JP6638683B2 - Farm work support system - Google Patents

Description

  The present invention relates to a farm work support system that supports farm work using a work vehicle.

  2. Description of the Related Art Conventionally, a traveling vehicle that travels in a field, a working device that performs agricultural work on the field, and a path that generates a traveling path including a non-work traveling path and a work traveling path of the traveling machine using field information including at least terrain data 2. Description of the Related Art A work vehicle including a calculation unit and a support unit that performs driving support based on a generated travel route and positioning data acquired by a GPS module is known (for example, see Patent Literature 1).

JP 2015-112071 A

  However, in the above-described work vehicle, when generating the travel route of the traveling vehicle, the topography data is only used to set the outer shape of the field. It is difficult to generate a travel route.

  The present invention has been made in view of the above, and it is an object of the present invention to provide a farm work support system that can generate a work route that matches a work content, a field condition, and the like.

In order to solve the above-mentioned problems and achieve the object, an invention according to claim 1 includes a work vehicle (10) having a work device (2) and traveling in a field (A, B, C), and The field-related information and the work-related information are stored as independent information for each of the fields (A, B, C) in association with the field map information indicating the location of the field (A, B, C) to which the identification information is assigned. An information processing device (140) capable of storing the work route information generated based on the independent information for each of the fields (A, B, C); and a position indicating the position of the work vehicle (10). A position information acquisition device (120) for acquiring information , wherein the information processing device (140) automatically generates the work route information based on the position information, the field-related information, and the work-related information. Including a path generation unit (1432). The work path generation unit (1432) includes: first work path information passing through a first area provided a predetermined distance inward from an outermost edge of the field (A, B, C); It is possible to generate second work route information passing through a second area provided between the work route information and an outer edge of the field (A, B, C), and the work vehicle (10) A farm work support system (100 ) including an automatic operation selection switch (18) for selectively selecting which one of the first work route information and the second work route information to use to automatically operate. ).

In the invention according to claim 2 , the field-related information included in the independent information includes peripheral geographic information located around the field (A, B, C), and the work route generation unit (1432) is a (100) agricultural support system according to claim 1, referring to the peripheral geographical information in generating the working path information.

According to a third aspect of the present invention, when the surrounding geographic information includes an obstacle (103) that is a travel hindrance element that hinders the travel of the work vehicle (10), the work route generation unit (1432) A farm work support system (100) according to claim 2 , which generates work route information avoiding the obstacle (103).

According to a fourth aspect of the present invention, in the work-related information included in the independent information, the type information of the work device (2) and the type information of the work content are respectively independent of the field (A, B, C). is stored for each, the working path generation unit (1432), in generating said working path information, referring to the type information of the type information and the work of the working device (2), claim 1 The farm work support system (100) according to any one of ( 3 ) to (10).

In the invention according to claim 5 , the work-related information included in the independent information includes consumable material supply point information indicating a consumable material supply point (104), and the work path generation unit (1432) A request for setting stop point information for temporarily stopping the work vehicle (10) at the supply point (104) in the work path information based on the type information of the work device (2) and the consumable material supply point information. The farm work support system (100) according to item 4 is used.

In the invention according to claim 6 , the work-related information included in the independent information includes crop transfer point information indicating a crop transfer point (105), and the work path generation unit (1432) based on the type information and the crop transfer point information of the working device (2), according to claim 4, in the working path information, set the said working vehicle (10) vehicle movement information for moving the to the transfer point (105) The farm work support system (100) described in (1).

In the invention according to claim 7 , the work-related information includes work width information corresponding to the type of the work device (2), and the work route generation unit (1432) generates the work route information. In this case, the farm work support system (100) according to claim 4 refers to the type information of the work device (2) and the work width information.

In the invention according to claim 8 , the work-related information includes drive route information on a travel route traveled by a manual operation of a worker, and the work route generation unit (1432) generates the work route information. The farm work support system (100) according to claim 4 , wherein the type information of the work device (2) and the driving route information are referred to.

The invention according to claim 9 , wherein the work-related information is associated with a position of the work vehicle (10) in the field (A, B, C). The farm work support system (100) according to claim 4 , which includes posture information indicating a change in the height direction of the farm work.

The invention according to claim 1 0, wherein the work-related information, the field (A, B, C) associated with the position of the work vehicle (10) within said working vehicle (10 working 5) The farm work support system (100) according to claim 4 , wherein at least one of the instantaneous speed information, the load factor information of the engine of the work vehicle (10), and the rotation speed information is included as machine information.

Invention of claim 1 1, wherein the information processing apparatus (140) is a mobile terminal connected via a plurality of information processing terminals (130) to each other communications network (110) (140), said field related information and work-related information, the work vehicle wherein the mounting (10) via the mobile terminal (140), agricultural support system according to claims 1 can be updated during work 1 any one of 0 (100).

According to the first aspect of the invention, in each of the plurality of fields that can be visually identified by the map information, the field-related information, the work-related information, and the position information of the work vehicle that are centrally managed can be used. The generated work route information is detailed in accordance with the work content, the state of the field, and the like, and extremely effective agricultural work support can be performed. Further, it is possible to easily generate detailed work route information that matches the work content, the state of the field, and the like. In addition, it is possible to select automatic traveling even in a region close to the outermost edge of a field that normally travels by manual driving.

According to the invention described in claim 2, in generating a working path information, for referring to peripheral geographical information located around the field, in addition to the effect of the invention according to claim 1, more granular Work route information can be used.

According to the invention described in claim 3, since the working path information avoids traveling inhibitory element is generated, in addition to the effect of the invention according to claim 2, the work vehicle is to more safely automatic traveling Becomes possible.

According to the invention described in claim 4 , in addition to the invention described in any one of claims 1 to 3 , automatic traveling using an appropriate work route according to the type of work device and work content is possible. Becomes

According to the invention as set forth in claim 5 , for example, it is possible to perform automatic traveling including replenishment of consumable materials such as seedlings and fertilizers during work, and in addition to the effect of the invention as set forth in claim 4 , a further contribution High level of agricultural work support is possible.

According to the invention described in claim 6 , for example, it is possible to automatically move the work vehicle to a transfer point where the harvest is transferred to a transport truck or the like, and in addition to the effect of the invention described in claim 4 , Therefore, it is possible to support agricultural work with higher contribution.

According to the present invention described in claim 7 , when generating the work route information, the type information and the work width information of the work device are referred to. An appropriate work route can be generated, and in addition to the effect of the invention described in claim 4 , finer agricultural work support is possible.

According to the invention described in claim 8, in generating the working path information, for referring to the driving route information about the travel path traveled by manual operation of the operator, in addition to the effect of the invention according to claim 4 Thus, it is possible to perform agricultural work by automatic traveling as if performed by a skilled worker.

According to the invention described in claim 9, for example, since it is generated and used working path information that has been attention to tilling depth, etc. in the field, in addition to the invention of claim 4, more granular agricultural support Becomes possible.

According to the invention of claim 1 0, it is possible to utilize the fact no work path engine for a working vehicle in the work becomes overloaded, in addition to the invention of claim 4, further Fine-grained agricultural work support becomes possible.

According to the invention of claim 1 1, in addition to the effects of any one of 0 claims 1 1, which is generated based on the field-related information and tasks related information updated to the latest information Work route information is available.

It is a lineblock diagram showing the outline of the farm work support system concerning an embodiment. It is a block diagram showing an outline of a farm work support system concerning an embodiment. It is a block diagram showing the outline of the information processor concerning an embodiment. It is a block diagram centering on the information processing apparatus in the farm work support system concerning embodiment. It is a figure showing a field related information table. It is a figure showing a work related information table. It is a figure showing an example of field map information. It is a figure which shows the surrounding geographic information linked | related with field map information. It is a figure showing an example of work pertinent information related to field map information. It is a top view which shows surrounding geographic information typically. It is a schematic diagram which shows an example of a work route diagram.

  Hereinafter, a farm work support system according to an embodiment of the present invention will be specifically described with reference to the drawings. The components in the following embodiments include components that can be easily replaced by those skilled in the art, or components that are substantially the same, that is, components in an equivalent range. Furthermore, the present invention is not limited to the above embodiment, and can be implemented with various modifications without departing from the gist of the present invention.

  First, an outline of the farm work support system will be described with reference to FIGS. FIG. 1 is a configuration diagram schematically illustrating a farm work support system according to an embodiment. FIG. 2A is a block diagram schematically illustrating the farm work support system according to the embodiment. FIG. 2B is an information processing apparatus according to the embodiment. It is a block diagram showing an outline.

  As illustrated in FIG. 1, a farm work support system 100 (see FIG. 2A) according to the present embodiment includes, for example, a work vehicle 10 and a GNSS (a position information acquisition device that acquires position information indicating the position of the work vehicle 10). A Global Navigation Satellite System) control device 120 and a tablet terminal 140 as an information processing device that can be carried into the work vehicle 10 are provided as mobile terminals. The GNSS control device 120 can receive a radio wave from the navigation satellite 123 orbiting the sky and perform positioning and timing. Note that, instead of the tablet terminal 140, an information processing device mounted on the work vehicle 10 may be used.

  As shown in FIG. 2A, the tablet terminal 140 is connectable to a communication network 110 such as the Internet, and is configured to be connectable to at least one information processing terminal 130 via the communication network 110. That is, the farm work support system 100 according to the present embodiment is a system capable of so-called cloud computing (Cloud Computing).

  The information processing terminal 130 includes a processing device having a CPU (Central Processing Unit), a storage device such as a ROM (Read Only Memory), a RAM (Random Access Memory), and an HDD (Hard Disk Drive), and an input / output device. Computer and the like provided. Here, a predetermined server 130a or a personal computer 130b as the information processing terminal 130 can be connected to the tablet terminal 140 via the communication network 110. In FIG. 1, one information processing terminal 130 (the server 130a for agricultural work support or the personal computer 130b) is a building H such as a house of the owner of the fields A, B, and C, or a building of the manager. It is installed in.

  The work vehicle 10 includes a traveling vehicle body 1 that can travel in the fields A, B, and C, and a work device 2. As the work device 2, for example, if the work vehicle 10 is a seedling transplanter, seedlings can be planted. The device or fertilizer is a fertilizer device, and the tractor is a tillage rotary. Further, if the work vehicle 10 is, for example, a combine, it is a work device such as a cutting unit or a threshing unit. The above-described example is an example, and is not particularly limited as long as it is a working device for performing the agricultural work in the fields A, B, and C.

  The traveling vehicle body 1 includes an engine (not shown) that is a power source, and a power transmission device (not shown) that transmits the power of the engine to the driving wheels and the working device 2, and includes a farm road R and fields A, B, and C. You can travel freely inside. Note that a heat engine such as a diesel engine or a gasoline engine is used as the engine.

  The tablet terminal 140 is a kind of computer similar in structure to the information processing terminal 130 described above. As shown in FIG. 2B, the tablet terminal 140 displays a control unit 143, a storage unit 141 connected to the control unit 143, and information. A touch panel 142 in which a display unit and an operation unit for performing various input operations are integrated, and a GNSS antenna 121 are provided.

  The storage unit 141 stores a plurality of pieces of field-related information, work-related information, and work vehicle position information in association with field map information indicating the locations of the fields A, B, and C to which field identification information 200a to 200j is individually assigned. Is stored as independent information for each of the fields A, B, and C. In other words, necessary information on a plurality of partitioned fields A0 to A2, B0 to B3, C0, and C1 is stored in the storage unit 141 in each of the fields A, B, and C divided into districts. I have. In the following, the divided fields A0 to A2, B0 to B3, C0, and C1 in each area may be referred to as fields A, B, and C, respectively, unless it is particularly necessary to distinguish them.

  In the farm work support system 100 having the above configuration, in each of the plurality of fields A, B, and C that can be visually identified by the map information, the field related information, the work related information, and the position information of the work vehicle 10 are integrally managed. Can be. Therefore, each information can be associated with each other and displayed on the touch panel 142 of the tablet terminal 140, for example, so that it is easy to visually confirm. Further, the necessary information in which the field-related information, the work-related information, and the position information of the work vehicle 10 are associated with each other can be shared by the information processing terminal 130 remote from the fields A, B, and C. And so on.

  Since the farm work support system 100 is configured as described above, the farm work planning is performed by sequentially uploading the farm related information, the work related information, and the position information to the server device 130a via the tablet terminals 140 existing in the farms A, B, and C. Alternatively, the work route information can be created by the server device 130a or the personal computer 130b using cloud computing. As described above, according to the farm work support system 100 according to the present embodiment, farm work support from a more diversified viewpoint can be expected.

  Further, in the present embodiment, it is possible to easily generate the work route information indicating the work route 300 for automatically driving the work vehicle 10 using the necessary information as shown in FIG. The work route information generated in this manner is detailed in accordance with the work content, the conditions of the fields A, B, and C, and the like.

  Therefore, for example, the work route 300 in the case where the work vehicle 10 is automatically driven does not monotonously advance in the field A. For example, as described later, the work path 300 is temporarily stopped, It is possible to include up to the process of moving to, and extremely effective agricultural work support can be provided.

  Here, the agricultural work support system 100 will be described more specifically with reference to FIG. FIG. 3 is a block diagram centering on the tablet terminal 140 and the controller 150 of the work vehicle 10 in the farm work support system 100 according to the embodiment.

  The work vehicle 10 in the farm work support system 100 according to the present embodiment can control each unit by electronic control. In the work vehicle 10, the controller 150 shown in FIG. ). Further, the tablet terminal 140 is provided so as to be able to be brought into or removed from the traveling vehicle body 1, and the tablet terminal 140 and the controller 150 can be connected to each other by a short-range wireless communication standard such as Bluetooth (registered trademark). Note that the tablet terminal 140 and the controller 150 may be configured to be connectable by wire.

  As shown in FIG. 3, the controller 150 that is mounted on the work vehicle 10 and configures the agricultural work support system 100 includes a processing device having a CPU and the like, a ROM, a RAM, an HDD, and the like, like the above-described information control device. Are provided (not shown), and these are connected to each other so that signals can be exchanged with each other.

  The controller 150 is connected to an ECU (Engine Control Unit) 11, which is an engine control device, an automatic operation selection switch 18, various sensors 160, for example, various actuators 170 such as an electric motor and a hydraulic cylinder. The device 120 and the automatic steering device 180 are connected.

  Further, the controller 150 is connected to a vehicle body communication unit 151 for communicating with the tablet terminal 140. The various sensors 160 connected to the controller 150 include, for example, a water depth sensor for detecting the water depth of the fields A, B, and C, a soil depth sensor for detecting the soil depth of the fields A, B, and C; Fertility sensor for detecting fertilizer concentrations of B and C, weight sensor such as load cell for detecting the weight of paddy and the like as a harvest, and detecting the weight of seedling, rotation sensor for detecting the rotation speed of the rear wheel There are various sensors such as an inclination sensor for detecting the inclination of the traveling vehicle body 1, a work clutch sensor and a temperature sensor.

  The various actuators 170 include, for example, various cylinders such as an elevating cylinder for elevating and lowering the working device 2 and a water gate provided at a water door (see FIG. 6) serving as a water supply / drain port 102 for the fields A, B, and C. There are various motors such as a motor that opens and closes, a motor that rotates a water depth sensor and the like, and an electric motor such as a throttle motor that adjusts the intake air amount of the engine.

  A GNSS (Global Navigation Satellite System) control device 120 that acquires position information of the work vehicle 10 as a position information acquisition device includes a reception antenna 122 provided on the traveling vehicle body 1 and a GNSS antenna 121 provided on the tablet terminal 140. The GNSS antenna 121 and the receiving antenna 122 receive radio waves from the navigation satellite 123 and acquire GNSS coordinates at predetermined time intervals, thereby obtaining position information on the earth at predetermined intervals.

  Then, the position information acquired by the GNSS control device 120, the field-related information on the fields A, B, and C, and the work-related information for each position are combined with the field map information indicating the locations of the fields A, B, and C. The tables recorded in association with each other are generated as independent information for each of the fields A, B, and C.

  The automatic steering device 180 is controlled by the controller 150 based on the position information acquired by the GNSS control device 120, and automatically operates a steering handle (not shown) provided on the traveling vehicle body 1 to automatically move the traveling vehicle body 1. Can drive. The automatic steering device 180 includes a steering motor 181 that applies an arbitrary rotational force to rotate the steering handle, and a handle potentiometer 182 that detects the rotation angle of the steering handle.

  As shown in FIG. 3, the agricultural work support system 100 according to the present embodiment includes an unmanned flying object 900 called a drone. The unmanned aerial vehicle 900 is equipped with a camera 910 as an imaging device, and is provided with an antenna 920 that can construct a part of the GNSS control device 120.

  The unmanned aerial vehicle 900 can communicate with the tablet terminal 140, and the operator performs a predetermined operation using the touch panel 142, thereby controlling all operations of the unmanned aerial vehicle 900 including the operation of the camera 910 wirelessly. It can be performed. For example, it is possible to photograph the growing state and the like of the crops planted in the fields A, B, and C from the sky, and to associate the photographed position with the field map information by the GNSS control device 120.

  Like the controller 150, the tablet terminal 140, which is a main part of the farm work support system 100, as described above, controls the control unit 143, the storage unit 141 connected thereto, the display unit for displaying information, and various input operations. A touch panel 142 having an integrated operation unit and a GNSS antenna 121 are provided, and a terminal communication unit 144 corresponding to the vehicle body communication unit 151 on the traveling vehicle body 1 is provided. Note that communication with the unmanned aerial vehicle 900 is possible via the terminal communication unit 144.

  The storage unit 141 of the tablet terminal 140 stores various information required in addition to various programs required for the control process by the control unit 143. That is, in the storage unit 141, a field database (DB) 1411, a work database (DB) 1412, a route database (DB) 1413, and a program unit 1414 storing various programs are generated.

  The program unit 1414 includes, for example, a work route generation program for generating work route information when the work vehicle 10 is automatically driven, and an automatic steering program for automatically driving the work vehicle 10 according to the generated work route information. For example, a computer program for controlling the overall operation of the work vehicle 10 is stored. Note that various computer programs including a work route generation program and an automatic steering program may be stored in the storage unit of the controller 150 mounted on the traveling vehicle body 1.

  The field database (DB) 1411 stores field map information as shown in FIG. 2B. The field map information includes image data indicating the positions of the fields A, B, and C on a map, field identification information 200a to 200i for specifying the fields A, B, and C, position information of the work vehicle 10, field-related information, and work information. Related information and the like are linked.

  Here, with reference to FIGS. 4A to 8, various types of information and map information associated therewith will be described more specifically. FIG. 4A is a diagram illustrating a field-related information table, and FIG. 4B is a diagram illustrating a work-related information table. FIG. 5 is a diagram illustrating an example of field map information, FIG. 6 is a diagram illustrating peripheral geographic information associated with the field map information, FIG. 7 is a plan view schematically illustrating the peripheral geographic information, FIG. 8 is a diagram illustrating an example of the work-related information associated with the field map information.

  That is, the field identification information 200a to 200i associated with the field map information is associated with the map information, and is divided on the map, for example, on the touch panel 142 of the tablet terminal 140, as shown in FIG. The positions of the plurality of partitioned fields A0 to A2, B0 to B3, C0, and C1 are specified. Since the touch panel 142 also displays a map around the fields A, B, and C, the worker or the farm manager who is a farmer can use the position and shape of the field where the farm work support is executed. , Size, etc. can be visually and clearly understood.

  Also, as the field-related information, as shown in FIG. 4A, field scene tillage information, driving route information, and surrounding geographic information are included. The surrounding geographical information includes vehicle entry position information, Mitoguchi position information, obstacle position information, consumables supply point information, crop transfer point information, ridge information, and the like.

  Specifically, as shown in FIG. 6, the peripheral geographic information is displayed on the touch panel 142 in association with the map information. Note that FIG. 6 illustrates the partitioned fields A0 to A2 adjacent to each other.

  In FIG. 6A, the vehicle entrance 101 corresponding to the vehicle entrance position information is displayed so as to be superimposed on a position determined for each of the plot fields A0, A1, and A2. Here, it can be seen that the vehicle entrance 101 is provided on the short side facing the agricultural road R (see FIG. 1) of the partitioned fields A0, A1, A2 each partitioned into a rectangular shape.

  In FIG. 6 (b), the paddy discharge truck position 105 corresponding to the harvested transfer point information is displayed so as to be superimposed on the position determined for each of the plot fields A0, A1, and A2. Here, it can be seen that it is set at a position close to the vehicle entrance 101. The paddy discharging truck position 105 is a position where the truck stops on the agricultural road R when, for example, paddy to be harvested by the combine is transferred to the truck via the discharging auger.

  In FIG. 6C, the position of the obstacle 103 such as a utility pole corresponding to the obstacle position information is displayed, for example, in a superimposed manner on the divided field A0. Here, it can be seen that the obstacle 103 is located on the long side of the partitioned field A0 partitioned into a rectangular shape. Here, the obstacle 103 is a telephone pole, but the work vehicle 10 may be a field A, B, or other such as a sign, a structure (the wall thereof), a hole artificially generated by natural disaster or construction, or the like. When passing through the vicinity of the outer peripheral edge in C, or when passing through the agricultural road R, it refers to what becomes a travel obstruction element.

  In FIG. 6D, the seedling supply point 104 corresponding to the consumable material supply point information is located on the short side of the plotted fields A0, A1, and A2 where the vehicle entrance 101 and the paddy discharge truck position 105 are provided. Will be displayed. Here, for example, the replenishment position of the seedlings in the case where the work vehicle 10 is a seedling transplanter for transplanting mat seedlings or pot seedlings is illustrated. Is displayed. In addition, since the consumables include, for example, fertilizers, fertilizer supply points and the like are also displayed.

  In FIG. 6E, the position of the water supply / drainage port 102 corresponding to the Mitoguchi position information is on the short side opposite to the vehicle entrance 101, the seedling supply point 104, and the paddy discharge truck position 105. It is displayed at the corners of the fields A0, A1, A2. Usually, the gate provided at the water supply / drain port 102 is manually opened, but may be configured to be opened by remote operation by operating the tablet terminal 140, for example.

  In FIG. 6 (f), corresponding to the ridge information, the ridge portion embanked so as to surround the divided fields A0, A1 and A2, and the bare land ridge R1 in the form of soil and concrete are cast. It is displayed so that the covered ridge R2 can be visually identified. Here, the side on which the vehicle entrance 101, the seedling replenishment point 104, and the paddy discharge truck position 105 are provided is the covered ridge R2, and the other is the bare land ridge R1.

  On the other hand, as work-related information, as shown in FIG. 4B, work machine type information, work type information, work width information, work machine depth information, work result information, growth measurement information, soil depth information, fertilization information, fertilization information Degree information, work machine attitude information, machine information, and the like.

  The work type information is information indicating the type of farm work such as plowing, sowing, seedling planting, fertilizing, cutting, and threshing, and is linked to the field map information of the fields A, B, and C to which identification information is added. Independent information.

  The work machine type information is information indicating the type of the work apparatus 2, such as a tilling rotary, a seeder, a seedling planting apparatus, a fertilizer, a reaper, and a threshing apparatus, and the fields A, B, and C to which identification information is added. Is independent information associated with the field map information of FIG.

  The work width information is information indicating a work width. For example, if the work vehicle 10 is a seedling transplanter, work performed while traveling, such as 4, 5, 7, 8, or 10 Different width. Therefore, as the independent information associated with the field map information of the fields A, B, and C to which the identification information has been added, information indicating the work width is also included in the work-related information. The working machine depth information is information indicating the depth length of the working device 2.

  The work result information is various information indicating a result after performing a predetermined work in the divided fields A0, A1, A2. For example, as shown in FIG. 8, the fields A, B, For a plurality of divided fields A0 to A2, B0 to B3, C0, and C1 in which C is further divided, predetermined work is completed for the divided fields A0 to A2 in the A district, and for the divided field B0 in the B district. The fact that the user is currently working is displayed visually and easily recognizable. Here, for the sake of convenience, hatching and the like are shown, but the touch panel 142 of the tablet terminal 140 may be displayed in different colors.

  As described above, in the present agricultural work support system 100, the unwork start information, the work in progress information, and the work completion information are acquired for each of the fields A, B, and C so that the latest information can be used for the next work. The update is possible while the work vehicle 10 is actually working.

  Further, the work result information includes the amount of consumable materials (seedlings, paddy, fertilizer, etc.) consumed in the work in the divided fields A0, A1, A2, and the yield in the case of harvest work. Further, if the work vehicle 10 is, for example, a combine, during the operation, the lodging situation of the grain culm in the divided fields A0, A1, A2 is imaged, and the positional information in the divided fields A0, A1, A2 is associated with the falling state. Information and the like stored and stored are also included in the work result information.

  The growth measurement information is information obtained by quantifying the size of a crop for each fixed period, a disease state caused by a pest, a pathogenic bacterium, or the like, or image information. These pieces of information can be acquired by various sensors 160, a camera, and the like mounted on the work vehicle 10. Further, as the image information, for example, when the crop is rice, the growing process is imaged by a camera 910 mounted on the unmanned aerial vehicle 900, and the positional information and the image information obtained in the divided fields A0, A1, A2 are obtained. Is stored in association with the information.

  The soil depth information is information obtained by quantifying the depth of a part that is in a state of being softer than the lower layer in a field scene stirred by tilling. The fertilization information is information on the type of fertilizer and the amount of fertilizer applied when the fertilizer is applied in the divided fields A0, A1, and A2. The fertility information is information on the fertilizer concentration measured in the divided fields A0, A1, and A2 when fertilization is performed.

  The work machine attitude information is, for example, information stored in association with the position information of the work vehicle 10 such as a change in vertical movement or a change in inclination of the work apparatus 2 in the divided fields A0, A1, and A2 during traveling. Yes, it is possible to estimate the state of the field scene, such as hardness and roughness.

  The machine information includes information on the operation time of the traveling vehicle body 1 and the working device 2 and various information on the machine used for the operation, such as the traveling distance, fuel consumption, water temperature, hydraulic pressure and oil temperature of hydraulic oil, and battery voltage. However, at least one of the instantaneous speed information of the working vehicle 10 during the work, the load factor information of the engine of the working vehicle 10, and the rotation speed information associated with the position of the working vehicle 10 is included. It is good to keep it.

  Based on the above-mentioned independent information, that is, the field-related information and the work-related information associated with the field map information, the control unit 143 of the tablet terminal 140 generates work route information for causing the work vehicle 10 to travel by automatic driving. be able to.

  That is, as shown in FIG. 3, the control unit 143 of the tablet terminal 140 is provided with a work route generation unit 1432, and the work route generation unit 1432 is connected to the controller 150 of the work vehicle 10 having the GNSS control device 120. In cooperation, work route information can be automatically generated based on the position information, the field-related information, and the work-related information. The generated work route information is stored in the route DB 1413 in a one-to-one correspondence with each of the fields A0 to A2, B0 to B3, C0, and C1.

  Further, the control section 143 of the tablet terminal 140 is provided with a work information acquisition section 1431. The work information acquisition unit 1431 sequentially receives information detected by the various sensors 160 included in the work vehicle 10, determines whether the received information is field-related information or work-related information, and determines the determination result. Is stored in the field DB 1411 or the work DB 1412 according to.

  That is, the work information acquisition unit 1431 stores the GNSS coordinates such as the surrounding geographic information as the position information in association with the field map information, and the work route generating unit 1432 stores the position information such as the surrounding geographic information. Generate work route information while referring to the work route information.

  For example, when the work vehicle 10 is, for example, the tractor 10A and performs a predetermined operation such as a tilling operation by automatic driving according to the operation route information generated by the operation route generation unit 1432, the tractor 10A is configured as shown in FIG. ), The vehicle enters the field A0 from the vehicle entrance 101, performs a tilling operation while traveling on a predetermined work route 300 (see FIG. 1) set in the field A0, and after the operation is completed, the vehicle enters again. It is possible to exit from the mouth 101 to the farm road R (see FIG. 1).

  In addition, as shown in FIG. 6C, when a utility pole or the like obstructs traffic, the work route generation unit 1432 drives the steering motor 181 (see FIG. 3) in front of the obstacle 103 to perform a predetermined operation. Generates work route information that can be passed around the utility pole at the steering angle. Therefore, the work vehicle 10 can safely travel and perform the prescribed work that is imposed, even if the vehicle is driven by unmanned automatic driving.

  At this time, since the work-related information includes work machine type information and work width information corresponding to the type of the work device 2, the work route generation unit 1432 takes into account such information and avoids utility poles. Work route information can be generated. That is, when generating the work route information, the work route generation unit 1432 refers to the type information and the work width information of the work device 2. Since the work-related information also includes work machine depth information, by taking into account such work machine depth information, it is possible to generate more accurate work route information in terms of safety.

  Further, when the work vehicle 10 is, for example, a seedling transplanter 10B and performs a predetermined operation such as a seedling planting operation by automatic operation according to the work route information, the seedling transplanter 10B is configured as shown in FIG. First, the vehicle enters the field A0 from the vehicle entrance 101, and performs a seedling planting operation while traveling on a predetermined work route 300 (see FIG. 1) set in the field A0. From the farm road R (see FIG. 1). At this time, the seedling transplanter 10B temporarily stops at a preset seedling supply point 104 and can receive seedling supply.

  When the work vehicle 10 is, for example, the combine 10C and performs the harvesting and threshing work by automatic operation according to the work route information, the combine 10C uses the predetermined work route 300 set in the field A0 (see FIG. 1). ), While performing the harvesting and threshing work, and automatically moves from the middle of the work route 300 to the paddy discharge truck position 105, and as shown in FIG. The paddy that had been moved can be transferred to a truck (not shown).

  In addition, when the work route generation unit 1432 generates the work route information, for example, the work route generation unit 1432 may refer to the drive route information on the travel route traveled by a manual operation of a skilled worker. That is, the driving route information by the worker is included as the work-related information. In this way, the work route generation unit 1432 can automatically perform a work like an expert by referring to the driving route information and the type information of the work device 2. In addition, even if it is not automatic operation, even if manual operation is performed according to the set work route information, even if you are a young person who has little experience in farming, you can achieve lean work like a skilled worker according to the work content can do.

  With the above-described configuration, the work route generation unit 1432 of the tablet terminal 140 uses the field-related information, the work-related information, and the position information of the work vehicle 10 that are centrally managed for each of the fields A, B, and C as illustrated in FIG. The work route information as shown can be created. FIG. 9 is a schematic diagram illustrating an example of a business route diagram.

  In FIG. 9, the field A0 has a rectangular shape having an outer edge connected by ab, bc, cd, and de, and has a predetermined width (for three steps of headland turning) more than the outer edge. On the inside, a tillage area 201 indicated by a chain line is set. That is, the tilling area 201 is, for example, an area formed by tilling work by the tractor 10 </ b> A (see FIG. 7A), and is a substantial work area by the work vehicle 10.

  In such a tilling area 201, the tractor 10A goes straight from the work start point 204, turns at the headland 106, goes straight, and further turns at the headland 106 on the opposite side and goes straight, so that the work route information for approximately two reciprocations. Will be described.

  The work route generation unit 1432 of the tablet terminal 140 generates the work route information so that the tractor 10A can automatically travel. First, as a reference route for the automatic driving, the work route information is set to the outer edge ab line of the field A0. A parallel driving route reference line 202 is set. The driving route reference line 202 is set to be inside by three headland turning steps. That is, the value obtained by subtracting the lap width of 20 cm to be overlapped between adjacent widths from the cultivation width of 200 cm is tripled, and the length obtained by adding 100 cm, which is half of the cultivation width, to the length from the outer edge ab line of the field A0, Is also set inside.

  Next, the driving route adjacent lines 203 adjacent to each other are set, which are parallel to the driving route reference line 202, and the traveling direction is set to be 180 degrees opposite to the traveling direction of the previous process. The driving route adjacent line 203 is sequentially set so as to pass through the position obtained by subtracting the lap width 20 cm from the plowing width 200 cm with respect to the driving route reference line 202.

  Further, reference numerals 205a and 205b in FIG. 9 indicate turning lines in the work route information, and the turning can be performed such that the driving route adjacent line 203 is connected to the next operation route adjacent line 203 from a position where the driving route adjacent line 203 intersects the cultivation area 201. Drive the steering motor 181 (see FIG. 3) as described above.

  Thus, the tractor 10A can perform a predetermined tilling work while automatically operating the work route 300 set according to the generated work route information, even if the tractor 10A is unmanned.

  By the way, in the farm work support system 100 according to the present embodiment, as in the tilling area 201 shown in FIG. 9, the first passing through the first area provided inside the outermost edges of the fields A, B, and C by a predetermined distance. Not only the first work path information but also the second work path information passing through the second area provided between the first work path information and the outer edges of the fields A, B, and C can be generated.

  When the second work route information is generated, for example, when the obstacle 103 exists in the middle of the second work route information, the work route generation unit 1432 sets the second work route information so that the work route 302 avoids the obstacle 103. Generate information. For example, when the work vehicle 10 is the seedling transplanter 10B, the second work route information is generated such that the work route 301 temporarily stops at the seedling supply point 104.

As shown in FIG. 3, the work vehicle 10 selects one of the first work route information and the second work route information to be used for automatic driving using the work route information. An automatic operation selection switch 18 for selection is provided. Therefore, the operator can arbitrarily select which work route information to use.

  Through the above-described embodiment, the following farm work support system is realized.

  (1) The work vehicle 10 having the work device 2 and traveling in the fields A, B, and C is associated with the field map information indicating the locations of the fields A, B, and C individually provided with the identification information 200a to 200i. And a tablet terminal device 140 which is a portable terminal as an information processing device capable of storing field-related information and work-related information as independent information for each of the fields A, B, and C. A farm work support system 100 capable of storing the generated work route information for each of the fields A, B, and C.

  (2) In the above (1), the tablet terminal 140 further includes a GNSS control device 120 that acquires position information indicating the position of the work vehicle 10, and the tablet terminal 140 has a work route based on the field information and the field-related information and the work-related information. A farm work support system 100 including a work route generation unit 1432 that automatically generates information.

  (3) In the above (2), the field-related information included in the independent information includes the peripheral geographic information located around the fields A, B, and C, and the work route generation unit 1432 generates the work route information. The farm work support system 100 refers to the surrounding geographic information at the time.

  (4) In the above (3), when the surrounding geographic information includes the obstacle 103 which is a travel hindrance element that hinders the travel of the work vehicle 10, the work route generation unit 1432 performs the work route avoiding the obstacle 103. A farm work support system 100 that generates information.

  (5) In the above (2) to (4), as the work-related information included in the independent information, the type information of the work device 2 and the type information of the work content are stored independently for each of the fields A, B, and C. The farm work support system 100 refers to the type information of the work device 2 and the type information of the work content when generating the work route information.

  (6) In the above (5), the work-related information included in the independent information includes consumable material supply point information indicating the consumable material supply point 104 for supplying seedlings, paddy, fertilizer, and the like. A farm work support system 100 that sets stop point information for temporarily stopping the work vehicle 10 at the consumable material supply point 104 in the work route information based on the type information of the work device 2 and the consumable material supply point information.

  (7) In the above (5), the work-related information included in the independent information includes, for example, harvest transfer point information indicating a paddy discharge truck position 105 that is a transfer point of the harvest, and the work path generation unit 1432 An agricultural work support system 100 that sets vehicle movement information for moving a combine 10C, which is a work vehicle, to a paddy discharge truck position 105 in the work route information based on the type information of the device 2 and the crop transfer point information.

  (8) In the above (5), the work-related information includes work width information corresponding to the type of the work device 2, and the work route generation unit 1432 uses the type of the work device 2 when generating the work route information. A farm work support system 100 that refers to information and work width information.

  (9) In the above (5), the work-related information includes drive route information on a travel route traveled by a manual operation of the worker, and the work route generation unit 1432 generates a work device when the work route information is generated. A farm work support system 100 that refers to the type information and the driving route information of the second.

  (10) In the above (5), the work-related information includes posture information indicating a change in the height direction of the working device 2 during the work, which is associated with the position of the work vehicle 10 in the fields A, B, and C. The farm work support system 100 includes:

  (11) In the above (5), the work-related information includes the instantaneous speed information of the work vehicle 10 during the work, the engine speed of the work vehicle 10 associated with the position of the work vehicle 10 in the fields A, B, and C. The agricultural work support system 100 includes at least one of the load factor information and the rotation speed information of the farm work as machine information.

  (12) In any one of the above (2) to (11), the work route generation unit 1432 may be configured to pass the first region passing through the first region provided a predetermined distance inward from the outermost edges of the fields A, B, and C. Work route information and second work route information passing through a second area provided between the first work route information and the outer edges of the fields A, B, and C can be generated. A farm work support system 100 including an automatic operation selection switch 18 for selectively selecting which one of the first operation path information and the second operation path information to use for automatic operation. I do.

  (13) In any one of the above (1) to (12), the tablet terminal 140, which is a portable terminal, can be connected to the plurality of information processing terminals 130 via the communication network 110, and can be connected to the field-related information and the work-related information. Agricultural work support system 100 in which information can be updated during work via tablet terminal 140 mounted on work vehicle 10.

  (14) The work vehicle 10 including the work device 2 and capable of traveling in the fields A, B, and C, the GNSS control device 120 that acquires position information indicating the position of the work vehicle 10, and the identification information 200a to 200i, respectively. An information processing apparatus capable of storing field-related information, work-related information, and position information as independent information for each of the fields A, B, and C in association with field map information indicating the locations of the assigned fields A, B, and C. And a tablet terminal 140 which is a portable terminal of the present invention.

  (15) The farm work support system 100 according to (14), wherein the field-related information stores information corresponding to the type of the work device 2 and the type of work content independently for each of the fields A, B, and C.

  (16) The farm work support system 100 according to (15), wherein the field-related information further includes peripheral geographic information geographically located around the fields A, B, and C.

  (17) In the above (16), the surrounding geographic information is the position information of the vehicle entrance 101, the water supply / drainage opening 102, and the obstacle 103 in the fields A, B, and C, or the ridge such as the position and height of the ridge. A farm work support system 100 including at least one of bank information.

  (18) In any one of the above (14) to (17), the tablet terminal 140 transmits the work progress information such as unwork start information, work in progress information, and work completion information regarding the work by the work vehicle 10 to the field A, A farm work support system 100 that can be obtained for each of B and C and that can update this work progress information during work.

  (19) In any one of (14) to (18) above, the work-related information includes one or both of work result information and growth measurement information for each of the fields A, B, and C. .

  (20) The farm work support system 100 according to the above (19), further including an unmanned aerial vehicle 900 having a camera 910, and capable of acquiring growth measurement information from image information aerial photographed by the unmanned aerial vehicle 900.

  (21) The farm work support system 100 according to any one of the above (14) to (20), wherein the work-related information includes at least one of soil depth information, fertility information, fertilization information, and yield information.

  (22) In any one of the above (14) to (21), the tablet terminal 140 is mutually connected to the plurality of information processing terminals 130 including the server device 130a via the communication network 110. A farm work support system 100 that allows related information and position information to be uploaded to the server device 130a via the tablet terminal 140.

  Note that the above-described embodiment is merely an example, and is not intended to limit the scope of the invention. The embodiments can be implemented in other various forms, and various omissions, replacements, combinations, and changes can be made without departing from the spirit of the invention. In addition, the specifications (structure, type, direction, shape, size, length, width, thickness, height, number, arrangement, position, material, etc.) of each configuration, shape, display element, etc. are changed as appropriate. Can be implemented.

DESCRIPTION OF SYMBOLS 1 Running vehicle body 2 Working device 10 Working vehicle 100 Agricultural work support system 101 Vehicle entrance 102 Water supply / drainage port 103 Obstacle 110 Communication network 120 GNSS control device (position information acquisition device)
130 information processing terminal 130a server device 140 tablet terminal device (information processing device (mobile terminal))
200a to 200h Identification information 900 Unmanned aerial vehicle 910 Camera (imaging device)
A, B, C Field

Claims (11)

A work vehicle that runs on a field with a work device,
The field-related information and the work-related information can be stored as independent information for each of the fields in association with the field map information indicating the location of the field to which the identification information is individually assigned, and the work generated based on the independent information An information processing device capable of storing path information for each of the fields ,
A position information acquisition device that acquires position information indicating the position of the work vehicle,
With
The information processing apparatus includes a work route generation unit that automatically generates the work route information based on the position information, the field-related information, and the work-related information.
First work route information passing through a first area provided inside by a predetermined distance from the outermost edge of the field, and a second work route information provided between the first work route information and the outer edge of the field. Second work route information passing through the area can be generated,
The working vehicle is
An agricultural work support system including an automatic operation selection switch for selectively selecting which one of the first operation path information and the second operation path information is used to automatically operate . The field-related information included in the independent information includes peripheral geographic information located around the field,
The work route generation unit,
Agricultural support system according to claim 1, referring to the peripheral geographical information in generating the working path information. When the surrounding geographic information includes an obstacle that is a travel hindrance element that hinders the travel of the work vehicle,
The work route generation unit,
The farm work support system according to claim 2 , wherein the work path information that avoids the obstacle is generated. The work-related information included in the independent information, the type information of the work device and the type information of the work content are stored independently for each of the fields,
The work route generation unit,
The farm work support system according to any one of claims 1 to 3 , wherein the work route information is generated by referring to the type information of the work device and the type information of the work content. The work-related information included in the independent information includes consumable material supply point information indicating a supply point of consumable material,
The work route generation unit,
The farm work support system according to claim 4 , wherein, based on the type information of the working device and the consumable material supply point information, stop point information for temporarily stopping the work vehicle at the supply point is set in the work path information. The work-related information included in the independent information includes crop transfer point information indicating a transfer point for transferring the crop,
The work route generation unit,
The farm work support system according to claim 4 , wherein vehicle movement information for moving the work vehicle to the transfer point is set in the work path information based on the type information of the work device and the harvest transfer point information. The work related information includes work width information according to the type of the work device,
The work route generation unit,
The farm work support system according to claim 4 , wherein the work path information is generated by referring to the type information of the work device and the work width information. The work-related information includes
Includes driving route information about the traveling route that was driven by the manual operation of the worker,
The work route generation unit,
The farm work support system according to claim 4 , wherein when the work route information is generated, the type information of the work device and the driving route information are referred to. The work-related information includes
The farm work support system according to claim 4 , wherein posture information indicating a change in a height direction of the work apparatus during work, which is associated with a position of the work vehicle in the field, is included. The work-related information includes
At least one of the instantaneous speed information of the working vehicle during the work, the load factor information of the engine of the working vehicle, and the rotation speed information, which is associated with the position of the work vehicle in the field, is included as machine information. Item 4. The farm work support system according to item 4 . The information processing device,
A mobile terminal connected to a plurality of information processing terminals via a communication network,
The field-related information and the work-related information, agricultural support system as claimed in any one of 0 claims 1 1 wherein can be updated during operation via a portable terminal equipped with the work vehicle.

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