WO2018043336A1

WO2018043336A1 - Vehicle dispatching system

Info

Publication number: WO2018043336A1
Application number: PCT/JP2017/030551
Authority: WO
Inventors: 大杉本
Original assignee: ヤンマー株式会社
Priority date: 2016-09-01
Filing date: 2017-08-25
Publication date: 2018-03-08
Also published as: JP2018033407A

Abstract

The purpose of the present invention is to provide a harvesting machine and transport vehicle dispatching system that is capable of executing harvesting work efficiently. For said purpose, the present invention is a harvesting machine (1) and transport vehicle (11) dispatching system that sets the disposition of the harvesting machine (1), which harvests a crop, and the dispatching of the transport vehicles (11), which convey the harvest from the field, on the basis of previously set expected crop yield information, wherein the expected crop yield is set according to the cultivation conditions of the crop being harvested. Moreover, the vehicle dispatching system revises the dispatching of the transport vehicles (11) on the basis of actual crop yield information for the harvesting machine (1). Furthermore, in addition to having loading capacity information for each transport vehicle (11) beforehand, the vehicle dispatching system acquires position information for each transport vehicle (11), calculates the time that the loading of a transport vehicle (11) will reach a full load on the basis of the actual crop yield information and loading capacity information, and revises the dispatching of the transport vehicles (11) according to the results of said calculation, loading capacity information and position information.

Description

Dispatch system

The present invention relates to a vehicle allocation system, which relates to a system for efficiently allocating a vehicle for transporting a harvested product to a destination with respect to a harvester arranged in a farm field.

Conventionally, a dispatch system that efficiently distributes a plurality of transport vehicles to a plurality of fields is known (see Patent Document 1). The remote dispatch server as the dispatch system described in Patent Document 1 receives the expected full time, the expected end time of harvest, and the harvester position information from each harvester, and the expected full time and end of harvest of each harvester. The time earlier than the current time among the predicted times is selected as an element of the required dispatching order, which is the order in which the delivery of the transporter with respect to the harvester is preferentially required.

The expected harvest end time is the time when the harvesting work carried out in the corresponding field is expected to end, and is the expected harvest amount that is predicted before the start of harvesting, and the cumulative harvest amount harvested on the field. It is calculated with respect to the current time on the basis of a certain field cumulative harvest amount and a harvest rate indicating a harvest amount per unit time.

As such a vehicle allocation system, it is desired to efficiently distribute the harvester and the transport vehicle so that the harvesting operation can be performed efficiently.

Japanese Patent Laying-Open No. 2015-84667

An object of the present invention is to provide a dispatch system of a harvester and a transporter that can efficiently perform harvesting work.

The problems to be solved by the present invention are as described above. Next, means for solving the problems will be described.

The invention according to claim 1 is a harvester and a transporter for setting the arrangement of harvesters for harvesting crops and dispatching a transporter for transporting the crops from the field based on information on a preset expected harvest amount. In the vehicle allocation system, the estimated harvest amount is set according to the cultivation conditions of the crop to be harvested.

According to a second aspect of the present invention, in the dispatch system described in the first aspect, the dispatch of the transport vehicle is corrected based on information on the actual harvest amount of the harvester.

The invention according to claim 3 is the vehicle allocation system according to claim 2, wherein the vehicle allocation system has information on the loading capacity of each transport vehicle in advance, acquires position information of each transport vehicle, and Based on the yield information and the load capacity information, the time when the load of the transport vehicle reaches full load is calculated, and the dispatch of the transport vehicle is determined according to the calculation result, the load capacity information, and the position information. Is to be corrected.

As the effects of the present invention, the following effects are obtained.

According to the first aspect of the invention, the harvester and the transporter can be efficiently dispatched after setting an appropriate expected harvest amount by using the cultivation conditions of the crop as information. Work and accompanying transportation can be carried out efficiently.

According to the invention according to claim 2, since the arrangement of the transporter is corrected based on the actual harvest amount, the dispatch of the harvester and the transporter can be operated more efficiently.

According to the invention of claim 3, before the loading of the transport vehicle that is currently in charge of loading reaches another full transport vehicle to the corresponding field, the harvesting operation is prevented from being interrupted. Can do.

It is a side view of a harvester. It is a top view of a harvester. It is a block diagram which shows the control system of a harvester. It is a figure which shows an example of the agricultural field information containing the information of estimated harvest amount. It is a figure explaining from the planting to the harvest of sugarcane seedlings. (A) is the figure which shows the seed millet planted in the field, (B) is the figure which shows the sugarcane which sprouted from the seed millet, (C) is the figure which shows the sugarcane from which the side branch grew from the seed millet (D) is a diagram showing sugarcane with side branches growing and stems growing, and (E) is a diagram showing sugarcane grown before harvesting. It is a figure explaining stocking of sugarcane. (A) is a diagram showing a root stock that is left in the ground and rooted, (B) is a diagram showing a sugarcane that has sprouted from the root stock, and (C) is a sugarcane that has a side branch grown from the root stock. FIG. It is a figure which shows an example of arrangement | positioning of the harvester preset with respect to several agricultural fields, and arrangement | positioning of the conveyance vehicle for every time corresponding to this. It is a figure which shows the condition of arrangement | positioning of the conveyance vehicle at the time of the start of a harvesting operation, ie, 9:00 shown in FIG. It is a figure which shows the condition of the dispatch of the transport vehicle when 90 minutes have passed since the start of the harvesting operation, that is, at 10:30 shown in FIG. It is a figure which shows the condition of the dispatch of a transport vehicle at the time of 240 minutes including 60-minute interruption from the start of a harvesting operation, ie, the time of 13:00 shown in FIG. It is a figure which shows the condition of the dispatch of the transport vehicle at the time of 330 minutes progress including the interruption for 60 minutes from the start of a harvesting operation, ie, 14:30 shown in FIG. It is a figure which shows the condition of the dispatch of the transport vehicle at the time of 420 minutes progress including the interruption for 60 minutes from the start of a harvesting operation, ie, 16:00 shown in FIG. It is a flowchart which shows the control which corrects the dispatch of a transport vehicle based on the information of the actual harvest amount of a harvester.

First, the overall structure of a harvester 1 (hereinafter referred to as harvester 1) as a harvester will be described with reference to FIGS. In addition, the front-back direction of the harvester 1 is prescribed | regulated by making F direction in a figure into the front.

The harvesting machine 1 supports the body frame 30 on the crawler type traveling device 10 as a traveling device, and serves as a traveling unit. A pair of left and right crop dividers 2 are disposed at the front of the body frame 30 via the lifting link mechanism 12. The traveling device may be a wheel type. Crop divider 2 pulls into the plane, causing sugar cane.

Side cutters

16 and 16 are provided above the pair of left and right crop dividers 2. In this way, the side cutter 16 cuts the upper portion of the ridges that are intertwined when scraped by the pair of left and right crop dividers 2.

Also, the top cutter 17 protrudes forward from the upper part of the cutting part mounting frame 34, and the upper part of the sugar cane is disposed so as to be cut.

At the rear of the crop divider 2, a scraping rotor 13, a base cutter 3, and a front transport device 4 are supported by a front transport frame 14. A pair of left and right front transport frames 14 are provided, and a rear portion thereof is pivotally supported by a machine frame 30 at a front end position of a rear transport device 5 described later so as to be rotatable up and down. A hydraulic cylinder is interposed between the front portion of the front conveyance frame 14 and the body frame 30, and the height of the base cutter 3 and the take-in rotor 13 can be adjusted by extending and contracting the hydraulic cylinder.

Thus, the crop divider 2, the side cutter 16, the base cutter 3, and the top cutter 17 serving as a cutting device are arranged in front of the traveling unit so as to protrude forward, and the weeds are cropped by the crop divider 2 to the upper part of the sugarcane cocoon. Both the left and right sides are cut and scraped by the rotation of the scraping rotor 13, and the stock is cut by the base cutter 3 and at the same time the lower end (root) of the heel is flipped up. The sugarcane that has been bounced up is drawn from the base into the front conveying device 4 disposed immediately after that, and is sent obliquely rearward and upward by the front conveying device 4.

The rear part of the front conveying device 4 is located at the front lower part of the rear conveying device 5. The sugar cane after being cut by the base cutter 3 is sent rearward by the front conveying device 4, inherited by the rear conveying device 5, and conveyed obliquely rearward and upward.

A chopping device 6 is disposed at the rear of the rear conveying device 5. The chopping device 6 includes a cutter and a jump roller. The cutter has a blade blade fixed on a pair of upper and lower cutter shafts having an axial center in the left-right direction, and is chopped when the sugar cane passes between the upper and lower blade blades rotating. The jumping roller fixes a jumping blade on a rotating shaft having a pair of upper and lower left and right axial centers, and is disposed above the cutter. And by rotating the upper and lower shafts in directions opposite to each other, the chopped sugar cane is forced to jump up and backward. A diffusion rotor is disposed at the rear of the spring-out roller. The diffusion rotor allows sugarcane stems and leaves after being shredded to diffuse upward. In addition, it can also be set as the structure directly thrown into the wind selection apparatus 7 mentioned later, after cut | disconnecting with a cutter, without providing a jump roller and a spreading | diffusion rotor.

The wind selection device 7 includes a blower case 7a provided at the upper rear portion of the chopping device 6 and a blower 7b accommodated in the blower case 7a. The lower and upper sides of the blower case 7a are opened, the lower part of the blower case 7a is communicated with the chopping device 6, and the upper side serves as a discharge port for leaves and dust. The blower case 7a can be rotated about the vertical axis, and the discharge direction can be changed. The blower 7b is housed in the blower case 7a with the vertical direction as the axis, and by rotating the blower 7b, a high-speed air flow from the bottom to the top is generated and diffused by the rotation of the diffusion rotor. Leaves and dust are sucked upward so that they can be discharged to the side or rear, and the heavy stem falls onto a hopper 18 provided at the lower part of the lower discharge conveyor 8.

The lower part of the discharge conveyor 8 is supported on a swivel base 20 provided at the rear part of the body frame 30, and the discharge conveyor 8 is supported on the swivel base 20 so as to be rotatable left and right about the vertical direction. The discharge conveyor 8 can be rotated left and right by operating a hydraulic motor, and the discharge direction can be changed.

As shown in FIG. 2, during the harvesting operation by the harvester 1, the transport vehicle 11 runs side by side, and the discharge direction of the discharge conveyor 8 is changed so that the discharge portion of the discharge conveyor 8 faces the loading platform 11 a of the transport vehicle 11. The harvested product is discharged to the transport vehicle 11 while performing the cutting operation.

As shown in FIG. 1, a harvest amount detecting means 120 is disposed on the front surface of the discharge conveyor 8, and a deflector 15 is provided at the upper exit of the rear end of the discharge conveyor 8, so that the falling direction can be changed. Yes.

Further, an engine 50 is arranged above the rear part of the front conveying device 4 at the front and rear center of the body frame 30, and the engine 50 is arranged so that the crankshaft is in the left-right direction. A cooling fan is provided at one end of the crankshaft to cool the intercooler 64 and the radiator 65 (both see FIG. 2), and a plurality of hydraulic pumps 66 (see FIG. 2) are linked to the other end of the crankshaft. To be driven.

In the discharge conveyor 8, a driving roller 111 is disposed at the lower part between the left and right conveying

frames

110 and 110, a driven roller 112 is disposed at the upper part, and the left and right conveying

chains

113 and 110 are disposed between the driving roller 111 and the driven roller 112. 113 is wound. A

partition plate

114, 114,... Is attached between the left and

right transport chains

113 and 113 at a predetermined interval to form a transport body. A conveyance bottom plate (not shown) serving as a conveyance surface is installed between the conveyance frames 110 and 110. Thus, a slat conveyor is formed. In addition, many slits are formed in a conveyance bottom plate, and it is comprised so that dust etc. can be dropped from this slit.

In the space surrounded by the conveyance bottom plate and the partition plate 114, sugar cane that is to be conveyed is stored, and the conveyance chain 113 is rotated so that the conveyance can be conveyed. However, the slat conveyor can be configured by standing a partition plate on an endless belt, and the configuration is not limited.

The harvest amount detection means 120 serving as a harvest amount detection device for detecting the transport amount of the transported object is arranged in the transport process of the discharge conveyor 8. The harvest amount detection means 120 is covered with a protective cover to prevent intrusion of dust and the like and to prevent breakage. The protective cover is constituted by a shade 121, and the shade 121 covers the periphery on the opposite side (front upper side) of the harvest amount detection means 120.

The harvest amount detection means 120 is constituted by a distance sensor, and a laser displacement meter 122 (see FIG. 3) serves as a plurality of (in the present embodiment, five (one shown in the figure)) distance sensors in the left-right direction (discharge conveyor). 8 in the width direction) with a predetermined interval. The laser displacement meter 122 detects the height (in other words, the layer thickness) of sugarcane that passes over the conveyance surface. However, the distance sensor may be composed of an ultrasonic sensor or the like. The volume of the harvested sugarcane is calculated based on the cross-sectional area obtained from each height from the conveyance surface, the conveyance speed, and the conveyance time.

Thus, the sugarcane that has been shredded and wind-selected is dropped onto the lower portion of the discharge conveyor 8 by the hopper 18, and is conveyed upward by the discharge conveyor 8. At the time of the upward conveyance, the chopped sugarcane bundles are unwound by vibration, so that the thickness of the sugarcane bundles to be conveyed is suppressed. The sugarcane volume, that is, the harvested amount, is detected by the harvested amount detecting means 120 at a position higher than the wind sorting device 7. Sugarcane is thrown into the loading platform 11a (see FIG. 2) of the transport vehicle 11 after the harvest amount is detected. That is, the amount of sugarcane harvested is detected as the amount discharged to the transport vehicle 11.

Next, the control device 80 of the harvester 1 will be described.

The harvesting machine 1 has an information network in various places so that it can exert its maximum performance. Specifically, each configuration of the harvester 1 constitutes a controller area network (CAN) that can share information with each other.

As shown in FIG. 3, the control device 80 has a processing unit 81 formed of a microcomputer such as a CPU and a storage unit 82 such as a ROM, RAM, hard disk drive, flash memory or the like. The processing unit 81 can execute a program stored in the ROM after reading the program on the RAM. Further, the control device 80 controls the operation of various components by causing the processing unit 81 to execute a control program. Specifically, transmission / reception of information at the time of communication, various input / output controls, control of arithmetic processing, and the like are performed.

The harvesting machine 1 includes a plurality of laser displacement meters 122 and a traveling speed sensor 102 as a configuration on the input side of the control device 80. As described above, the laser displacement meter 122 detects the sugarcane layer thickness on the transport surface of the discharge conveyor 8 as the amount of sugarcane harvested. The traveling speed sensor 102 detects the traveling speed of the harvester 1. A signal from each sensor is transmitted to the control device 80. As the traveling speed sensor 102, a sensor having a known configuration can be used.

The control device 80 controls each component so that the harvesting machine 1 performs a predetermined operation in the field based on the operation of the boarding operator. In other words, the operation of each component described above is controlled by the control device 80.

The control device 80 calculates or derives the harvest amount per unit time or the harvest amount per unit travel distance based on the traveling speed information and the harvest amount information among the transmitted signals. From the control device 80, information on the harvest amount detected by the harvest amount detection means 120 as the actual harvest amount is transmitted every predetermined time. The control device 80 calculates the yield per unit time or unit travel distance based on the detected yield. Further, the control device 80 may transmit information on the harvest amount per unit time or the harvest amount per unit travel distance every predetermined time, and transmits the accumulated harvest amount information every predetermined time. May be.

The control device 80 has a communication unit 83. The communication unit 83 has a function of communicating with an external configuration of the harvester 1. The control device 80 can communicate with a vehicle such as another harvester 1 through the communication unit 83, and further includes a communication device including the communication unit 83. 80 can communicate with a transport vehicle 11 (see FIG. 2) that transports the harvest from the field, a portable terminal (not shown) possessed by a driver of the transport vehicle 11 and the like via a communication network.

The communication unit 83 and the mobile terminal of the control device 80 are connected to a server via a network (none is shown). The network communicates information with a server, a plurality of portable terminals, a communication device of the plurality of transport vehicles 11, and a communication device of the plurality of harvesters 1. In a system including a server, one or more portable terminals, one or more communication devices of a transport vehicle 11, and a communication device (that is, the communication unit 83) provided in each of the one or more harvesters 1, the harvester 1, The transport vehicle 11 and the mobile terminal are remotely monitored by a server.

According to such remote monitoring, the use states of the mobile terminal, the transport vehicle 11 and the harvester 1 can be confirmed on the server. The usage state corresponds to a power on / off state of each mobile terminal and a key on / off state of each transport vehicle 11. In addition, the harvesting machine 1 is used in a state in which the key of each harvesting machine 1 is turned on or off, the operating state of each component of the harvesting machine 1, the harvesting amount per unit time or the harvesting amount per unit travel distance. The discharge amount of the harvested product to the transport vehicle 11, that is, the detection by the harvester detection means 120, and the like are applicable.

Also, each transport vehicle 11, each harvester 1, and each portable terminal obtains position information using GPS. A signal including each position information is transmitted to the server via each base station and the network, and the server acquires and accumulates each position information. The vehicle allocation system of the present invention is based on the information transmitted from each harvester 1, each transporter 11 and each portable terminal to the server, and the position of each harvester 1, each transporter 11, and each portable terminal The usage status can be recognized.

Next, the field information FI input in advance in the vehicle allocation system of the present invention will be described. The field information FI may be stored in a terminal device such as a personal computer storing a vehicle allocation system as a program or the control device 80 of each harvester 1, and each harvester 1, each transport vehicle 11, and You may store in the memory area of the server which communicates via the network with the portable terminal which the driver of each transport vehicle 11 has.

FIG. 4 shows an example of the field information FI including the cultivation condition information CI. The field information FI includes information on the area of each field, information on the distance between each field and the factory (specifically, sugar factory), information on the expected harvest amount in each field, and cultivation condition information CI. The cultivation condition information CI is obtained by quantifying the cultivation conditions of sugarcane as a crop in each field, and is set in advance for each field.

In the present embodiment, the field information FI is set for the three fields A to C included in the group I. Other farm fields (not shown) excluding the farm fields A to C are further divided into different groups. Each group represents a grouping of harvesting operations. That is, each group is responsible for harvesting the fields A, B, and C, and a plurality of transporters dispatched to these

harvesters

1A, 1B, and 1C (see FIG. 8). A combination with the car 11 is shown. In another group (not shown), a plurality of harvesters 1 each responsible for harvesting each field and a plurality of transport vehicles 11 dispatched to each harvester 1 are combined.

As the distance between each field and the factory, “20 km” for the field A, “14 km” for the field B, and “5 km” for the field C are input. The transport vehicle 11 carries the harvested product, that is, the chopped sugar cane, on the loading platform 11a and then transports it to the sugar factory. The distance is the distance of the route on which the transport vehicle 11 travels as a distance connecting the factory where the harvest is accumulated and each field, but may be a linear distance.

As the area of each field, “5.6 ha (ha)” is input for the field A, “3.8 ha” for the field B, and “4.2 ha” for the field C. ing.

The estimated harvest amount represents the total harvest amount (t / field) for each field. As the expected harvest amount of each field, “460 t” for the field A, “210 t” for the field B, and “220 t” for the field C are input. The expected harvest amount of each field is set according to the cultivation conditions of the crop to be harvested in addition to the area of the field. It should be noted that by using samples extracted for each predetermined block or line in the field, or by using satellite photographs, drones, etc., the expected harvest amount may be subdivided for each predetermined block or line. Good.

Cultivation condition information CI includes sugarcane harvest year information, planting position information, filter cake fertilizer information, nitrogen (N) fertilizer application amount information, medical history information, groundwater level information, Contains field environment information and soil quality information.

As the harvest year information, a coefficient corresponding to the planting year from the new stock is entered in the cultivation condition information CI. “1” and “2” in the table represent the years in the first and second years, respectively, as the number of years since sugarcane planting. The first year represents that the sugarcane to be harvested was planted from a new strain. In the fields where sugarcane is planted with a small number of stockings and a few years after the seedling planting, the expected yield is set to be increased.

Hereafter, planting of sugarcane seedlings (seed millet) and stocking will be explained. As is well known, straining refers to a method in which sugarcane grown from seedlings is once harvested and then germinated from the remaining root stock.

As shown in FIG. 5 (A), a substantially trapezoidal groove 91 and embankments 93 raised on both sides of the edge of the groove 91 are formed on the ground by an operation by a sugarcane transplanter (not shown). Further, seed millet 90 cut every length of one or more nodes is placed on the bottom surface 92 of the groove 91 so as to be aligned in order along the groove 91. Further, fertilizer is planted around the seed millet 90.

Then, the embankment 93 is put on the seed millet 90 and then pressed. In this way, various millets 90 are buried at a substantially constant depth along the groove 91 in the ground. Sugarcane newly planted in the ground in this way is called a new strain.

As shown in FIG. 5 (B), the planted seed millet 90 has roots that sprout from the soil while the roots are budding. During this cultivation period, rooting is promoted by soil cultivation and fertilization. Furthermore, as shown in FIG. 5 (C), the bud grows and side branches are generated one after the other, from the second order to the third order.

As shown in FIG. 5 (D), side branches occur one after another, the stems grow, and sugarcane grows. As shown in FIG. 5E, sugarcane is cut and harvested when it grows to a predetermined height.

As shown in FIG. 6 (A), after the harvesting operation, the stock selection is performed while removing the hakama (dead leaves) on the straw. At this time, the stock remaining after cutting is cut at a predetermined depth or a predetermined height from the ground surface.

Also, root cutting is performed at the same time as stock selection. After the emergence is confirmed, root cutting is performed and further fertilization work is performed. The old roots are cut by root cutting to promote the generation of new roots, and fertilizer is applied in a streak shape at the root cutting position. During the cultivation period, the soil on both sides of the groove is brought closer to the stock side, thereby promoting rooting in the ground.

As shown in FIG. 6 (B), it will sprout from this old strain (root strain). In addition, as shown in FIG. 6C, buds grow and side branches are generated one after another. Thus, the sugarcane in the second year grown from the old strain can also be grown to a predetermined height as shown in FIGS. 5 (D) and 5 (E). Then, after harvesting, as in the previous year, stock selection, root cutting and cultivation are performed. In the third year, stocks are stocked, rooted, and cultivated in the same way. After harvesting sugar cane in the third year, old stocks are dug up and the transplanting operation described above is performed, and the above is repeated every predetermined number of years.

Depending on the cultivation conditions such as varieties, soil, field environment, etc., or depending on the skill level of the field manager, the number of years in which old stocks are dug up and replanted with new strains is 2 years (ie, the number of stocks is one). Alternatively, it may be four years (that is, the number of stocks is three).

The number of first stock placement corresponds to the strain that has been cultivated for the second year from the new strain, and the second number of stock placement corresponds to the strain that has been cultivated for the third year from the new strain. In other words, sugarcane with a harvest year of “1” corresponds to that of a new strain, and sugarcane with a harvest year of “2” corresponds to that with the first number of stocks. Although not shown in the figure, sugarcane whose harvest year is “3” corresponds to the second stocking.

Also, as the planting position information, the cultivation condition information CI is inputted with the coefficients set in two stages, shallow and deep, in numerical values. However, as the planting position information, the numerical value of the actual depth from the ground surface to the seedling may be digitized and input. In fields where sugarcane is planted and the sugarcane is expected to have a wide (high) root area in the soil, the expected yield is likely to be increased.

As shown in FIG. 4, in the cultivation condition information CI, information on whether or not there is application of filter cake in each field is input as filter cake information.

The filter cake is made by adsorbing impurities in the pressed juice to lime and bagasse. The harvested sugarcane is finely crushed and squeezed with a squeezer to separate into pressed juice and bagasse. Of these, “bagasse” refers to “squeezed” sugar cane. When lime is added to one “pressed juice” and heated, impurities precipitate and can be removed. Of the precipitated components, the one remaining after filtration becomes the filter cake. As is well known, brown sugar is produced from a “filtrate” that has been precipitated from impurities.

The cultivation condition information CI includes information on whether or not such a filter cake is applied to each field as fermentation compost. In fields where filter cake is applied to each strip after planting seedlings (seed millet), the expected yield is set to increase.

As the amount of nitrogen (N) fertilizer application, the amount of nitrogen fertilizer sprayed on the field is quantified and input in the cultivation condition information CI. In this example, information of a constant value “60 kg / 10a”, that is, information indicating that 60 kg of nitrogen fertilizer is sprayed per 10 a (R) is input to each field.

As information on the medical history, information on whether or not the currently planted plant has a medical history is input to the cultivation condition information CI. It is set so that the expected yield is discounted in the field where a plant with a history is planted.

As the groundwater level information, coefficients set in three stages of high, medium, and low are digitized and input in the cultivation condition information CI. In the table, only “High” is described. However, as the groundwater level information, an actual numerical value of the groundwater level may be digitized and input. In the field in the dry paddy field, when the groundwater level is high, the expected yield is set to be increased. Also, in fields where drainage is poor, where drainage remains for a relatively long time after rainfall, or in lowland fields, the expected yield is high when the groundwater level is high, taking into account poor growth due to moisture damage and lack of oxygen. Is set to tend to be discounted. As described above, according to the cultivation condition information CI, an appropriate correction value can be added to the expected yield based on the balance between the groundwater level, the field environment, and the soil quality.

As the field environment information and the soil quality information, the cultivation condition information CI is inputted with the coefficients set in three stages of excellent, good, and good values. The coefficient indicating “OK” not described in the table is also included in the field environment information and the soil quality information. Information on the field environment includes artificially quantified factors including the presence / absence of slopes in the field, the number of slopes, good and bad sunlight, the sea level of the field (elevated or low), the shape of the field, etc. Is entered.

As described above, based on the harvest amount of each field predicted as the expected harvest amount, the dispatch system determines the optimum combination of the harvester 1 and the transport vehicle 11, and the harvester 1 and the transport vehicle 11 for each field are determined. Is set up.

Specifically, the dispatch system calculates the expected harvest amount for the entire group I, which is the sum of the expected harvest amounts for each field. Furthermore, the vehicle allocation system spends on the harvesting work according to the expected harvest amount of the entire group I and the harvesting capacity of each harvester 1 (for example, the harvesting speed per unit time or unit travel distance). The number of harvesting machines 1 required within a predetermined time is calculated.

The vehicle allocation system determines the number of transport vehicles 11 that can load the amount harvested by each harvester 1 within a predetermined time according to the loadable capacity of each transport vehicle 11 and the harvesting capacity of each harvester 1. Calculate every one. Information on the loading capacity of each transport vehicle 11 is input in advance in the storage area of the dispatch system. Furthermore, the vehicle allocation system sets the arrangement of the transport vehicles 11 within a predetermined time based on the distance from each field to the factory and the loadable capacity of each transport vehicle 11. In this way, the vehicle allocation system sets the arrangement of the harvester 1 and the arrangement of the transport vehicle 11 corresponding to the arrangement of the harvester 1 based on the information on the expected harvest amount.

FIG. 7 shows an example of the arrangement of the harvesting machines 1 set in advance for a plurality of fields and the arrangement of the transport vehicles 11 corresponding to each time.

FIG. 7 is an example of dispatch of the harvester 1 and the transport vehicle 11 for an arbitrary day during the harvest period. In this example, each of the farm fields A, B, and C is divided into three fields. It is operated by the harvester 1 arranged one by one and seven transport vehicles 11 for transporting sugarcane harvested by each harvester 1 from the field. On that day, harvesting starts at 9 o'clock and continues until 17:30.

According to this example, three transport vehicles 11 of No. 1, No. 4, No. 4 and No. 5 run alongside the harvester 1 in 90 minutes from 9 o'clock to 10:30 for each of the three fields. It is set to carry out harvesting work. It is predicted that the loading capacity of No. 1, No. 4, No. 5 and No. 5 loading sugar cane harvested and harvested at a constant speed will reach full load after 90 minutes. That is, the work end time of the first car, the fourth car, and the fifth car in each field is set to 10:30. FIG. 8 shows the state of the arrangement of the transport vehicle 11 at 9 o'clock among the set placement of the transport vehicle 11.

As shown in FIG. 8, during this time period, Car No. 1 runs alongside the harvester 1A and is responsible for loading the crop in the field A, and Car No. 4 runs alongside the harvester 1B and loads the harvest from the field B. Car No. 5 is in charge of loading harvested items in the field C along with the harvester 1C.

In this time zone, the second car waits until the next time zone inside and outside the field A, the third car waits until the next time zone inside and outside the field B, and the sixth car follows the next time inside and outside the field C. Wait until the belt. Car 7 is not assigned a field in charge until this time zone and the next time zone.

As shown in FIG. 7, after 90 minutes have passed since 9 o'clock, the first car is set with a time zone in which the first car moves from the field A to the factory and further from the factory to the field A. In addition, a time zone in which the fourth car moves from the field B to the factory and further moves from the factory to the field A is set for the fourth car. In the fifth car, a time zone in which the fifth car moves from the field C to the factory and further moves from the factory to the field A is set. The first car is set to wait in and out of the field A from 14:30. However, since the first car is set to take charge of the harvest of the field A from 16:00, the return to the field A is allowed from 14:30 to 90 minutes. Car No. 4 is set to wait in and out of the field A from 13:00. However, since Car 4 is set to take charge of the harvest of the field A from 14:30, return to the field A is allowed between 13:00 and 90 minutes. Car No. 5 is set to take charge of the harvest of the field A from 13:00.

As the next time zone, during the 90 minutes from 10:30 to 12:00, the three transport vehicles 11 of No. 2, No. 3, No. 6 and No. 6 will run alongside the harvester 1 and carry out harvesting work. Is set. Cars No. 2, No. 3, No. 6 and No. 6 carrying sugar cane harvested and harvested at a constant speed are also expected to reach full load after 90 minutes. In FIG. 9, the arrangement | positioning condition of the transport vehicle 11 in 10:30 is shown among arrangement | positioning of the transport vehicle 11 set.

As shown in FIG. 9, during this time period, the second car inherited from the first car runs alongside the harvester 1A and takes charge of the harvest of the field A, and the third car inherited from the fourth car is the harvester 1B. Car 6 runs side by side and loads the harvest on field B, and car 6 inherited from car 5 runs alongside harvester 1C and handles the harvest of field C.

Also, as each transport vehicle 11 that was fully loaded in the previous time zone, the first car, the fourth car, and the fifth car move away from each field to the factory and discharge the harvest. Car 7 is not assigned a field in charge during this time.

As shown in FIG. 7, after 90 minutes have passed since 10:30, the second car is set with a time zone in which the second car moves from the field A to the factory and further from the factory to the field B. In addition, a time zone in which the third car moves from the field B to the factory and further moves from the factory to the field B is set for the third car. In the sixth car, a time zone in which the sixth car moves from the field C to the factory and further moves from the factory to the field C is set. Car 2 is set to take charge of the harvest of the field B from 14:30. The third car is set to wait in and out of the field B from 14:30. However, since Car 3 is set to take charge of the harvest of the field B from 16:00, return to the field B is allowed between 14:30 and 90 minutes. The No. 6 car is set to take charge of the harvest of the field C from 14:30.

As shown in FIG. 7, in the time schedule of the day, it is set that the harvesting work in each of the fields A, B, and C is interrupted for one hour from 12:00 to 13:00.

During the 90 minutes from 13:00 to 14:30 as the next time period after the interruption, the two transport vehicles 11 of No. 5 and No. 7 run alongside the harvester 1 and carry out harvesting work. Is set. Car 7 is set to take charge of the harvest from 13:00 on the field C. In other words, it is predicted that the loading capacity of Car No. 7 carrying sugarcane that is cut and harvested at a constant speed will reach full load after 90 minutes. In the field B, the harvesting operation is set to be interrupted during the time period from 13:00 to 14:30. In FIG. 10, the arrangement | positioning condition of the conveyance vehicle 11 in 13:00 is shown among arrangement | positioning of the conveyance vehicle 11 set.

As shown in FIG. 10, during this time period, Car No. 5 returning from the factory after carrying out unloading and the like is running in parallel with the harvesting machine 1A and is responsible for loading the harvested items in the field A, and Car No. 7 is the harvesting machine 1C. Run in parallel and take charge of the harvest of the field C.

In addition, as each transport vehicle 11 that is fully loaded in each of the previous time zones, the first car, the second car, the third car, and the sixth car are separated from each farm field. In the figure, the fourth car is waiting in and out of the field A on the premise that the return to the field A has been completed by 13:00. However, the setting for car No. 4 is allowed to return to the field A by 14:30 as the next time zone.

As shown in FIG. 7, after 90 minutes have passed since 13:00, a time zone is set for Car No. 7 where Car No. 7 moves from the field C to the factory and further moves from the factory to the field C. Car 7 is set to take charge of the harvest of the field C from 16:30. After 90 minutes have passed since 13:00, the field in charge in the subsequent time zone is not set in the fifth car. The time zone after 90 minutes has passed since 13:00 can be used for the time for the fifth car to move from the field A to the factory and to discharge the harvest.

Furthermore, as the next time zone, during the 90 minutes from 14:30 to 16:00, three transport vehicles 11 of No. 2, No. 4, No. 6 and No. 6 will run alongside the harvester 1 and carry out harvesting work. Is set. In FIG. 11, the arrangement | positioning condition of the conveyance vehicle 11 in 14:30 is shown among arrangement | positioning of the conveyance vehicle 11 set.

As shown in FIG. 11, during this time period, Car No. 2 returning from the factory after carrying out unloading, etc. runs in parallel with the harvesting machine 1B, takes charge of the harvest of the field B, and waits after returning from the factory. Car No. 4, which was running alongside the harvesting machine 1A, was responsible for loading the harvest on the field A, and car No. 6 returning from the factory was running alongside the harvesting machine 1C and was responsible for loading the harvesting on the field C.

In addition, as each transport vehicle 11 that is fully loaded in each of the previous time zones, Car No. 5 and Car No. 7 move away from each field to the factory and discharge the harvest. In the figure, on the assumption that the return to the field A or the field B is completed by 14:30, the first car stands by inside and outside the field A, and the third car inside and outside the field B. Is waiting. However, the settings for the first car and the third car are permitted to return to the field A or the field B by 16:00 as the next time zone.

As shown in FIG. 7, after 90 minutes have passed since 14:30, the fields in charge in the subsequent time zones are not set for the second car, the fourth car, and the sixth car. After 90 minutes from 14:30, the time for Car 2 to move from field B to the factory, Car 4 from field A to the factory, and Car 6 from field C to the factory to drain the harvest Can be used.

Furthermore, as the next time zone, two transport vehicles 11 of No. 1 and No. 3 carry out the harvesting work in parallel with the harvester 1 during 90 minutes from 16:00 to 17:30. Is set. In addition, it is set that Car No. 7 runs alongside the harvester 1 from 16:30 to carry out the harvesting operation. In FIG. 12, the arrangement | positioning condition of the conveyance vehicle 11 in 16:00 is shown among arrangement | positioning of the conveyance vehicle 11 set.

As shown in FIG. 12, during this time period, Car No. 3, which had been waiting after returning from the factory after carrying out unloading, etc., was running in parallel with the harvester 1B and was responsible for loading the harvest in the field B and returned from the factory. Car No. 1 that was waiting after running in parallel with the harvesting machine 1A is responsible for loading the harvested product in the field A.

In addition, as the transport vehicles 11 that are fully loaded in each of the previous time zones, the second car, the fourth car, the fifth car, the sixth car, and the seventh car are separated from each field. Even if Car 7 is set to run alongside the harvesting machine 1C from 16:30 and take charge of the harvest of the field C, it will return to the field C after 16:00 and earlier than 16:30. If it is, the loading can be started as soon as it returns to the field C.

As shown in FIG. 7, after 90 minutes have passed since 16:00, and after 60 minutes have passed since 16:30, the fields in charge in the subsequent time zones have been set for the first car, the third car, and the seventh car. Absent. The time zone after 90 minutes from 16:00 is allocated to the time for car 1 to move from field A to the factory, car 3 from field B to the factory, and car 7 from field C to the factory to discharge the harvest. be able to.

There is a situation where a difference occurs between the expected harvest amount and the actual harvest amount when the harvesting and harvesting operations are actually performed with respect to the arrangement of the harvesting machine 1 and the arrangement of the transport vehicle 11 set as described above. appear. In such a case, the vehicle allocation system corrects the arrangement of the harvester 1 and the arrangement of the transport vehicle 11 that have been set. Hereinafter, based on the information on the actual harvest amount of the harvester 1, control for correcting the allocation of the transport vehicle 11 on the day will be described.

As shown in FIG. 13, in step S <b> 1, the dispatch system acquires information on the actual harvest amount and position information from each harvester 1 at predetermined time intervals.

In step S2, the vehicle allocation system acquires position information from each transport vehicle 11 every predetermined time.

In step S <b> 3, the vehicle allocation system, based on the acquired information on the actual harvest amount and the information on the loading capacity for each transport vehicle 11 that has been input in advance, each transport vehicle 11 that is currently in charge of loading the harvest. The time when the load of the vehicle reaches full load (referred to as “full load arrival time”) is calculated.

In step S4, the vehicle allocation system calculates the time difference between the predicted work end time of each transport vehicle 11 and the full arrival time.

In step S5, the vehicle allocation system determines whether or not the calculated time difference is within a predetermined time. Here, when the time difference is within the predetermined time, the step proceeds to step S6, and when the time difference is not less than the predetermined time, the step proceeds to step S8.

In step S6, the vehicle allocation system resets the calculated full prediction time as the work end time of each transport vehicle 11. The work end time that is reset here represents a deviation before and after the return time to each field, without changing the next destination of each transport vehicle 11 on that day.

In step S7, the dispatch system notifies each transport vehicle 11 of the reset work end time. This notification may be in the form of an operator operating the harvester 1 contacting the driver of the transport vehicle 11 or the communication device of the transport vehicle 11 using the communication device or the portable terminal of the harvester 1. For example, the harvesting machine 1 is provided with a display device such as a display or an audio output device in the cabin of the harvesting machine 1. The operator can recognize that the predicted work end time has been reset by display on the display device or output of voice or the like.

On the other hand, in step S8, the dispatch system allocates the next day of the transport vehicle 11 that is responsible for loading in each field based on the loadable capacity of each transport vehicle 11, the estimated load time, and the position of each transport vehicle 11. Is changed, the vehicle allocation of each transport vehicle 11 set in advance is corrected.

In step S9, the vehicle allocation system notifies each vehicle 11 of the corrected allocation of each vehicle 11 and the calculated estimated full time. In addition, this notification may be implemented only with respect to the transport vehicle 11 for which correction is requested, or may be performed with respect to each transport vehicle 11 in the corresponding group. In addition, as in the notification in step S7, the operator who operates the harvester 1 uses the communication device or the portable terminal of the harvester 1 to contact the driver of the transport vehicle 11 or the communication device of the transport vehicle 11 as in the notification in step S7. It may be a form to do. The harvesting machine 1 has a configuration for allowing the operator to recognize that the predicted work end time has been reset by the display on the display device or the output of sound or the like and that the dispatch of the transport vehicle 11 has been corrected. I have.

As control for correcting the allocation of the transport vehicle 11 based on the information of the actual harvest amount of the harvester 1, the arrangement of the harvester 1 is corrected together with the allocation of the transport vehicle 11 according to the difference between the expected harvest amount and the actual harvest amount. Control may be performed. That is, the dispatch system calculates a difference between the expected harvest amount and the actual harvest amount based on the information on the actual harvest amount transmitted from each harvesting machine 1 and the information on the expected harvest amount input in advance. The allocation of the harvester 1 and the transport vehicle 11 after the next day is corrected according to the difference. It is assumed that the difference between the expected harvest amount and the actual harvest amount is a difference between each field or each group or both. In addition, the allocation of the harvesting machine 1 and the transport vehicle 11 to be corrected may be from the next year onward, or may be the current day.

The vehicle allocation system adds information on the actual yield to the information on the field information FI, and updates the information on the field information FI. Thus, the accuracy of prediction can be improved by reflecting the information of the actual harvest amount this time in the information of the field information FI used for the subsequent harvesting work. Furthermore, since the harvesting machine 1 and the transport vehicle 11 can be dispatched more accurately after improving the prediction accuracy in this way, the efficiency of the harvesting work after the next time can be further increased.

In addition, the dispatch system stores the dispatch information of the transport vehicle 11 that has been corrected as described above. Thus, by storing and updating the information on the allocation of the modified transport vehicle 11, the information can always be kept up-to-date and optimal.

The present invention relates to the allocation of a harvester and a transporter that sets the arrangement of harvesters that harvest crops and the dispatch of a transporter that transports the crops from the field, based on information on a preset expected harvest amount. Available to the system.

1 Harvester 11 Transport Vehicle CI Cultivation Condition Information FI Field Information

Claims

It is a dispatching system between a harvester and a transporter that sets the arrangement of the harvester that harvests the crop and the dispatch of the transporter that transports the crop from the field based on the information of the expected harvest amount that is set in advance. ,
The dispatch system is characterized in that the estimated harvest amount is set according to the cultivation conditions of the crop to be harvested.
The vehicle allocation system according to claim 1, wherein the vehicle allocation is corrected based on information on an actual harvest amount of the harvester.
The vehicle allocation system has information on the loading capacity of each transport vehicle in advance, and acquires position information of each transport vehicle,
Based on the information on the actual yield and the information on the load capacity, the time when the load of the transport vehicle reaches full load is calculated, and the transport vehicle is determined according to the calculation result, the information on the load capacity, and the position information. The vehicle allocation system according to claim 2, wherein the vehicle allocation is corrected.