KR20230159245A - Work progress management method, work progress management system, and work progress management program - Google Patents

Abstract

(Task) Efficiently calculate the work progress rate based on actual work situations.
(Solution) The work progress management method is to set a plurality of judgment areas (80, 81, 82, 83, 84) in the packaging (9, 90) (S2), and while moving among the packaging (9, 90) Acquiring first position information of the first working device 20 performing the first work (S3), and determining a plurality of judgment areas 80, 81, 82, 83, and 84 based on the first position information. Among them, detecting the judgment area through which the first working device passed as the judgment area 81 in which work has been completed (S4), a first total number of a plurality of judgment areas 80, 81, 82, 83, 84, and This includes calculating the progress rate of the first work based on the second total number of judgment areas 81 in which work has been completed (S5), and outputting information indicating the progress rate (S6).

Description

Work progress management method, work progress management system, and work progress management program {WORK PROGRESS MANAGEMENT METHOD, WORK PROGRESS MANAGEMENT SYSTEM, AND WORK PROGRESS MANAGEMENT PROGRAM}

The present invention relates to a work progress management method, a work progress management system, and a work progress management program, which can be suitably used, for example, to manage the progress rate of agricultural work.

In cases where multiple workers perform agricultural work in multiple fields, etc., there is a demand to grasp the progress of work in each field and comprehensively manage the overall agricultural work.

In relation to the above, Patent Document 1 (Japanese Patent Publication No. 5522785) discloses an agricultural vehicle operation management system. This agricultural vehicle operation management system color-codes the status of work based on the overlapping ratio between the area of the field and the area of the area where work on the field has been completed by the agricultural work vehicle. The area where work has been completed is obtained based on the location information of the path the agricultural vehicle traveled while performing work and the width of the agricultural vehicle.

Japanese Patent Publication No. 5522785

However, when calculating the ratio of the area on which a worker worked on a certain pavement to the total area of this pavement as the work progress rate, the work progress rate may not reach 100% even if the work on this pavement is completed. . For example, when a plurality of parallel ridges are formed on a pavement and work is performed on these ridges, the area between adjacent ridges is not subject to work. In such a case, even if work on all ridges included in the pavement is completed, the work progress rate remains at the ratio of the area of the ridges to the total area of the pavement, and the calculated work progress rate deviates from the actual situation.

In consideration of the above situation, one of the purposes of the present disclosure is to provide a work progress management method, a work progress management system, and a work progress management program for efficiently calculating a work progress rate based on actual work situations. Other problems and novel features will become apparent from the description of this specification and the accompanying drawings.

Below, means for solving the problem will be explained using numbers and symbols used in the modes for carrying out the invention. These numbers and symbols are added in parentheses for reference in order to show an example of the correspondence between the description of the scope of the patent claims and the form for carrying out the invention. Accordingly, the scope of the patent claims should not be construed as limited by the description given in parentheses.

According to one embodiment, the work progress management method includes setting a plurality of judgment areas (82, 83, 84) in the packaging (9, 90) (S2), and moving the first judgment area (82, 83, 84) among the packaging (9, 90). Acquiring first position information of the first working device 20 that performs work (S3), and based on the first position information, selecting the first working device among the plurality of determination areas 82, 83, and 84 Detecting the judgment area through which (20) passed as the work-completed judgment area 81 (S4), the first total number of the plurality of judgment areas 82, 83, and 84, and the work-completed judgment area 81 ) Based on the second total number, calculating the progress rate of the first task (S5) and outputting information indicating the progress rate (S6).

According to one embodiment, the work progress management system 1 includes a setting unit 522, an acquisition unit 521, a detection unit 523, a calculation unit 524, and an output unit 525. . The setting unit 522 sets a plurality of judgment areas 82, 83, and 84 in the packaging 9 and 90. The acquisition unit 521 acquires the first position information of the first work device 20 that performs the first work while moving among the packaging 9, 90. Based on the first position information, the detection unit 523 detects the judgment area through which the first work device 20 passed among the plurality of judgment areas 82, 83, and 84 as the judgment area 81 where work has been completed. do. The calculation unit 524 calculates the progress rate of the first work based on the first total number of the plurality of judgment areas 82, 83, and 84 and the second total number of the judgment areas 81 in which the work has been completed. The output unit 525 outputs information indicating the progress rate.

According to one embodiment, the work progress management program is executed to realize predetermined processing. This processing includes setting a plurality of judgment areas (82, 83, 84) in the packaging (9, 90) (S2), and a first work device that performs the first operation while moving among the packaging (9, 90). Acquiring the first position information (S3) of (20) and, based on the first position information, determining a decision area through which the first working device 20 has passed among the plurality of decision areas 82, 83, and 84. Detecting (S4) as the judgment area 81 on which work has been completed, based on the first total number of the plurality of judgment areas 82, 83, 84 and the second total number of judgment areas 81 on which work has been completed. , calculating the progress rate of the first task (S5), and outputting information indicating the progress rate (S6).

According to one embodiment, the work progress rate based on the actual situation can be efficiently calculated.

1 is a diagram showing an example configuration of a work progress management system according to an embodiment.
Fig. 2 is a block circuit diagram showing an example of a configuration of a work progress management device according to an embodiment.
Figure 3 is a diagram for explaining the work area and non-work area of the work machine.
Fig. 4 is a diagram for explaining the way of calculating the work progress rate.
Fig. 5 is a flow chart showing an example of processing of the work progress management method according to one embodiment.
Figure 6 is a diagram for explaining a method of acquiring position information of a furrow.
FIG. 7 is a diagram for explaining a method of setting a judgment area.
FIG. 8 is a diagram for explaining a method of setting a judgment area.
Fig. 9 is a diagram for explaining a method of setting a judgment area.
Fig. 10 is a diagram for explaining a method of setting a judgment area.
FIG. 11 is a diagram for explaining a method of calculating work position information based on position information of a work vehicle.
FIG. 12 is a diagram for explaining a method of calculating work position information based on position information of a work vehicle.
FIG. 13 is a diagram for explaining a method of calculating work position information based on position information of a work vehicle.
Fig. 14 is a diagram showing an example of the positional relationship between a ridge, a first judgment area group, and a second judgment area group.
FIG. 15 is a diagram showing an example of the positional relationship between the first judgment area group and the second judgment area group corresponding to one positioning point.
FIG. 16 is a diagram showing an example of the positional relationship between a first judgment area group and a second judgment area group respectively corresponding to two positioning points.
Fig. 17 is a portion of a flow chart showing an example of processing of the work progress management method according to one embodiment.
Fig. 18 is a diagram showing an example of the relationship between the moving direction of the working device, the positioning reference position, and the work reference position.
Fig. 19 is a diagram showing an example of the relationship between the moving direction of the working device, the positioning reference position, and the work reference position.

With reference to the accompanying drawings, the form for implementing the work progress management method, work progress management system, and work progress management program according to the present disclosure will be described below.

(First Embodiment)

As shown in FIG. 1, the work progress management system 1 according to one embodiment is provided with a work progress management device 5. The work progress management device 5, through the network 4 or the like, provides information on agricultural work, etc. from the on-board terminal 3 mounted on the work vehicle 2 while the work vehicle 2 moves through the pavement 9. Receive positioning information acquired when performing work.

The work vehicle 2 is, for example, a tractor, and performs various tasks depending on the type of the connected work machine 20, and the tractor and the work machine freely detachably connected to it constitute a work device. As another example, the work vehicle 2 may be integrated with the work machine 20 to form a single work device, such as a combine. The in-vehicle terminal 3 measures the position of the work vehicle 2 using GNSS (Global Navigation Satellite System), etc., and provides location information indicating the measured position and time information indicating the measured time. Positioning information corresponding to is generated, and the positioning information is transmitted to the work progress management device 5 by wireless communication and/or wired communication through the network 4 or the like.

The work progress management device 5 indicates the progress of work on the pavement 9 based on the positioning information received from the on-vehicle terminal 3 and pavement information indicating the position and extent of the pavement 9. The work progress rate is calculated, and work progress rate information indicating the work progress rate is output to the outside. As an example, the work progress rate information may be output by the external terminal 6 used by the user. At this time, the work progress management device 5 may transmit the work progress rate information to the external terminal 6 by wireless communication and/or wired communication through the network 4 or the like.

As shown in FIG. 2, the work progress management device 5 according to one embodiment may be configured like a computer. In the example of FIG. 2 , the work progress management device 5 includes a bus 51, an arithmetic unit 52, a storage device 53, a communication device 54, and an input/output device 55. do. The bus 51 connects the arithmetic device 52, the storage device 53, the communication device 54, and the input/output device 55 to enable communication with each other.

The arithmetic unit 52 includes an acquisition unit 521, a setting unit 522, a detection unit 523, a calculation unit 524, and an output unit 525. The storage device 53 includes a work progress management program storage unit 531. The work progress management program storage unit 531 stores a work progress management program.

The calculation unit 52 reads and outputs the work progress management program and executes it, thereby performing the respective functions of the acquisition unit 521, the setting unit 522, the detection unit 523, the calculation unit 524, and the output unit 525. realize. Each of the acquisition unit 521, the setting unit 522, the detection unit 523, the calculation unit 524, and the output unit 525 perform processing realized through cooperation between the arithmetic unit 52 and the storage unit 53. It is a virtual function block that is executed. Processing of these functional blocks will be described later.

The work progress management program may be read and output from the external recording medium 530 and stored in the work progress management program storage unit 531. The recording medium 530 may be non-transitory and tangible media.

The communication device 54, under the control of the acquisition unit 521 and/or the output unit 525, communicates with the in-vehicle terminal 3 and the external terminal 6 by wireless communication and/or wired communication via the network 4. ) Communicates with external devices including. The work progress management program may be received from the outside by the communication device 54 and stored in the work progress management program storage unit 531.

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

With reference to FIG. 3, the work area and non-work area of the work machine 20 will be described. Depending on the type of crop grown in field (9), rows may be built in field (9). In this case, the area of the furrow in the pavement 9 is the work area as the object on which the work machine 20 performs work, and the area other than the furrow, for example, between two adjacent furrows, is the work area on which the work machine 20 performs the work. ) is a non-work area outside of the target area where work is performed. In the example of FIG. 3, an area of width W 1 where the work vehicle 2 and the work machine ₂₀ perform work while moving in the first direction D ₁ along the first ridge and the second ridge The area of width W ₃ where the work vehicle 2 and the work machine 20 perform work while moving in the second direction D ₂ is the work area, and the width between the first and second ridges ( The area of W ₂ ) is a non-work area. Here, the width (W ₁ , W ₃ ) of the work area may be the width of the work machine 20.

With reference to FIG. 4, the method of calculating the work progress rate will be explained. As an example, a plurality of meshes 80 that divide the pavement 9 vertically and horizontally are set, and when the work machine 20 passes through any mesh 80, that mesh 80 is considered to be the mesh 81 on which work has been completed. Judge. The work progress rate is obtained by calculating the ratio of the total number of meshes 81 on which work has been completed to the total number of meshes 80 included in the packaging 9. Here, by partitioning the packaging 9 so that all meshes 80 include a certain work area and any non-work area is included in a certain mesh 80, a work progress rate based on the actual work situation is obtained. Lose. In the example of Fig. 4, a plurality of meshes 80 and 81 are set to partition the pavement 9 in the first direction, which is the longitudinal direction of the furrows, and the second direction, which is the width direction of the furrows. In addition, the work-completed mesh 81 through which the work vehicle 2 has passed and the unworked mesh 80 through which the work vehicle 2 has not yet passed are distinguished by the presence or absence of diagonal lines. In the example of FIG. 4 , the dimensions (W ₁₀ , W ₂₀ ) in the width direction of the furrows of the meshes 80 and 81 are made wider than the widths (W ₁ , W ₂ ) of the grooves shown in FIG. 3 , so that a gap is formed between the furrows. All of the non-working areas of width W ₂ are included in any mesh 80, 81.

However, in one embodiment, instead of the rectangular mesh 80 as described above, a judgment area having a different shape, such as a circle or an ellipse, may be set. The details will be described later.

The flow chart in FIG. 5 shows an example of processing of the work progress management method according to one embodiment. Processing of the work progress management method may be started when the work progress management device 5 is activated. At this time, the processing unit 52 of the work progress management device 5 executes the work progress management program, thereby realizing the processing of the work progress management method.

When the flow chart in Fig. 5 is started, step S1 is executed. In step S1, the acquisition unit 521 of the work progress management device 5 acquires the position information of the furrow.

As an example, the acquisition unit 521 controls the communication device 54 to receive and acquire the positioning information generated by the in-vehicle terminal 3. This positioning information, as shown in the example of FIG. 6, represents the position of the positioning point 71 that the work vehicle 2, which performs work while moving along the ridge of the pavement 90, passed at each of a plurality of times. Contains location information. Here, the work performed by the work vehicle 2 using the work machine 20 is, for example, seeding.

The acquisition unit 521 acquires the position information of the furrow based on the position information of the positioning point 71 included in the positioning information. More specifically, the acquisition unit 521 moves from the section where the work vehicle 2 is to the next section among the movement paths 72 connecting the two positioning points 71 located at two consecutive positioning times. Excluding the portion of the curve that turns when moving, the straight line or the portion of the curve that can be approximated to a straight line is extracted as a straight line representing the shape of the furrow. The acquisition unit 521 extracts the positioning point 71 included in this straight line as the position information of the furrow. In the case of the example shown in FIG. 6, positional information of the furrow 91 shown in FIG. 7 is obtained.

After step S1 in Fig. 5, step S2 in Fig. 5 is executed. In step S2, the setting unit 522 of the work progress management device 5 sets a judgment area in the packaging 90. As described above, the judgment area is a virtual area used as a standard for determining that the work on the work area corresponding to that area among the paving 90 has been completed when the work vehicle 2 passes through that area. It is a hostile area.

The setting unit 522 sets a corresponding judgment area for each of the positioning points 71 included in the furrow 91. As an example, as shown in FIG. 8, the shape of this judgment area 82 may be rectangular. The length (d ₁ ) of the first side of this rectangle is the average value of the interval between two adjacent ridges 91, and the length (d ₂ ) of the second side orthogonal to the first side of this rectangle is one ridge ( 91) is the average value of the interval between two adjacent positioning points (71).

As an example, for all judgment areas 82, the second sides of the rectangle representing the shape are parallel to each other. At this time, the angle of inclination of the direction of the second side with respect to an arbitrary reference direction is the average value of the angles of inclination of the ridges 91 included in the pavement 90 with respect to this reference direction. In the example of FIG. 8 , when the north-south direction or the direction of the meridian is used as the reference direction Y, the inclination of the second side of the rectangle representing the judgment area 82 with respect to the reference direction Y is angle θ. am.

Additionally, as another reference direction (X) shown in the example of FIG. 8, the east-west direction or the latitude direction may be used. At this time, the direction of the first side of the rectangle representing the judgment area 82 may be set to have the same inclination angle with respect to the reference direction (X). However, in this case, the shape representing the judgment area 82 does not have to be strictly rectangular.

The center of the rectangle representing the judgment area 82 may overlap the positioning point 71 corresponding to the judgment area 82. At this time, the plurality of judgment areas 82 are set to be aligned in the longitudinal direction of each of the plurality of ridges 91 . In addition, the judgment area 82 corresponding to a certain positioning point 71 may be in contact with another judgment area 82 corresponding to another positioning point 71, may partially overlap, or may be separated from another judgment area 82 corresponding to another positioning point 71.

As another example, as shown in FIG. 9, the shape of the judgment area 83 set in the packaging 90 may be a circle. In this case, the center of the circle representing the judgment area 83 may overlap the positioning point 71 corresponding to the judgment area 83. In addition, the diameter of the circle representing the judgment area 83 may be the length (d ₁ ) of the average value of the interval between two adjacent ridges 91, or the two adjacent positioning points included in one ridge 91. (71) It may be the length (d ₂ ) of the average value of the interval, or it may be the average value of the length (d ₁ ) and the length (d ₂ ). The judgment area 83 corresponding to a certain positioning point 71 may be in contact with another judgment area 83 corresponding to another positioning point 71, may partially overlap, or may be separated from another judgment area 83 corresponding to another positioning point 71.

As another example, as shown in FIG. 10, the shape of the judgment area 84 set in the packaging 90 may be an ellipse. In this case, the major axis (or minor axis) of the ellipse representing the judgment area 84 is the length (d ₃ ) of the average value of the interval between two adjacent ridges 91, and the minor axis (or major axis) of this ellipse is 1. It is the length ( _d2 ) of the average value of the interval between two adjacent location points 71 included in the gyrus 91.

In addition, similarly to the rectangular case of FIG. 8, for all determination areas 84, the minor axes (or major axes) of ellipses representing their shapes may be parallel to each other. At this time, the angle of inclination of the minor axis (or major axis) with respect to an arbitrary reference direction is the average value of the angles of inclination of the ridges 91 included in the pavement 90 with respect to this reference direction.

The center of the ellipse representing the judgment area 84 may overlap the positioning point 71 corresponding to the judgment area 84. The judgment area 84 corresponding to a certain positioning point 71 may be in contact with another judgment area 84 corresponding to another positioning point 71, may partially overlap with it, or may be separated from it.

In either case, the positions and ranges of the judgment areas 82, 83, and 84 set in the pavement 90 are the average value of the distance between the position of the positioning point 71 and the adjacent positioning points 71, and the position of the positioning point 71. It is determined based on at least a portion of the average value of the spacing of the ridges 91 and the average value of the angle of inclination with respect to an arbitrary reference direction.

After step S2, step S3 in Fig. 5 is executed. In step S3, the acquisition unit 521 of the work progress management device 5 acquires the position information of the work machine 20.

As an example, the acquisition unit 521 controls the communication device 54 to receive and acquire the positioning information generated by the in-vehicle terminal 3, similarly to the example of step S1 described above. However, the work performed by the work vehicle 2 at this time is a work performed later on the same row 91 of the same pavement 90 as the work performed in step S1. As an example, the task performed in step S3 is harvesting. Here, the work machine 20 that performs the work in step S1 and the work machine 20 that performs the work in step S3 may be different from each other.

After step S3, step S4 in Fig. 5 is executed. In step S4, the detection unit 523 of the work progress management device 5 selects a judgment area in which the work passed by the work machine 20 has been completed among the plurality of judgment areas 82, 83, and 84 set in the packaging 90. Detect. More specifically, the detection unit 523 determines a plurality of judgment areas 82, 83, 84) Determine whether it is on the inside or not. Alternatively, the detection unit 523 determines the positioning point 71 indicated by the positional information of the work vehicle 2 acquired in step S3 for each of the plurality of judgment areas 82, 83, and 84 set in step S2. Determine whether or not it is included. As a result of this determination, the detection unit 523 determines a judgment area (82, 83, 84) within which the positioning point 71 exists at least once among the plurality of judgment areas (82, 83, 84), Detected as a judgment area where work has been completed. At this time, in order to improve the detection accuracy of the judgment area where work has been completed, a GNSS antenna that performs positioning in step S3 may be provided at the work position of the work machine 20 where work is performed on the packaging 90. Alternatively, in a case where the work vehicle 2 and the work machine 20 are integrated as a work device, such as a combine, a GNSS antenna may be provided at a work position where work is performed on the packaging 90 of the work device. do.

After step S4, step S5 in Fig. 5 is executed. In step S5, the calculation unit 524 of the work progress management device 5 calculates the progress rate of the work on the packaging 90. More specifically, the work progress rate is calculated by dividing the total number of judgment areas for which work has been completed detected in step S4 by the total number of judgment areas 82, 83, and 84 set in the packaging 90 in step S2. .

After step S5, step S6 in Fig. 5 is executed. In step S6, the output unit 525 of the work progress management device 5 outputs progress rate information indicating the work progress rate. More specifically, the output unit 525 of the work progress management device 5 controls the communication device 54 to transmit progress rate information to the external terminal 6 through communication through the network 4. Print it out, etc. The external terminal 6 outputs the work progress rate indicated by the received progress rate information by displaying it on the screen so that the user can check it. Here, the plurality of packaging 90 may be color-coded and displayed based on the calculated work progress rate. As an example, if the work progress rate of the packaging 90 of interest is less than 25%, it is green, if it is 25% or more and less than 50%, it is yellow green, if it is 50% or more and less than 75%, it is yellow, and if it is 75% or more and less than 75%, it is yellow. If it is less than %, it may be displayed in orange, and if it is 100%, it may be displayed in red. By doing this, the work progress rate of the plurality of packaging 90 can be more easily grasped and managed.

When step S6 is completed, the processing in the flow chart in Fig. 5 ends.

As described above, according to one embodiment, a plurality of determination areas 82, 83, and 84 are set in the packaging 90, and among these plurality of determination areas 82, 83, and 84, the work machine 20 The percentage of the judgment area where the passed work has been completed can be calculated as the work progress rate. As a result, the work progress rate can be efficiently calculated based on the actual work situation.

(Variation example, part 1)

In the above embodiment, in step S1 of FIG. 5, in order to acquire the positional information of the furrow 91, the acquisition unit 521 of the work progress management device 5 is mounted on the work vehicle 2. The configuration for using the positioning information generated by the terminal (3) has been explained. As a modified example of this configuration, a case where the positional information of the furrow 91 is previously stored in the storage device 53 of the work progress management device 5 will be described.

In this modification, in step S1 of FIG. 5 , the acquisition unit 521 of the work progress management device 5 acquires the position information of the furrow 91 by reading and outputting it from the storage device 53 . Here, the position information of the furrow 91 stored in the storage device 53 may be, for example, data input by the user by operating the external terminal 6, etc., or may be obtained from the information of the package 90. The data may be generated through image processing of a taken photo, etc.

(Variation example, part 2)

In the above embodiment, the configuration in the case where sowing is performed when acquiring the positional information of the furrow in step S1 of FIG. 5 and harvesting is performed when detecting the judgment area where the work has been completed in step S3 has been explained. However, in step S3, The combination of the operation in S1 and the operation in step S3 is not limited to the above configuration. As an example, when performing ridge erection in step S1, any work from sowing or planting to harvest may be performed in step S3. As another example, when sowing or planting is performed in step S1, any of fertilization, pest control, harvesting, etc. may be performed in step S3.

(Variation example, part 3)

In the above embodiment, in step S2 of FIG. 5, the length of each side of a rectangle, the diameter of a circle, or the major and minor diameters of an ellipse, which define the dimensions of the judgment area, are set to the interval between two adjacent grooves 91. The configuration in the case of calculation based on the length of the average value (d ₁ ) and the length (d ₂ ) of the average value of the interval between two adjacent positioning points 71 included in one gyrus 91 has been explained. As a modification of this configuration, the length (d ₁ , d ₂ ) may be determined by a method different from the above. As an example, at least one side of the length (d ₁ , d ₂ ) may be set to a predetermined fixed value, and the interval between two adjacent ridges 91 and/or the two adjacent positioning points included in one ridge (71) may be calculated based on the interval.

(Variation example, part 4)

In the above embodiment, the configuration in the case of setting a rectangular judgment area in step S2 of FIG. 5 has been explained. As a variation of this configuration, the judgment area may be square. As an example, the length of the side of this square may be the length (d ₁ ) calculated as the average value of the spacing between two adjacent ridges 91, or the two adjacent positioning points 71 included in one ridge 91 ) may be the length (d ₂ ) calculated as the average value of the interval, or may be the average value of these lengths (d ₁ , d ₂ ).

(Variation example, part 5)

In the above embodiment, the configuration in the case of setting the judgment areas 82, 83, and 84 corresponding to each of the positioning points 71 in step S2 in FIG. 5 has been explained. As a modified example of this configuration, the total number of judgment areas 82, 83, and 84 set along each ridge 91 may be increased or decreased from the total number of positioning points 71 included in the ridge 91. As an example, when increasing the total number of judgment areas 82, 83, and 84, a virtual positioning point 71 is set between two actual positioning points 71 whose positioning times are consecutive, and the actual positioning point 71 is set. Judgment areas 82, 83, and 84 corresponding to each of the point 71 and the virtual positioning point 71 may be set. Conversely, when reducing the total number of judgment areas (82, 83, 84), the judgment areas (82, 82, 84) corresponding to only one of the two actual positioning points 71 with consecutive positioning times may be set. . By doing this, regardless of the combination of the vehicle speed of the work vehicle 2 when positioning is performed and the sampling period, the interval in the longitudinal direction of the groove 91 in the judgment areas 82, 83, and 84 is, It can be adjusted to an appropriate distance based on the position of the positioning point 71. Additionally, the plurality of determination areas 82, 83, and 84 may be set to each include at least part of the positions of the plurality of positioning points 71.

(Variation example, part 6)

In the above embodiment, the configuration in the case of forming the GNSS antenna that performs positioning in step S3 in FIG. 5 at the work position of the work machine 20 where work is performed on the pavement 90 has been explained. As a modified example of this configuration, a method of calculating work position information based on the position information of the work vehicle 2 will be described with reference to FIG. 11 . As shown in the example of FIG. 11, the positional information of the work vehicle 2 indicates the positioning position 21 of the GNSS antenna of the vehicle-mounted terminal 3 mounted on the work vehicle 2. And, the work position 201 at which the work vehicle 2 performs work on the pavement 90 is a predetermined reference position of the work machine 20. The positioning position 21 and the work position 201 do not necessarily coincide, but the GNSS antenna is fixed to the work vehicle 2, and the work machine 20 is fixed to the work vehicle 2. If present, the positional relationship between the positioning position 21 and the working position 201 is also fixed. Therefore, by measuring the relative position of the work position 201 with respect to the positioning position 21 in advance, the work position 201, the positioning position 21, and the moving direction (D ₁ ) of the work vehicle 2 are determined. It can be calculated based on . In addition, the direction D ₁ of a certain positioning point 71 includes the positional information of the positioning point 71 and the positional information of the positioning point 71 located before or after the positioning point 71. It can be calculated based on .

This modification can be applied even when the working position 202 of the work machine 20 is offset in a direction orthogonal to the traveling direction D ₁ of the work vehicle 2, as shown in the example of FIG. 12. do. Additionally, this modification is applicable even when the work machine 20 has a plurality of work positions 201, 202, and 203, as shown in the example of FIG. 13. In this case, in step S4, among the plurality of judgment areas 82, 83, and 84, at least one of the work positions 201, 202, and 203 exists at least once inside the judgment area 82, 83, 84) is detected as a judgment area where work has been completed. In this case, compared to the case of forming GNSS antennas at each of the work positions 201, 202, and 203, the total number of GNSS antennas to be used can be saved, and further, the work progress management device can be controlled from the in-vehicle terminal 3. (5) Communication costs for transmitting positioning information can also be saved.

(Variation example, part 7)

In the above embodiment, in step S4 of FIG. 5, the detection unit 523 of the work progress management device 5 has a positioning point 71 inside one of the plurality of judgment areas 82, 83, and 84. The configuration in the case of detecting the judgment area 82, 83, 84 that has existed at least once as a judgment area where work has been completed has been explained. As a modified example of this configuration, the judgment areas 82, 83, 84 where the virtual straight lines connecting the two positioning points 71 with consecutive positioning times overlap at least once may be detected as the judgment areas where the work has been completed. . In this case, the judgment areas 82, 83, and 84 corresponding to the places where the work vehicle 2 and/or the work machine 20 actually passed are divided into the vehicle speed of the work vehicle 2, the sampling period, and the judgment area. The possibility of non-detection can be reduced by combining the positional relationships of (82, 83, 84).

(Variation example, part 8)

In the above embodiment, in step S6 in FIG. 5, in order to output progress rate information indicating the work progress rate, the output unit 525 of the work progress management device 5 sends the progress rate information to the external terminal 6. The configuration for transmission to is explained. As a modified example of this configuration, the output unit 525 may transmit progress rate information to a terminal or server other than the external terminal 6. In addition, as a further modified example, the output unit 525 controls the input/output device 55 to display the work progress rate indicated by the progress rate information on the display device included in the input/output device 55 so that the user can check the work progress rate indicated by the progress rate information. You can also mark it and print it out.

(Second Embodiment)

Among the above-described first embodiment, in the above-mentioned “modification example 6”, as shown in FIG. 12, the working position 202 of the work machine 20 is the positioning position 21 of the work vehicle 2. By acquiring the positional information of the work position 202, even when it is offset in the direction orthogonal to the moving direction D ₁ of the work vehicle 2, the judgment area where work has been completed can be detected with good precision. The composition was explained. In this embodiment, even when the work position 202 is offset from the positioning position 21 in a direction orthogonal to the traveling direction D ₁ , the judgment area in which the work has been completed is determined to be good based on the positioning position 21. A configuration that can be detected with precision will be explained.

The work progress management system (1) according to the present embodiment is the same as the work progress management system (1) according to the first embodiment. However, in the working device according to the present embodiment, as in the example of FIG. 12, the working position 202 of the working machine 20 is determined from the positioning position 21 of the working vehicle 2. It is offset in a direction perpendicular to the direction of travel (D ₁ ). The direction perpendicular to the traveling direction D ₁ when viewed from the work vehicle 2 is hereinafter referred to as the offset direction. The offset direction includes two types of offset directions, left and right, with respect to the traveling direction (D ₁ ). When distinguishing between these two types of offset directions, they are called the first direction or the second direction of the offset direction. In addition, the distance from the positioning position 21 of the work vehicle 2 to the work position 202 of the work machine 20 in the offset direction is called the offset length.

The work progress management method and work progress management program according to the present embodiment are the work progress management method and work progress management program according to the first embodiment by changing the following points in each step of the flow chart in FIG. 5, respectively. obtained.

In this embodiment, step S1 in the flow chart in FIG. 5 is the same as in the first embodiment. However, in step S1, the acquisition unit 521 of the work progress management device 5 operates in the first longitudinal direction included in the longitudinal direction of the furrow 91 (for example, the direction from south to north) and the second 2 Select one of the longitudinal directions (for example, the direction from north to south) as the reference direction. As an example, here, a case where a direction from south to north is selected as the reference direction _DR , as shown in FIG. 14, will be described.

In the present embodiment, in step S2 in the flowchart of FIG. 5, the setting unit 522 of the work progress management device 5 moves 2 along both left and right sides of the furrow 91, as shown in FIG. 14. Set the type of judgment area (83A, 83B). More specifically, the setting unit 522 sets a pair of judgment areas 83A and 83B at each of the positioning points 71 of the furrow 91, as shown in FIG. 15 . At this time, the setting unit 522 sets the first direction and the In each of the two directions, judgment areas 83A and 83B are set centered on a position that is a predetermined distance away from the positioning point 71 of interest. Hereafter, when the judgment areas 83A and 83B are not distinguished, they are collectively referred to as the judgment area 83.

Moreover, as shown in FIG. 15, the judgment areas 83A and 83B set at the same positioning point 71 may partially overlap each other. In addition, as shown in FIG. 16, the judgment area 83A set at the first positioning point 71A included in the first furrow 91A and the second furrow 91B adjacent to the first furrow 91A The judgment areas 83B set in the included second positioning point 71B may partially overlap each other.

In addition, the dimensions of the judgment areas 83A and 83B and the distance from the center of the judgment areas 83A and 83B to the corresponding positioning point 71 are the distance between two adjacent ridges 91 and the work. It may be determined appropriately based on the offset length of the device, etc.

In the present embodiment, after step S2 in the flowchart of FIG. 5, instead of step S3, the acquisition unit 521 of the work progress management device 5 performs steps S31 to S33 of the flowchart shown in FIG. 17. Run. In step S31, the acquisition unit 521 controls the communication device 54 to receive the positioning information generated by the in-vehicle terminal 3.

After step S31 in Fig. 17, step S32 is executed. In step S32, the acquisition unit 521 of the work progress management device 5 acquires offset information of the work machine 20 with respect to the work vehicle 2. Offset information includes information indicating the offset direction and information indicating the offset length. The offset information may be stored in advance in the storage device 53 of the work progress management device 5. In this case, the acquisition unit 521 acquires the offset information by reading and outputting it from the storage device 53. Alternatively, the offset information may be stored in advance in the storage device of the on-board terminal 3 of the work vehicle 2. In this case, the acquisition unit 521 acquires offset information by receiving it from the in-vehicle terminal 3. As an example, here, as shown in Figs. 18 and 19, a case where the offset direction is toward the right with respect to the moving direction (D ₁ , D ₂ ) of the work vehicle 2 will be described.

After step S32 in Fig. 17, step S33 is executed. In step S33, the acquisition unit 521 of the work progress management device 5 calculates the movement direction of the work vehicle 2 based on the positioning information of the work vehicle 2. More specifically, based on the position indicated by the positioning information of interest and the position indicated by the positioning information before and/or after the positioning information of interest, the work vehicle at the position indicated by the positioning information of interest (2 ) Calculate the direction of movement.

After step S33 in FIG. 17, step S4 in FIG. 5 is executed. In step S4, the detection unit 523 of the work progress management device 5 determines the position of the furrow 91 on which the work machine 20 performed work among the judgment areas 83A and 83B through which the work vehicle 2 passed. The side corresponding to point 71 is detected as the judgment area where the work has been completed. This detection will be explained with reference to FIG. 16. In the example of FIG. 16, there are two positioning points 71A and 71B, and a judgment area 83A is set corresponding to one positioning point 71A, and a judgment area 83A is set corresponding to the other positioning point 71B. (83B) is set. These two positioning points 71A and 71B are respectively included in two adjacent ridges 91 (not shown) extending along the reference direction _DR . Here, these two judgment areas 83A and 83B overlap each other at least partially. When the positioning position 21 of the work vehicle 2 passes through this overlapping area, the work vehicle 2 works on either of the two grooves 91 containing the positioning points 71A and 71B. The detection unit 523 determines whether or not was performed based on the moving direction (D ₁ , D ₂ ) of the work vehicle 2, the reference direction ( _DR ) of the groove 91, and offset information. Based on the result of this determination, the detection unit 523 is set in the row 91 on the side where the work machine 20 performed work among the judgment areas 83A and 83B through which the work vehicle 2 passed. The judgment area 83 of is determined as the judgment area where the work has been completed.

As shown in the example of FIG. 18, the moving direction D ₁ corresponding to the position indicated by the positioning information of the work vehicle 2 of interest and the reference direction _DR of the ridges 91A and 91B are the same. In the case of the direction, the detection unit 523 detects the judgment area 83 in the same direction as the offset direction of the work machine with respect to the moving direction D ₁ of the work vehicle 2 with respect to the reference direction _DR . This is detected as a completed judgment area. Additionally, when the angle between the traveling direction D ₁ and the reference direction _DR is smaller than a predetermined threshold, the detection unit 523 detects a direction in which the traveling direction D ₁ and the reference direction _DR are the same. It can be judged as .

Conversely, as shown in the example of FIG. 19, the moving direction D ₂ corresponding to the position indicated by the positioning information of work vehicle 2 of interest and the reference direction _DR of the furrows 91A and 91B When this is the opposite direction _, the detection unit ₅₂₃ detects a judgment area ( 83) is detected as a judgment area where work has been completed. Additionally, the detection unit 523 detects the traveling direction D ₁ and the reference direction D when the angle between the direction opposite to the traveling direction D ₂ and the reference direction _DR is smaller than a predetermined threshold value. _R ) may be determined to be in the opposite direction.

After step S4 in Fig. 5, step S5 is executed. In step S5, the calculation unit 524 of the work progress management device 5 calculates the progress rate of the work on the packaging 90. However, in this embodiment, compared to the first embodiment, the total number of judgment areas 83A, 83B is twice, so the total number of judgment areas for which work has been completed detected in step S4 is divided into judgment areas 83A, 83B. The ratio divided by half of the total number is calculated as the work progress rate.

The processing after step S5 in FIG. 5 is the same as that in the first embodiment.

As described above, according to the present embodiment, even when the work position 202 is offset from the positioning position 21 in a direction perpendicular to the traveling direction D ₁ , based on the positioning position 21 The judgment area where work has been completed can be detected with good precision.

(Variation example, part 9)

In the above-described second embodiment, the configuration in the case where the judgment areas 83A and 83B are circular, as shown in FIGS. 14 and 15, has been described. As a variation of this configuration, the judgment areas 83A and 83B may have an oval, square, rectangular, or other shape.

(Variation example, part 10)

In the second embodiment described above, the configuration in the case where step S32 is first executed and then step S33 is explained in the flow chart in FIG. 17. As a variation of this configuration, step S33 may be executed first and then step S32, or steps S32 and S33 may be executed in parallel.

The invention made by the inventor has been specifically described above based on the embodiments. However, the present invention is not limited to the embodiments, and it goes without saying that various changes can be made without departing from the gist of the invention. In addition, each feature described in the embodiments can be freely combined within a range that is not technically contradictory.

(bookkeeping)

The work progress management method, work progress management system, and work progress management program described in each embodiment can be described as follows.

The work progress management method related to the first aspect is:

Setting a plurality of judgment areas during packaging,

Acquiring first position information of a first work device that performs a first work while moving in the packaging;

Based on the first position information, detecting, among the plurality of judgment areas, a judgment area through which the first working device has passed as a judgment area in which work has been completed;

calculating a progress rate of the first work based on the first total number of the plurality of judgment areas and the second total number of judgment areas in which the work has been completed;

Outputting information indicating the progress rate

Includes.

The work progress management method related to the second aspect is the work progress management method related to the first aspect, comprising:

The packaging has a plurality of ridges each extending parallel to each other,

The above settings are:

Setting the plurality of judgment areas to be arranged in the longitudinal direction of each of the plurality of ridges.

Includes.

The work progress management method related to the third aspect is the described work progress management method related to the second aspect, comprising:

The above settings are:

Setting a first judgment area group included in the plurality of judgment areas on a side of each of the plurality of ridges in a first direction orthogonal to the longitudinal direction;

Setting a second judgment area group included in the plurality of judgment areas on a side of each of the plurality of ridges in a second direction orthogonal to the longitudinal direction and opposite to the first direction.

Additionally includes,

A moving direction of the first working device, relative to a positioning position where the first working device receives a positioning signal, and a working position where the working device of the first working device performs work on at least one of the plurality of ridges. Obtaining offset information indicating the offset direction and offset length in the offset direction orthogonal to

Based on the first position information, calculating a movement direction of the first working device for each positioning position.

Additionally includes,

The detection is,

Based on the offset direction and the offset length, for each positioning position, when the first working device is moving in the same direction as a predetermined reference direction included in the longitudinal direction, the first judgment area group or the A judgment area included in one of the second judgment area groups is detected as a judgment area in which the work has been completed, and when the first working device is moving in a direction opposite to the reference direction, the first judgment area group or Detecting a judgment area included in the other side of the second judgment area group as a judgment area in which the work has been completed.

Includes.

The work progress management method related to the fourth aspect is a work progress management method related to the third aspect, comprising:

The above settings are:

It further includes setting at least a portion of the first judgment region group and at least a portion of the second judgment region group to overlap each other between the first and second ridges included in the plurality of ridges and adjacent to each other. .

The work progress management method related to the fifth aspect is a work progress management method related to any of the first to fourth aspects,

Before the first operation, acquiring second position information of a second work device that performs the second operation while moving in the packaging.

Additionally includes,

The above settings are:

Setting the plurality of judgment areas based on the second location information

Includes.

The work progress management method related to the sixth aspect is a work progress management method related to the fifth aspect, comprising:

Setting the positions of the plurality of decision areas includes:

Setting the plurality of determination areas to each include at least part of the positions of the plurality of positioning points included in the second position information.

Includes.

The work progress management method related to the seventh aspect is a work progress management method related to the fifth aspect, comprising:

Setting the dimensions of the plurality of judgment areas includes:

Setting the dimension based on the spacing between two adjacent ridges among the plurality of gyri and/or the spacing between two adjacent location points included in one gyrus among the plurality of gyri.

Includes.

The work progress management method related to the eighth aspect is a work progress management method related to any one of the first to seventh aspects,

Acquiring the first location information includes:

acquiring third position information of a work vehicle that moves the first work machine as the first work device;

A work position at which the work machine performs the first work on the pavement with respect to the third position information, the moving direction of the work vehicle, and a reference position of the work vehicle as a position for acquiring the third position information. Calculating the first location information based on the location relationship of

Includes.

The work progress management method related to the ninth aspect is a work progress management method related to any one of the first to eighth aspects,

Each shape of the plurality of judgment areas is a circle or an ellipse.

The work progress management method related to the tenth aspect is a work progress management method related to any one of the first to ninth aspects,

The detection is,

Among the plurality of positioning points indicated by the first position information, detecting a judgment area where a virtual straight line connecting two positioning points with consecutive positioning times overlaps at least once as a judgment area where the work has been completed.

Includes.

The work progress management system related to the 11th aspect is:

a setting unit that sets a plurality of judgment areas during packaging;

an acquisition unit that acquires first position information of a first work device that performs a first work while moving in the packaging;

a detection unit that detects a judgment area through which the first working device has passed among the plurality of judgment areas as a judgment area in which work has been completed, based on the first position information;

a calculation unit that calculates a progress rate of the first work based on the first total number of the plurality of judgment areas and the second total number of judgment areas in which the work has been completed;

An output unit that outputs information indicating the progress rate

is provided.

The work progress management program related to the twelfth aspect is:

As a work progress management program for realizing predetermined processing by executing,

The above processing,

Setting a plurality of judgment areas during packaging,

Acquiring first position information of a first work device that performs a first work while moving in the packaging;

Based on the first position information, detecting, among the plurality of judgment areas, a judgment area through which the first working device has passed as a judgment area in which work has been completed;

Based on the first total number of the plurality of judgment areas and the second total number of judgment areas for which the work has been completed,

Calculating the progress rate of the first task,

Outputting information indicating the progress rate

Includes.

1: Work progress management system
2: Work vehicle
20: Working machine (working device)
21: positioning position
201, 202, 203: working position
3: In-vehicle terminal
4: Network
5: Work progress management device
51 : bus
52: computing device
521: Acquisition Department
522: Setting section
523: detection unit
524: Calculation unit
525: output unit
53: memory device
530: recording medium
531: Work progress management program memory unit
54: communication device
55: input/output device
6: External terminal
71: Positioning point
72: Movement path
80, 81: Messi
82, 83, 84: Judgment area
83A: First judgment area
83B: Second judgment area
9, 90: packaging
91: Lee Rang
d ₁ , d ₂ : length
D ₁ , D ₂ : Direction of progress
D _R : reference direction
W ₁ , W ₂ , W ₃ : Width
W ₁₀ , W ₂₀ : Dimensions
X, Y: Reference direction
θ: angle

Claims (12)

Setting a plurality of judgment areas during packaging,
Acquiring first position information of a first work device that performs a first work while moving in the packaging;
Based on the first position information, detecting, among the plurality of judgment areas, a judgment area through which the first working device has passed as a judgment area in which work has been completed;
calculating a progress rate of the first work based on the first total number of the plurality of judgment areas and the second total number of judgment areas in which the work has been completed;
A work progress management method comprising outputting information indicating the progress rate. According to claim 1,
The packaging has a plurality of ridges each extending parallel to each other,
The above settings are:
A work progress management method comprising setting the plurality of judgment areas to be arranged in the longitudinal direction of each of the plurality of ridges. According to claim 2,
The above settings are:
Setting a first judgment area group included in the plurality of judgment areas on a side of each of the plurality of ridges in a first direction orthogonal to the longitudinal direction;
It further includes setting a second judgment area group included in the plurality of judgment areas on a side of each of the plurality of ridges in a second direction orthogonal to the longitudinal direction and opposite to the first direction. do,
A moving direction of the first working device, relative to a positioning position where the first working device receives a positioning signal, and a working position where the working device of the first working device performs work on at least one of the plurality of ridges. Obtaining offset information indicating the offset direction and offset length in the offset direction orthogonal to
Based on the first position information, it further includes calculating a movement direction of the first working device for each positioning position,
The detection is,
Based on the offset direction and the offset length, for each positioning position, when the first working device is moving in the same direction as a predetermined reference direction included in the longitudinal direction, the first judgment area group or the A judgment area included in one of the second judgment area groups is detected as a judgment area in which the work has been completed, and when the first working device is moving in a direction opposite to the reference direction, the first judgment area group or A work progress management method comprising detecting a judgment area included in the other of the second judgment area group as a judgment area in which the work has been completed. According to claim 3,
The above settings are:
Further comprising setting at least a portion of the first judgment region group and at least a portion of the second judgment region group to overlap each other between the first and second ridges included in the plurality of ridges and adjacent to each other. How to manage work progress. The method according to any one of claims 1 to 4,
Before the first operation, it further includes acquiring second position information of a second work device that performs the second operation while moving in the packaging,
The above settings are:
A work progress management method comprising setting positions and dimensions of the plurality of judgment areas based on the second position information. According to claim 5,
Setting the positions of the plurality of decision areas includes:
A work progress management method comprising setting the plurality of determination areas to each include at least part of the positions of the plurality of positioning points included in the second position information. According to claim 5,
The packaging has a plurality of ridges each extending parallel to each other,
Setting the dimensions of the plurality of judgment areas includes:
A work progress management method comprising setting the dimension based on an interval between two adjacent ridges among the plurality of ridges and/or an interval between two adjacent positioning points included in one ridge among the plurality of ridges. . According to claim 1,
Acquiring the first location information includes:
acquiring third position information of a work vehicle that moves a first work machine included in the first work device;
The first work machine performs the first work on the packaging with respect to the third position information, the moving direction of the work vehicle, and the reference position of the work vehicle as a position for acquiring the third position information. A work progress management method comprising calculating the first position information based on the positional relationship of work positions. The method according to any one of claims 1 to 4,
A work progress management method wherein each shape of the plurality of judgment areas is a circle or an ellipse. According to claim 1,
The detection is,
A task that includes detecting, among a plurality of positioning points indicated by the first position information, a decision area where a virtual straight line connecting two positioning points with consecutive positioning times overlaps at least once as a decision area in which the work has been completed. How to manage progress. a setting unit that sets a plurality of judgment areas during packaging;
an acquisition unit that acquires first position information of a first work device that performs a first work while moving in the packaging;
a detection unit that detects a judgment area through which the first working device has passed among the plurality of judgment areas as a judgment area in which work has been completed, based on the first position information;
a calculation unit that calculates a progress rate of the first work based on the first total number of the plurality of judgment areas and the second total number of judgment areas in which the work has been completed;
A work progress management system comprising an output unit that outputs information indicating the progress rate. As a work progress management program for realizing predetermined processing by executing,
The above processing,
Setting a plurality of judgment areas during packaging,
Acquiring first position information of a first work device that performs a first work while moving in the packaging;
Based on the first position information, detecting, among the plurality of judgment areas, a judgment area through which the first working device has passed as a judgment area in which work has been completed;
calculating a progress rate of the first work based on the first total number of the plurality of judgment areas and the second total number of judgment areas in which the work has been completed;
A work progress management program including outputting information indicating the progress rate.