance based on the estimated work time. Further, the work evaluation unit 522 evaluates the number of work turns based on the reference number of turns. As an example, the work evaluation unit 522 may calculate the evaluation value of the evaluation target parameter based on the following formula based on the reference value.
Evaluation value = 100% - | Evaluation target parameter - Standard value | / Standard value As an example, the evaluation value of the total work distance is the absolute value of the difference obtained by subtracting the reference total distance from the total work distance, as shown in the above formula. It is calculated by subtracting the ratio obtained by dividing the distance by the reference total distance from 100%. However, the above formula is only an example, and the evaluation value may be calculated using any formula.

The comparison target parameters of the work route 81 may further include actual work time. The actual working time is the time spent by the working device 2 from the start of the work to the completion of the work under the control of the worker's manual operation. The work evaluation unit 522 may calculate the actual work time based on time information associated with each of the start point 82 and the end point 83 among the position information. The work evaluation unit 522 may evaluate the actual work time based on the estimated work time estimated in step S02.

The work evaluation unit 522 may further calculate a comprehensive evaluation value of the work based on a plurality of evaluation values. As an example, the overall evaluation value of the work may be a weighted average value calculated by assigning a predetermined weight to each evaluation value. However, the above method for calculating the comprehensive evaluation value is only an example, and the comprehensive evaluation value may be calculated using any formula.

After step S04 in FIG. 3, step S05 is executed. In step S05, the work evaluation unit 522 outputs the evaluation performed in step S04. More specifically, the work evaluation unit 522 generates evaluation information representing the content of the evaluation, and transmits the generated evaluation information to the external terminal 6. The external terminal 6 outputs the evaluation represented by the received evaluation information so that the operator can visually and/or audibly recognize it. The external terminal 6 may further display map information representing the field 9, reference route information representing the reference route 91, and work route information representing the work route 81 in a superimposed manner as an output of the evaluation. By referring to the evaluation value of each parameter, the operator can determine, for example, which parameter should be improved intensively. Furthermore, by referring to the overall evaluation value of each worker, a manager who manages a plurality of workers can determine, for example, which worker should be given priority guidance.

When step S05 in FIG. 3 ends, the process of the work evaluation method according to the embodiment ends.

As explained above, according to one embodiment, the working device 2 uses the reference route information generated for performing work while moving in the field 9 under autonomous control as a reference, so that the working device 2 can perform the work while moving in the field 9. Work performed under manual control by a person can be evaluated based on specific criteria.

(Modified example)
In the above-described embodiment, in step S01 of FIG. 3, the positions of a plurality of points that the working device 2 passes through when the working device 2 travels along the periphery of the field 9 under the control of the operator's manual operation are determined. The configuration for acquiring field shape information based on positional information obtained by measuring . As a modification of this configuration, the field shape information may be stored in the storage device 53 in advance before the processing in the flowchart of FIG. 3 starts. In this case, the reference route generation unit 521 may acquire the field shape information by reading it from the storage device 53. Alternatively, as another modification, the field shape information may be stored in a database external to the work evaluation device 5. In this case, the reference route generation unit 521 may acquire the field shape information by receiving it from an external database or the like via the network 4. As yet another modification, the field shape information may be acquired by performing appropriate processing on image data of the field 9 photographed from above, or may be acquired from map information.

(Modified example)
In the above-described embodiment, a configuration was described in which work plan information and work device information input by a worker are acquired in step S01 of FIG. 3 . As a modification of this configuration, the work plan information and the work device information may be stored in advance in the storage device 53 before the processing of the flowchart in FIG. 3 starts. In this case, the reference route generation unit 521 may acquire the work equipment information and work content information by reading them from the storage device 53 in step S01.

(Modified example)
In the embodiment described above, the configuration is described in which the work evaluation unit 522 acquires the work route information in step S03 after the reference route generation unit 521 generates the reference route information in step S02 of FIG. As a modification of this configuration, the reference route generation unit 521 may generate the reference route information after the work evaluation unit 522 acquires the work route information. In this case, based on the acquired work route information, the work evaluation unit 522 identifies whether the shape of the work route 81 is a reciprocating pattern, a spiral pattern, or a composite pattern, and determines whether the shape of the work route 81 is the same as the identified pattern. The reference route generation unit 521 may select and generate the reference route information of the reference route 91 having a pattern shape.

Although the invention made by the inventor has been specifically explained based on the embodiments above, the present invention is not limited to the embodiments, and it is possible to make various changes without departing from the gist of the invention. Not even. Moreover, the respective features described in the embodiments can be freely combined within a technically consistent range.

(Additional note)
The work evaluation method, work evaluation system, and work evaluation program described in each embodiment can be described as follows.

The work evaluation method according to the first aspect is
Generating reference route information representing a reference route for efficient movement of the working device when the working device performs work while moving within the field under autonomous control, based on the shape of the field;
Evaluating the work based on a comparison between a work route traveled by the work device while performing the work while moving within the field under manual control by a worker and the reference route; including.

The work evaluation method according to the second aspect is the work evaluation method according to the first aspect, comprising:
The generating includes:
Determining the total number, length, and position of a plurality of reference travel routes for performing the work while moving among the reference routes;
Of the reference routes, determining the total number, length, and position of a plurality of reference turning routes to be passed in order to move between the plurality of reference travel routes;
The said evaluation is
The total work distance traveled by the work device from the start of the work to the completion of the work, based on a reference total distance that is the sum of the lengths of the plurality of reference stroke routes and the lengths of the plurality of reference turning routes. conducting a first evaluation;
The number of work turns made by the work device between the plurality of work stroke routes during which the work was performed while moving from the start to the completion of the work, and the total number of the plurality of reference turning paths. and performing a second evaluation to be evaluated as a reference.

The work evaluation method according to the third aspect is the work evaluation method according to the second aspect, comprising:
The generating includes:
further comprising estimating an estimated work time representing the time required when the work device performs the work while moving along the reference route under the autonomous control;
The said evaluation is
The method further includes performing a third evaluation in which the actual working time from when the working device starts the work to when it completes the work is evaluated based on the estimated working time.

The work evaluation method according to the fourth aspect is the work evaluation method according to any one of the first to third aspects,
The generating includes:
The method further includes generating the reference route information based on dimensions of the work device, performance of the work device, and content of the work.

The work evaluation method according to the fifth aspect is the work evaluation method according to the fourth aspect, comprising:
The dimensions of the working device are:
in a second direction perpendicular to the first direction in which the working device moves in a work area in which the working device performs the work while moving along each of the plurality of reference travel routes in the field; including the working width, which represents the length;
The performance of the working device is
including a turning radius representing a minimum value of the radius of curvature of a curved trajectory in which the working device can move;
The content of the work is:
The work device includes a work speed range representing a speed range for efficiently performing the work while moving.

The work evaluation system according to the sixth aspect includes:
a reference route generation unit that generates reference route information representing a reference route for efficient movement of the work equipment when the work equipment performs work while moving within the field under autonomous control, based on the shape of the field; and,
Work evaluation in which the work is evaluated based on a comparison between the work route traveled by the work device when performing the work while moving within the field under the control of manual operation of the worker, and the reference route. It is equipped with a section.

The work evaluation program according to the seventh aspect includes:
A work evaluation program for realizing predetermined processing by causing a calculation device to execute it,
The processing is
Generating reference route information representing a reference route for efficient movement of the working device when the working device performs work while moving within the field under autonomous control, based on the shape of the field;
Evaluating the work based on a comparison between a work route traveled by the work device while performing the work while moving within the field under manual control by a worker and the reference route; including.

1 Work evaluation system 2 Work device 3 Mounted terminal 4 Network 5 Work evaluation device 51 Bus 52 Arithmetic device 521 Reference route generation section 522 Work evaluation section 53 Storage device 530 Recording medium 531 Work evaluation program storage section 54 Communication device 55 Input/output device 6 External terminal 81 Work route 82 Starting point 83 Ending point 9 Field 90 Shape (shape of field)
91 Reference route 92 Starting point 93 Ending point

Claims (7)

Generating reference route information representing a reference route for efficient movement of the working device when the working device performs work while moving within the field under autonomous control, based on the shape of the field;
Evaluating the work based on a comparison between a work route traveled by the work device while performing the work while moving within the field under manual control by a worker and the reference route; including work evaluation methods. In the work evaluation method according to claim 1,
The generating includes:
Determining the total number, length, and position of a plurality of reference travel routes for performing the work while moving among the reference routes;
Of the reference routes, determining the total number, length, and position of a plurality of reference turning routes to be passed in order to move between the plurality of reference travel routes;
The said evaluation is
The total work distance traveled by the work device from the start of the work to the completion of the work, based on a reference total distance that is the sum of the lengths of the plurality of reference stroke routes and the lengths of the plurality of reference turning routes. conducting a first evaluation;
The number of work turns made by the work device between the plurality of work stroke routes during which the work was performed while moving from the start to the completion of the work, and the total number of the plurality of reference turning paths. A work evaluation method that includes at least one of the following: performing a second evaluation as a standard evaluation. In the work evaluation method according to claim 2,
The generating includes:
further comprising estimating an estimated work time representing the time required when the work device performs the work while moving along the reference route under the autonomous control;
The said evaluation is
The work evaluation method further includes performing a third evaluation of evaluating the actual work time from when the work device starts the work to when it completes the work, based on the estimated work time. In the work evaluation method according to any one of claims 1 to 3,
The generating includes:
The work evaluation method further includes generating the reference route information based on dimensions of the work device, performance of the work device, and content of the work. In the work evaluation method according to claim 4,
The dimensions of the working device are:
in a second direction perpendicular to the first direction in which the working device moves in a work area in which the working device performs the work while moving along each of the plurality of reference travel routes in the field; including the working width, which represents the length;
The performance of the working device is
including a turning radius representing a minimum value of the radius of curvature of a curved trajectory in which the working device can move;
The content of the work is:
The work evaluation method includes a work speed range representing a speed range for the work device to efficiently perform the work while moving. a reference route generation unit that generates reference route information representing a reference route for efficient movement of the work equipment when the work equipment performs work while moving within the field under autonomous control, based on the shape of the field; and,
Work evaluation in which the work is evaluated based on a comparison between the work route traveled by the work device when performing the work while moving within the field under the control of manual operation of the worker, and the reference route. A work evaluation system comprising: A work evaluation program for realizing predetermined processing by causing a calculation device to execute it,
The processing is
Generating reference route information representing a reference route for efficient movement of the working device when the working device performs work while moving within the field under autonomous control, based on the shape of the field;
Evaluating the work based on a comparison between a work route traveled by the work device while performing the work while moving within the field under manual control by a worker and the reference route; Including a work evaluation program.

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