WO2019044304A1

WO2019044304A1 - Harvesting work region-specifying apparatus

Info

Publication number: WO2019044304A1
Application number: PCT/JP2018/028150
Authority: WO
Inventors: 英樹三谷; 昌紀奥山
Original assignee: ヤンマー株式会社
Priority date: 2017-08-30
Filing date: 2018-07-26
Publication date: 2019-03-07
Also published as: JP6767950B2; CN110996652B; CN110996652A; JP2019041613A

Abstract

An information analysis section comprises: a work state-determining part for determining whether or not a harvester (harvesting machine) is in harvesting work state at various timepoints on the basis of information on yield of a crop harvested by the harvester at each timepoint; a work period-specifying part for specifying the period of harvesting work by the harvester on the basis of the determination results of the work state-determining part; and a work region-specifying part for specifying the region for harvesting work by the harvester on the basis of position information for the harvester during the harvesting work period specified by the work period-specifying part, out of position information for the harvester at each timepoint.

Description

Harvesting work area identification device

The present invention relates to a harvest work area specifying device.

In Patent Document 1, the distance of the working section of the agricultural work by the agricultural machine is calculated based on a series of position data representing the movement trajectory of the agricultural machine, and the calculated work area distance is multiplied by the working width of the agricultural machine It is disclosed to calculate the work area by

Patent No. 5821970

In the method of calculating the work area described in Patent Document 1 above, since the distance of the work section is calculated without determining whether or not the agricultural machine is performing a prescribed agricultural work, the agricultural machine is performing a prescribed agricultural work The area of the non-region may also be calculated as the working area. In other words, in the invention described in Patent Document 1 described above, it is difficult to specify only the region in which the predetermined agricultural work has been performed by the agricultural machine.

An object of the present invention is to provide a harvest work area specifying device which can specify only a harvest work area where a harvest operation is performed by a harvester.

A first harvest work area specifying device according to the present invention is a harvest work area specification device for specifying a harvest work area where a harvest operation has been performed by a harvest machine for harvesting a crop, wherein The information analysis unit is configured to specify a harvest work area by the harvester by analyzing time-series information including position information and harvest time information of crops harvested by the harvester. The information analysis unit determines, based on the harvest amount information at each time, a work state determination unit that determines whether the harvest machine is in a harvest work state at each time, and a determination result of the work state determination unit. The harvesting is performed based on the working period specifying unit that specifies the harvesting work period by the harvester, and the positional information within the harvesting work period specified by the working period specifying unit among the position information for each time. It includes a work area specification unit that specifies a harvest work area by machine.

In this configuration, it is possible to identify only the harvest work area in which the harvest operation is performed by the harvester.

In one embodiment of the present invention, the harvester includes a position detection unit capable of detecting its own position information at each time, and a harvest amount measurement unit capable of measuring the harvest amount information at each time. The position information for each time is the information detected by the position detection unit, and the harvest amount information for each time is the information measured by the yield measurement unit.

A second harvest operation area specifying device according to the present invention comprises a harvester having a harvest unit for harvesting a crop, and a transport vehicle on which the crop harvested by the harvester is loaded in parallel with the harvester. A harvesting work area specifying device for specifying a harvesting work area where a harvesting work has been performed by a system, wherein position information for each time of the harvesting machine and whether the harvesting unit is in an operating state or a non-operating state The information analysis unit is configured to specify a harvest work area by the harvest system by analyzing time-series information including operation / non-operation information for each time represented and position information for each time of the transport vehicle. The information analysis unit determines whether or not the harvesting system is in a harvesting work state at each time based on the operating / non-operating information for each time and the positional information for each time of the transport vehicle Among the position information for each time of the harvester by the operation period identification unit for identifying the harvest operation period by the harvest system based on the determination unit, the determination result of the operation state determination unit, and the operation period identification unit A work area specification unit that specifies a harvest work area by the harvesting system based on position information within the identified harvest work period.

In this configuration, it is possible to identify only the harvest work area where the harvest operation has been performed by the harvester (harvest system).

In one embodiment of the present invention, the harvester detects an operation state detection unit capable of detecting at each time whether the harvester is in an operation state or a non-operation state, and detects its own position information at each time The transport vehicle includes a second position detection unit capable of detecting its own position information at each time, and the position information of the harvester at each time is: The operation / non-operation information at each time is information detected by the first position detection unit, and the position information at each time of the transport vehicle is the information detected by the operation state detection unit. It is the information detected by the 2nd position detection part.

In one embodiment of the present invention, the working state detection unit detects the on / off state of the working clutch for transmitting or cutting off the driving force of the driving source of the harvester to the harvesting unit. It includes a state detection unit.

In one embodiment of the present invention, the operation state detection unit further includes a drive source on / off state detection unit for detecting the on / off state of the drive source.

According to a third aspect of the present invention, there is provided a harvest operation area identification device comprising: a harvest system for harvesting a crop; and a harvest system comprising a transport vehicle on which the crop harvested by the harvester is loaded in parallel with the harvester. Harvesting work area specifying apparatus for specifying a harvest work area where the collection work has been performed, and analyzing time-series information including position information for each time of the harvester and position information for each time of the transport vehicle And an information analysis unit for specifying a harvest work area according to the harvest system. The information analysis unit determines whether or not the harvesting system is in a harvesting work state at each time based on position information for each time of the harvester and position information for each time of the transport vehicle Among the position information for each time of the harvester by the operation period identification unit for identifying the harvest operation period by the harvest system based on the determination unit, the determination result of the operation state determination unit, and the operation period identification unit A work area specification unit that specifies a harvest work area by the harvesting system based on position information within the identified harvest work period.

In one embodiment of the present invention, the harvester includes a first position detection unit capable of detecting its own position information every time, and the transport vehicle can detect its own position information every time A second position detection unit is provided, and the position information for each time of the harvester is the information detected by the first position detection unit, and the position information for each time of the transport vehicle is the second position It is information detected by the detection unit.

In one embodiment of the present invention, the work area identification unit further includes a work area calculation unit that calculates an area of the harvest work area. In this configuration, it is possible to calculate the area of only the harvesting work area where the harvesting work has been performed by the harvesting machine.

The above or further objects, features and effects of the present invention will be made clear by the description of the embodiments described below with reference to the accompanying drawings.

FIG. 1 is a schematic view showing a configuration of a harvesting operation information management system of a first embodiment to which a harvesting operation area specifying device according to the present invention is applied. FIG. 2 is a side view showing a schematic configuration of a harvester. FIG. 3 is a plan view showing a schematic configuration of a harvester and a track. FIG. 4 is a block diagram showing an electrical configuration of a harvester and a management server. FIG. 5 is a flowchart for explaining the operation of the information analysis unit. FIG. 6 is a schematic view showing an example of analysis target data. FIG. 7 is a schematic view showing a configuration of a harvesting operation information management system of the second embodiment. FIG. 8 is a block diagram showing an electrical configuration of a harvester, a communication terminal mounted on a truck, and a management server. FIG. 9A is a schematic view showing first time-series information received from a certain harvester and stored in the first time-series information storage unit. FIG. 9B is a schematic view showing second time-series information received from a certain track and stored in the second time-series information storage unit. FIG. 9C is a schematic view showing information on the amount of harvest stored in the yield information storage unit. FIG. 10 is a flowchart for explaining the operation of the information analysis unit. FIG. 11A is a schematic view showing first harvester data. FIG. 11B is a schematic view showing second harvester data. FIG. 11C is a schematic view showing first track data. FIG. 11D is a schematic view showing second track data. FIG. 12 is a flowchart for explaining the operation of the information analysis unit. FIG. 13A is a schematic view showing first harvester data. FIG. 13B is a schematic view showing second harvester data. FIG. 13C is a schematic view showing first track data. FIG. 13D is a schematic view showing second track data.

[1] First Embodiment FIG. 1 is a schematic view showing a configuration of a harvest operation information management system 1 of a first embodiment to which a harvest operation area specifying device according to the present invention is applied.

The harvesting work information management system 1 includes one or more harvesting machines (hereinafter referred to as harvesters 2) for harvesting crops, and a management server 4 as a harvesting work area specifying device. In this first embodiment (also in the second and third embodiments described later), the crop to be harvested is sugar cane, and the harvester 2 is a sugar cane harvester.

When the harvester 2 harvests sugar cane, a transport vehicle (hereinafter referred to as truck 3 (see FIG. 3)) runs in parallel with the harvester 2, and the sugar cane harvested by the harvester 2 is loaded on the truck 3. Then, when the load of sugar cane on the truck 3 becomes full, for example, these sugar cane are transported by the truck 3 to, for example, a sugar factory or the like. Thus, the harvest operation of sugar cane is performed by the cooperation of the harvester 2 and the track 3. That is, harvester 2 and truck 3 constitute a harvesting system for harvesting sugar cane.

The harvester 2 can communicate with the management server 4 via the communication network 6. The harvester 2 has a function of positioning its own position at predetermined time intervals using the positioning satellite 7. The harvester 2 is provided with a yield sensor 33 (see FIG. 2) for measuring the yield of harvested sugar cane. The harvester 2 transmits information such as position information for each time and harvest amount information for each time to the management server together with its identification information. In this embodiment, the harvest amount information for each time is an integrated value of the harvest amount from a certain time to that time (hereinafter referred to as “harvest integrated value information”). The harvest amount information for each time may be harvest amount information per unit time.

The management server 4 is provided in the management center 5. The management server 4 acquires position information of each harvester 2 at each time and harvest amount integrated value information for each time together with identification information of the harvester 2.

FIG. 2 is a side view showing a schematic configuration of the harvester 2. FIG. 3 is a plan view showing a schematic configuration of the harvester 2 and the track 3.

The harvester 2 includes a traveling device 11 and an airframe frame 12 supported on the traveling device 11. In this embodiment, the traveling device 11 is a crawler type, but may be a wheel type. An engine 13 as a drive source is disposed at the top of the longitudinal center of the fuselage frame 12. A pair of left and right crop dividers 14 is attached to the front of the body frame 12 so as to be able to move up and down via a lifting link mechanism 15.

The crop divider 14 includes a branching frame 14A in a backward inclination posture that inclines rearward toward the upper side, and a pair of left and right augers 14B in a rearward inclination posture disposed on the front side of the branching frame 14A. The auger 14B is rotatably supported by the branching frame 14A, and is rotationally driven by a hydraulic motor or the like (not shown) disposed on the top of the branching frame 14A. The harvester 2 is pulled into the cabin while causing sugar cane by the function of the crop divider 14.

Side cutters 16 are provided above the pair of left and right crop dividers 14. The side cutter 16 is rotationally driven by a hydraulic motor or the like (not shown), and cuts the upper portion of the interspersed sugar cane ridge when pulling in the cane with the pair of left and right crop dividers 14.

At the front end of the machine body frame 12, a reaper mounting frame 17 is provided. The elevating link mechanism 15 is disposed below the pair of upper links 15A for connecting the separating frame 14A and the reaper mounting frame 17 and below the upper link 15A, and includes the separating frame 14A and the reaper mounting frame 17 It has a pair of left and right lower links 15B to be connected. The lift link mechanism 15 further includes a lift cylinder 15C that connects the reaper mounting frame 17 and the lower link 15B, and the crop divider 14 is moved up and down as the lift cylinder 15C is extended and contracted.

At the rear of the crop divider 14, the scratching rotor 18, the base cutter 19 and the front conveyance device 20 are supported by the front conveyance frame 21. A pair of front conveyance frames 21 is provided on the left and right, and their rear portions are pivotally supported by a support frame (not shown) supporting the rear conveyance device 22 so as to be vertically rotatable. A hydraulic cylinder (not shown) is provided between the front conveyance frame 21 and the machine body frame 12. The hydraulic cylinder is extended and contracted to rotate the front conveyance frame 21 up and down, whereby the base cutter 19 and the scraping rotor are provided. Height adjustment of 18 is possible.

The scraping rotor 18 is disposed at the front of the left and right front conveyance frames 21 and includes a rotary shaft extending in the left-right direction and a blade provided on the rotary shaft. The rotation shaft of the scraping rotor 18 is rotationally driven by a hydraulic motor or the like (not shown).

The base cutter 19 includes a pair of left and right support cylinders 19A extending downward from the front of the front conveyance frame 21 and a plurality of cutting blades 19B provided on the outer periphery of a support disk fixed to the lower end of the support cylinder 19A. , And a rod-shaped spiral 19C fixed on the support disc. The cutting blade 19B and the spiral 19C are rotationally driven by a hydraulic motor or the like (not shown).

The front conveyance device 20 has a plurality of upper feed rollers 20A having an axial center extending in the left-right direction and spaced apart in the front-rear direction, and a plurality of lower feed rollers 20A paired with the upper feed rollers 20A. And a side feed roller 20B. Both ends of the roller shaft of each of the

feed rollers

20A and 20B are rotatably supported by the left and right transport cases. The roller shaft of the upper feed roller 20A is configured to be able to transmit power by a chain, the roller shaft of the lower feed roller 20B is configured to be able to transmit power by a gear, and these roller shafts are rotationally driven by a hydraulic motor etc. Be done.

In this manner, the rotation of the scraping rotor 18 scrapes the cane of the sugar cane, and the stock origin is cut by the rotation of the cutting blade 19B of the base cutter 19 and at the same time the lower end (root) of the ridge by the rotation of the spiral 19C. Is thrown up. The bounced sugarcane is pulled from the root into the front conveyance device 20 disposed behind the cane, and conveyed obliquely upward by the

feed rollers

20A and 20B of the front conveyance device 20.

The rear portion of the front transfer device 20 is disposed at the front lower portion of the rear transfer device 22. The rear conveyance device 22 includes a lower conveyor (for example, a chain conveyor) 23 and an upper conveyor (for example, a roller conveyor) 24. The sugar cane cut by the base cutter 19 is conveyed backward by the front conveyance device 20, and then inherited by the rear conveyance device 22 and conveyed diagonally upward and backward.

A chopping device 25 is provided at the rear of the rear conveyance device 22. The chopping device 25 includes a cutter 26 and a bounce roller 27. The cutter 26 includes a pair of upper and lower cutter shafts rotatably supported by the cutter case and having an axial center extending in the left-right direction, and a blade edge fixed 180 degrees out of phase on the cutter shafts. There is. By turning the blade tips of the upper and lower blade blades into contact, the cane is shredded as it passes between the upper and lower blade blades.

The bounce roller 27 includes a pair of upper and lower rotary shafts rotatably supported by the left and right side plates of the cutter case and having an axial center extending in the left and right direction, and a splash blade fixed on the rotary shaft thereof. There is. By rotating the pair of upper and lower rotating shafts in opposite directions, the shredded sugar cane is splashed back upward and is sent obliquely backward and upward. The rotary shaft of the cutter 26 and the rotary shaft of the bounce roller 27 are rotationally driven by a hydraulic motor or the like (not shown).

A diffusion case 28 is provided at the rear of the discharge port of the chopping device 25, and a diffusion rotor (not shown) is disposed at the front lower portion of the diffusion case 28. The diffusion rotor includes a rotating shaft having an axially extending shaft center and a plurality of brushes radially fixed on the rotating shaft. The stems and leaves of the sugar cane shredded by the cutter 26 and discharged rearward and upward by the bounce roller 27 are diffused upward by the brush of the rotationally driven diffusion rotor.

At the rear upper side of the diffusion case 28, a wind selection device 29 is disposed. The air separation device 29 includes a blower case 29A provided on the rear upper side of the diffusion case 28, and a blower 29B disposed in the blower case 29A. The lower and upper sides of the blower case 29A are open, and the lower opening is in communication with the chopping device 25. The upper side opening is an outlet for sugarcane leaves, dust and the like. The blower case 29A is rotatable around an axis extending in the vertical direction, and the discharge direction can be changed by the rotation. As the blower 29B is rotationally driven, a high-speed air flow from the lower side to the upper side is generated, and sugarcane leaves, dust, etc. are sucked upward and discharged laterally or backward, and heavy stems are discharged from the conveyor It is dropped onto a hopper 31 provided at the lower part of 30.

The lower portion of the discharge conveyor 30 is rotatably supported by a pivot 32 provided at the rear of the machine frame 12 about an axial center extending in the vertical direction. The discharge conveyor 30 can be pivoted about an axial center extending in the vertical direction in the lower part thereof by a hydraulic motor or the like (not shown), whereby the discharge direction of the discharge conveyor 30 can be changed.

In the middle of the discharge conveyor 30, a harvest amount sensor 33 for measuring the harvest amount of the harvest (in this example, sugar cane) is disposed. The harvester 2 includes a harvest amount calculation unit 34 (see FIG. 4) for calculating the harvest amount per unit time and the integrated value thereof based on the output signal of the harvest amount sensor 33. The harvest amount sensor 33 and the harvest amount calculation unit 34 constitute a harvest amount measurement unit capable of measuring harvest information of the harvester 2 at each time.

The yield sensor 33 may be configured of, for example, a plurality of laser distance measuring sensors. In this case, the yield calculation unit 34 calculates, for example, the cross-sectional area in the direction orthogonal to the transport direction of the harvested material transported by the discharge conveyor 30 based on the output signals of the plurality of laser distance measuring sensors, Based on the calculated cross-sectional area and the conveyance speed of the discharge conveyor 30, the amount of harvest of the harvest per unit time is calculated, and the integrated value of the amount of harvest from a predetermined time is calculated. The harvest amount sensor 33 is not limited to one having a plurality of laser distance measurement sensors, and any one having various configurations can be used as long as it can calculate the harvest amount of the harvest.

In the harvester 2, the driving force from the engine 13 is applied to a harvesting unit (for example, the crop divider 14, the base cutter 19, the front conveyance device 20, the rear conveyance device 22, the discharge conveyor 30, etc.) for harvesting crops. A working clutch (not shown) is provided for transmitting and disconnecting. When the work clutch is turned on (engaged state), the harvester is activated and the harvester can harvest the crop.

When harvesting sugar cane by harvester 2, harvester 2 and track 3 are run in parallel as shown in FIG. Then, as indicated by a broken line in FIG. 3, the turning angle of the discharge conveyor 30 is adjusted by operating a hydraulic motor or the like (not shown) so that the discharge portion of the discharge conveyor 30 is disposed on the bed 3 a of the truck 3. Thereby, the sugar cane harvested by the harvester 2 is loaded onto the truck 3 via the discharge conveyor 30.

That is, when harvesting sugar cane by harvester 2, harvester 2 and track 3 run in parallel, and harvesting of the sugar cane by harvester 2 and loading of the cane harvested by harvester 2 onto truck 3 are performed in parallel. It will be. At this time, harvester 2 and truck 3 may continue to run side by side until the loading amount of sugarcane on truck 3 is full, or harvester 2 and truck as at the time of change of harvester 2 (especially at U-turn). There is also a case where 3 and 3 are temporarily separated greatly. This is because the truck 3 can not make a small turn when the loading amount of the sugarcane on the truck 3 increases, so the truck 3 moves away from the harvester 2 and turns around when the harvester 2 turns. When the load of sugarcane on truck 3 is full, truck 3 transports the sugarcane to the sugar factory and unloads it.

FIG. 4 is a block diagram showing an electrical configuration of the harvester 2 and the management server 4.

The harvester 2 includes a harvester controller 41 and a communication terminal 42 mounted on the harvester 2. The harvester control device 41 controls electric devices of each part of the harvester 2 (the traveling device 11, the crop divider 14, the base cutter 19, the front conveyance device 20, the rear conveyance device 22, the discharge conveyor 30, etc.). The harvester control device 41 includes a harvest amount calculation unit 34 that calculates the harvest amount per unit time and the harvest amount integrated value based on the output signal of the harvest amount sensor 33. The harvester control device 41 gives the communication terminal 42 the harvest amount integrated value calculated by the harvest amount calculation unit 34 and the operation information of the harvester 2 every predetermined time.

The communication terminal 42 transmits various information to the management server 4 together with the identification information of the harvester 2. In this embodiment, a communication telephone number is set in the communication terminal 42, and this telephone number is used as identification information of the harvester 2.

The communication terminal 42 includes a control unit 50. To the control unit 50, a position detection unit 51, a communication unit 52, an operation display unit 53, an operation unit 54, a storage unit 55, and the like are connected. The position detection unit 51 calculates position information of the communication terminal 42 based on the satellite positioning system. The satellite positioning system is, for example, the Global Navigation Satellite System (GNSS). Specifically, the position detection unit 51 receives satellite signals from a plurality of positioning satellites 7 (see FIG. 1), and calculates position information of the communication terminal 42 (harvestor 2). Position information consists of latitude, longitude, and altitude information, for example. In the first embodiment (the same applies to the second and third embodiments described later), for convenience of explanation, the position information of the harvester 2 is made up of latitude information and longitude information.

The communication unit 52 is a communication interface for the control unit 50 to communicate with the management server 4 via the communication network 6. The operation display unit 53 is, for example, a touch panel display. The operation unit 54 includes, for example, one or more operation buttons. The storage unit 55 is configured of a storage device such as a non-volatile memory.

The control unit 50 includes a microcomputer provided with a CPU and a memory (ROM, RAM, etc.). The control unit 50 acquires the position information calculated by the position detection unit 51 at predetermined time intervals and stores the information in the storage unit 55. In addition, the control unit 50 acquires the harvest amount integrated value information calculated by the harvest amount calculation unit 34 for each predetermined time and stores the information in the storage unit 55. Further, the control unit 50 stores the operation information provided from the harvester control device 41 in the storage unit 55. The control unit 50 transmits the position information for each time stored in the storage unit 55, the integrated harvest amount information, and the operation information to the management server 4 in real time or at regular intervals.

The management server 4 includes a control unit 60. A communication unit 71, an operation display unit 72, an operation unit 73, a storage unit 74 and the like are connected to the control unit 60. The communication unit 71 is a communication interface for the control unit 60 to communicate with the communication terminal 42 (the harvester 2) via the communication network 6. The operation display unit 72 is, for example, a touch panel display. The operation unit 73 includes, for example, a keyboard, a mouse, and the like. The storage unit 74 is configured of storage devices such as a hard disk and a non-volatile memory.

The storage unit 74 is provided with a time-series information storage unit 75 that stores, for each harvester 2, time-series information including position information at each time received from each harvester 2, harvest integrated value information, and operation information. .

The control unit 60 includes a microcomputer provided with a CPU and a memory (ROM, RAM, etc.) 63. The control unit 60 includes an information management unit 61 and an information analysis unit 62. When the information management unit 61 receives the time-series information and the identification information from the harvester 2, the information management unit 61 receives the time-series information and the identification information in the storage area corresponding to the identification information in the time-series information storage unit 75 based on the received identification information. Store series information.

The information analysis unit 62 is, for example, time-series information (analysis target data) within a predetermined period (analysis target period) of a predetermined harvester 2 designated by an operator or the like from time-series information in the time-series information storage unit 75 In the analysis target period, the harvester 2 identifies the harvest work area, calculates the area of the harvest work area, calculates the evaluation value, and the like, by analyzing.

The information analysis unit 62 includes a work state determination unit 62A, a work period specification unit 62B, a work area specification unit 62C, and an evaluation value calculation unit 62D. The work state determination unit 62A determines whether or not the harvester 2 is in the harvest work state at each time within the analysis target period, based on the integrated amount of harvest value in the analysis target data. The work period specification unit 62B specifies the harvest work period (the harvest work period by the harvester 2) in which the harvester 2 performs the harvest work in the analysis target period, based on the determination result of the work state determination unit 62A.

The work area specification unit 62C specifies the harvest work area (harvest work area by the harvester 2) where the harvester 2 performed the harvest work based on the determination result of the work period identification unit 62B and the position information in the analysis target data. At the same time, calculate the area (harvest area) of the harvest work area. The evaluation value calculation unit 62D calculates the unit yield of the harvest work area, the work efficiency, and the like based on the harvest work time, the harvest area, the harvest amount and the like corresponding to the harvest work period. The details of the operation of the units 62A to 62D in the information analysis unit 62 will be described later.

FIG. 5 is a flowchart for explaining the operation of the information analysis unit 62. In the process of FIG. 5, for example, time-series information (analysis target data) to be analyzed from among time-series information in the time-series information storage unit 75 by the operation of the operation unit 73 or the operation display unit 72 of the operator. After being specified, it is executed when the information analysis start command is input. The specification of the analysis target data is performed, for example, by specifying the identification information of the harvester 2 to be analyzed and the analysis target period.

The information analysis unit 62 extracts analysis target data designated by the operator from the time-series information storage unit 75, and stores the analysis target data in a memory (specifically, a RAM as a working memory) (step S1).

An example of analysis target data stored in the memory 63 is shown in FIG. It analyzed data, as shown in FIG. 6, the position information for each time t _n Pt _n and yield accumulated value information Wt _n.

Next, the working state determining section 62A of the information analyzing unit 62, based on the yield accumulated amount information Wt _n, corresponding to determine whether harvester 2 is a harvester status (harvesting) every time Then, the determination result is stored (step S2).

Specifically, the work state determination unit 62A determines whether or not the harvester 2 is in the harvest work state at that time (time to be determined) in order from the early time within the analysis period. Working state determining section 62A includes yields the integrated value information Wt _n determination target time (time), the difference ΔW (ΔW = Wt _n the crop amount accumulated value information _{Wt n-1} of one earlier (previous) It is determined whether -Wt _{n -1} ) is _{equal to} or greater than a predetermined threshold value α (α> 0). Then, the work state determination unit 62A determines that the harvester 2 is in the harvest work state at the determination target time when the difference ΔW is equal to or greater than the threshold α, and the determination target time when the deviation ΔW is less than the threshold α. It is determined that the harvester 2 is not in the harvesting work state (a non-harvesting work state such as a simple moving state or a stop state).

The work state determination unit 62A stores the determination result for each time as a work state flag Fw, for example, as shown in FIG. The work state flag Fw is set to 1 when it is determined that the harvester 2 is in the harvest work state at the determination target time, and is set to 0 when it is determined that the harvester 2 is not in the harvest work state .

Next, the work period identification unit 62B in the information analysis unit 62 identifies the start time ts of the harvest operation (step S3). Specifically, the work period identification unit 62B identifies the earliest time as the start time ts of the harvest work among the times determined to be the harvest work state in step S2.

Next, the work period identification unit 62B identifies the end time te of the harvest operation (step S4). Specifically, when the time determined to be not the harvest work state continues a predetermined number of times or more after the start time of the harvest work specified in step S3 (the non-harvest work state is When continuing for a predetermined time or more), that point is specified as the end time te of the harvesting operation. Although the predetermined number of times (the predetermined time) is the harvest operation period even if the harvest operation is temporarily interrupted to perform a direction change (for example, a U-turn) when the harvester 2 is performing the harvest operation Is set to the number of times (hours) included in. A period from the harvest operation start time ts specified in step S3 to the harvest operation end time te specified in step S4 is a harvest operation period.

Next, the work area identification unit 62C in the information analysis unit 62 determines the harvest work area based on the position information Pts to Pte in the harvest work period (period from the harvest work start time ts to the harvest work end time te). It identifies (step S5).

The work area specification unit 62C specifies the harvest work area, for example, as follows. That is, among the position information Pts to Pte within the harvest operation period ts to te, the inaccurate position information estimated to have a large error is removed by a known method. Next, the work area specifying unit 62C performs interpolation processing on position information Pts to Pte in the harvest work period after removal of the incorrect position information to obtain the number of time-series position information in the harvest work period. increase. Finally, the work area specifying unit 62C obtains a convex hull for a set of time-series position information in the harvesting work period after the interpolation process, and specifies an area corresponding to the convex hull as a harvest work area.

A convex hull is the smallest convex polygon that encompasses all given points. Therefore, the convex hull determined by the information analysis unit 62 refers to the smallest convex polygon including all points (positions) corresponding to the time-series positional information in the harvesting work period after the interpolation process. A known algorithm can be used as an algorithm for obtaining the convex hull.

The work area specification unit 62C may specify the harvest work area by a method other than the method of obtaining the convex hull.

Next, the work area identification unit 62C calculates the area (harvest area) of the harvest work area identified in step S5 (step S6). For example, when the harvest work area is specified by obtaining the convex hull, the work area identification unit 62C calculates the area of the convex polygon obtained by obtaining the convex hull, thereby obtaining the harvest work area. The area can be calculated.

Next, the evaluation value calculation unit 62D in the information analysis unit 62 calculates an evaluation value (step S7). Specifically, the evaluation value calculation unit 62D calculates, for example, the unit yield of the harvest work area and the work efficiency as an evaluation value. The yield of the harvest work area is the yield per harvest area, and is calculated based on the following equation (1).
Unit yield = amount of harvest / area of harvest ... (1)
The work efficiency is a harvest area per work time, and is calculated based on the following equation (2).
Work efficiency = area of harvest / work time ... (2)
According to the first embodiment, it becomes possible to specify only the harvest work area where the harvest work has been performed by the harvester 2. Thereby, it becomes possible to calculate the area of only the harvesting work area where the harvesting work has been performed by the harvester 2.

[2] Second Embodiment Next, when the harvest amount sensor is not provided in the harvester 2 or when the harvest amount sensor is provided in the harvester 2 but the information on the yield is not sent to the management server 4 The second embodiment to be applied will be described. In the second embodiment, for convenience of explanation, it is assumed that the harvester 2 is not provided with the harvest amount sensor.

FIG. 7 is a schematic view showing the configuration of the harvesting work information management system 1 of the second embodiment.

The harvest operation information management system 1 includes one or more harvesters 2, one or more tracks 3, and a management server 4.

The sugar cane is harvested by a harvesting system consisting of a harvester 2 harvesting sugar cane and a truck 3 loaded with harvested sugar cane. Specifically, when the harvester 2 harvests sugar cane, the truck 3 is run parallel to the harvester 2, and the sugar cane harvested by the harvester 2 is loaded on the truck 3. Then, for example, when the load of sugar cane on the truck 3 becomes full, for example, these sugar cane are transported by the truck 3 to, for example, a sugar factory.

When arriving at the sugar factory, the truck 3 is placed, for example, on a calibration meter, and the sum of the weight of sugar cane loaded on the truck 3 and the weight of the truck is measured. From this sum, by subtracting the weight of the truck, the weight (harvest) of sugar cane loaded on the truck 3 is measured. After this, drop sugarcane from track 3. The weight (harvest amount) of sugar cane measured using a calibration meter etc. is transmitted to the management server 4 together with time information representing the measured time and the identification number of the truck 3 carrying the sugar cane by a communication device not shown Be done.

The harvester 2 can communicate with the management server 4 via the communication network 6. The harvester 2 has a function of positioning its own position at predetermined time intervals using the positioning satellite 7. The mechanism of the harvester 2 is the same as that of the harvester described with reference to FIGS. 2 and 3. However, in the second embodiment, the harvester 2 includes the above-mentioned yield sensor 33 and the yield calculator 34. Make it not exist.

The harvester 2 sends the position information of each time, the on / off information of the engine 13 (engine on / off information) for each time, the on / off information of the working clutch for each time (clutch on / off information), etc. Send. The engine on / off information is information indicating whether the engine 13 is in a driving state (on state) or in a driving stop state (off state). The clutch on / off information is information indicating whether the working clutch is in the engaged state (on state) or in the released state (off state).

The communication terminal 81 (see FIG. 8) is mounted on the track 3. The communication terminal 81 has a function of positioning its own position at predetermined time intervals using the positioning satellite 7. The communication terminal 81 transmits its own position information for each time to the management server 4 together with its own identification information. In this embodiment, a communication telephone number is set in the communication terminal 81, and this telephone number is used as identification information of the track 3.

The management server 4 is provided in the management center 5. The management server 4 acquires position information of each harvester 2 at each time, engine on / off information at each time, clutch on / off information at each time, etc. together with identification information of the harvester 2. Further, the management server 4 acquires position information for each time of the track 3 together with identification information of the track 3. Further, the management server 4 acquires sugarcane yield information measured using a calibration meter or the like, together with time information indicating the measurement time and identification information of the truck 3 carrying the sugarcane.

FIG. 8 is a block diagram showing the electrical configuration of the communication terminal 81 and the management server 4 mounted on the harvester 2 and the track 3. In FIG. 8, parts corresponding to the parts in FIG. 4 described above are denoted by the same reference numerals as in FIG. 4.

The electrical configuration of the harvester 2 is substantially the same as the electrical configuration of the aforementioned harvester 2 shown in FIG. The harvester 2 includes a harvester control device 41 and a communication terminal 42. The harvester control device 41 has an engine on / off state detection unit 41A that detects whether the engine (drive source) 13 is in the off state, which is on, and a clutch on / off that detects whether the working clutch is in the off state. And a state detection unit 41B. However, this harvester 2 does not have a harvest amount sensor and a yield calculation part.

The communication terminal 42 includes a control unit 50, a position detection unit 51, a communication unit 52, an operation display unit 53, an operation unit 54, and a storage unit 55. The control unit 50 acquires the position information calculated by the position detection unit 51 at predetermined time intervals and stores the information in the storage unit 55. Further, the control unit 50 stores the operation information provided from the harvester control device 41 in the storage unit 55. For convenience of explanation, the operation information provided from the harvester control device 41 to the control unit 50 is provided from the engine on / off state detection unit 41A to the engine on / off information provided by the engine on / off state detection unit 41A and the clutch on / off state detection unit 41B to the control unit 50. It shall consist of clutch on / off information. The control unit 50 transmits the position information for each time, the engine on / off information, and the clutch on / off information stored in the storage unit 55 to the management server 4 in real time or at regular intervals.

The communication terminal 81 mounted on the track 3 includes a control unit 90. To the control unit 90, a position detection unit 91, a communication unit 92, an operation display unit 93, an operation unit 94, a storage unit 95, and the like are connected. The position detection unit 91 calculates position information of the communication terminal 81 based on the satellite positioning system. The satellite positioning system is, for example, the Global Navigation Satellite System (GNSS). Specifically, the position detection unit 91 receives satellite signals from a plurality of positioning satellites 7 (see FIG. 7), and calculates position information of the communication terminal 81 (track 3). Position information consists of latitude, longitude, and altitude information, for example. In the second embodiment (the same applies to a third embodiment to be described later), for convenience of explanation, the position information of the track 3 is made of latitude information and longitude information.

The communication unit 92 is a communication interface for the control unit 90 to communicate with the management server 4 via the communication network 6. The operation display unit 93 is, for example, a touch panel display. The operation unit 94 includes, for example, one or more operation buttons. The storage unit 95 is configured of a storage device such as a non-volatile memory.

The control unit 90 includes a microcomputer provided with a CPU and a memory (ROM, RAM, etc.). The control unit 90 acquires position information calculated by the position detection unit 91 at predetermined time intervals and stores the acquired information in the storage unit 95. The control unit 90 transmits the position information for each time stored in the storage unit 95 to the management server 4 in real time or at predetermined time intervals.

The electrical configuration of the management server 4 is substantially the same as the electrical configuration of the aforementioned management server 4 shown in FIG. The management server 4 includes a control unit 60, a communication unit 71, an operation display unit 72, an operation unit 73, and a storage unit 74. The communication unit 71 is an interface for the control unit 60 to communicate with the communication terminal 42 of the harvester 2 via the communication network 6, and for the control unit 60 to communicate with the communication terminal 81 for the track 3 via the communication network 6. .

The storage unit 74 is provided with a first time-series information storage unit 76, a second time-series information storage unit 77, a harvested amount information storage unit 78, and the like. In the first time-series information storage unit 76, time-series information (hereinafter sometimes referred to as first time-series information) including position information at each time received from each harvester 2, engine on / off information, and clutch on / off information , Harvester 2 are stored. FIG. 9A shows first time-series information received from a certain harvester 2 and stored in the first time-series information storage unit 76.

The second time-series information storage unit 77 stores time-series information (hereinafter may be referred to as second time-series information) of position information at each time received from each track 3 for each track 3. FIG. 9B shows second time-series information received from a certain track 3 and stored in the second time-series information storage unit 77.

As shown in FIG. 9C, the harvest amount information storage unit 78 stores information (a track identification number, measurement time information and harvest amount information) regarding the harvest amount sent from a communication device (not shown).

Returning to FIG. 8, the control unit 60 of the management server 4 includes a microcomputer provided with a CPU and a memory (ROM, RAM, etc.) 63. The control unit 60 includes an information management unit 61 and an information analysis unit 62. When the information management unit 61 receives the first time-series information and the identification information from the harvester 2, the information management unit 61 stores the storage area corresponding to the identification information in the first time-series information storage unit 76 based on the received identification information. , And stores the received first time-series information. When the information management unit 61 receives the second time-series information and the identification information from the track 3, storage based on the received identification information is performed according to the identification information in the second time-series information storage unit 77. The received second time-series information is stored in the area. Further, the information management unit 61 stores the received information in the harvested amount information storage unit 78 when the harvested amount information, the measurement time information and the identification number of the track 3 are received from the communication device (not shown).

The information analysis unit 62 analyzes the harvest time in the analysis target period by analyzing, for example, first time series information and second time series information (analysis target data) of a predetermined analysis target period designated by an operator or the like. The harvest system) specifies the harvest work area where the harvest work has been performed, calculates the area of the harvest work area, and calculates the evaluation value.

The information analysis unit 62 includes a work state determination unit 62A, a work period specification unit 62B, a work area specification unit 62C, and an evaluation value calculation unit 62D. The work state determination unit 62A determines whether or not each harvester 2 is in the harvest work state at each time within the analysis target period based on the engine on / off information and the clutch on / off information of each harvester 2 in the analysis target data. . In addition, based on the position information of each track 3 in the analysis target data, the work state determination unit 62A determines whether each track 3 is in a harvest work state at each time within the analysis target period.

The work period specification unit 62B specifies the harvest work period (the harvest work period by each harvest system) in which each harvest system performs the harvest work in the analysis target period based on the determination result of the work state determination unit 62A.

The work area specification unit 62C performs a harvest work area (a harvest operation performed by each harvest system) in which each harvest system performs a harvest operation based on the determination result of the work period identification unit 62B and the position information of the harvester 2 in the analysis target data. In addition to specifying the work area, the area (harvest area) of the harvest work area is calculated. The evaluation value calculation unit 62D calculates the unit yield of the harvest work area, the work efficiency, and the like based on the harvest work time, the harvest area, the harvest amount and the like corresponding to the harvest work period. The details of the operation of the units 62A to 62D in the information analysis unit 62 will be described later.

FIG. 10 is a flowchart for explaining the operation of the information analysis unit 62. The process in FIG. 10 is, for example, analysis of information from among the first and second time-series information in the first and second time-series

information storage units

76 and 77 by the operation of the operation unit 73 or the operation display unit 72 by the operator. It is executed when a command to start information analysis is input after the first and second time-series information (first and second data to be analyzed) to be performed is specified. The designation of the first analysis target data and the second analysis target data is performed, for example, by specifying an analysis target period. The specification of the first analysis target data may be performed, for example, by specifying the identification information of one or more harvesters 2 to be analyzed and the analysis target period. Similarly, specification of the second analysis target data may be performed, for example, by specifying identification information of one or more tracks 3 to be analyzed and an analysis target period.

Here, for convenience of explanation, the information within the predetermined period of the two pieces of first time-series information corresponding to the two harvesters (hereinafter sometimes referred to as the first harvester 2A and the second harvester 2B) by the operator is the first It is assumed that the data is specified as analysis target data. Also, information within a predetermined period of two pieces of second time-series information corresponding to two tracks (hereinafter sometimes referred to as first track 3A and second track 3B) is designated as second analysis target data It shall be. Hereinafter, the first analysis target data and the second analysis target data may be collectively referred to as analysis target data.

The information analysis unit 62 extracts analysis target data designated by the operator from the time-series

information storage units

76 and 77, and stores the data in a memory (specifically, a RAM as a work memory) (step S11).

Here, among the first analysis target data, time-series data corresponding to the first harvester 2A is referred to as first harvester data, and time-series data corresponding to the second harvester 2B is referred to as second harvester data. Further, among the second analysis target data, time-series data corresponding to the first track 3A is referred to as first track data, and time-series data corresponding to the second track 3B is referred to as second track data.

As shown in FIG. 11A, first harvester data, position information P1t _n for each time _{t n} for the first harvester 2A, consisting of an engine off information E1t _n and the clutch OFF information C1t _n. As shown in FIG. 11B, second harvester data, position information P2t _n for each time _{t n} for the second Harvester 2B, consisting of the engine OFF information E2T _n and the clutch OFF information C2t _n. As shown in FIG. 11C, the first track data consists of position information Q1t _n for each time _{t n} for the first track 3A. As shown in FIG. 11D, the second track data consists of position information Q2t _{n for} each time t _n related to the second track 3B.

The work condition determination unit 62A in the information analysis unit 62 instructs the harvesters 2A and 2B to perform harvest operation status (during harvesting) of the harvesters 2A and 2B based on the engine on / off information and the clutch on / off information of the harvesters. It is determined for each time whether or not it is, and the determination result is stored (step S12).

Based on the first harvester data shown in FIG. 11A, for example, the work state determination unit 62A sequentially selects the first harvester 2A in the harvest work state at that time (the time to be determined), from the early time within the analysis target period. It is determined whether there is any. The work state determination unit 62A determines whether or not the first condition that the engine on / off information is on and the clutch on / off information is on is satisfied at the determination target time. When the first condition is satisfied, the work state determination unit 62A determines that the first harvester 2A is in the harvesting work state at the determination target time, and when the first condition is not satisfied, the determination is made. It is determined that the first harvester 2A is not in the harvesting work state at the target time. Then, the work state determination unit 62A stores the determination result.

The work state determination unit 62A performs the same process on the second harvester data shown in FIG. 11B to determine at each time whether the second harvester 2B is in the harvest work state. Then, the work state determination unit 62A stores the determination result.

The work state determination unit 62A may use only the condition that the clutch on / off information is on as the first condition.

Next, the work state determination unit 62A determines, for each of the tracks 3A and 3B, whether or not the track 3 is in a harvest work state based on the position information of the track, and determines the time The result is stored (step S13). The state where the truck 3 is in a harvesting operation state is, for example, a state in which sugar cane which has been run parallel to a predetermined harvester 2 and which the harvester 2 has cut is loaded.

Based on the first track data shown in FIG. 11C, for example, the work state determination unit 62A sequentially operates the first track 3A in the harvest work state at that time (the time to be judged) in order from the early time within the analysis target period. It is determined whether there is any. The work state determination unit 62A determines whether the second condition that the first track 3A is in the operating state and the vehicle speed of the first track 3A is within the predetermined speed range is satisfied at the determination target time. When the second condition is satisfied, the work state determination unit 62A determines that the first track 3A is in the harvesting work state at the determination target time, and when the second condition is not satisfied, the determination is made. It is determined that the first track 3A is not in the harvesting work state at the target time. Then, the work state determination unit 62A stores the determination result.

Whether or not the first track 3A is in operation can be determined based on whether or not the position of the current determination target time (current time) has changed from the position of the previous determination target time (previous time). More specifically, at least one of the absolute value difference of the latitude information between the current time and the previous time and the absolute value difference of the longitude information between the current time and the previous time is predetermined by the work state determination unit 62A. If the threshold value β (β> 0) or more, it is determined that the first track 3A is in the operating state at this time, otherwise it is determined that the first track 3A is not in the operating state. The vehicle speed of the first track 3A can be calculated by gradually calculating the distance from the position of the previous time to the current time position in a time corresponding to the difference between the two times. The predetermined speed range is set to, for example, 2 kph to 5 kph.

The work state determination unit 62A performs the same process on the second track data shown in FIG. 11D to determine at every time whether the second track 3B is in the harvest work state. Then, the work state determination unit 62A stores the determination result.

The work state determination unit 62A may use only the condition that the vehicle speed is within the predetermined speed range as the second condition.

Next, the work state determination unit 62A specifies a pair (harvest system) of the harvester 2 and the truck 3 performing the harvest work in cooperation with each other (Step S14).

Specifically, the work state determination unit 62A performs, for example, the following process for each time (determination target time) in order from the early time in the analysis target period. In other words, at least one harvester 2 (hereinafter simply referred to as "work state harvester 2") determined to be a harvest work state at the time to be judged exists in the work state determination unit 62A, and the harvest work state It is determined whether the third condition that at least one track 3 determined to be (hereinafter simply referred to as "working state track 3") exists is satisfied. If the third condition is satisfied, the work state determination unit 62A selects the pair of the work state harvester 2 and the work state track 3 in which the linear distance between the work state harvester 2 and the work state track 3 is shortest. It is set as a pair candidate at the determination target time. Then, it proceeds to processing for the next time. On the other hand, when the third condition is not satisfied, the work state determination unit 62A proceeds to processing for the next time without setting a pair candidate at the determination target time.

When the third condition is satisfied, the working condition determination unit 62A determines that the working distance between the working condition harvester 2 and the working condition track 3 is the shortest and the working distance is within a predetermined distance. The pair of the harvester 2 and the work state track 3 may be set as a pair candidate at the determination target time. In addition, when data for specifying the area of the field where the crop should be harvested is given to the management server 4, the work state determination unit 62A determines that the work state harvester 2 and the work state track exist in the same field. Of the three, the working state harvester 2 and the working state track 3 have the shortest linear distance between the working state harvester 2 and the working state track 3 and the pair of the working state harvester 2 and the working state track 3 whose linear distance is within a predetermined distance It may be set as a pair candidate in

The work state determination unit 62A repeatedly performs such processing until the determination target time becomes the final time. Then, the work state determination unit 62A specifies a pair candidate whose number of times set as a pair candidate is equal to or more than a predetermined number as a pair. For example, if the number of times the first harvester 2A and the first track 3A are set as a pair candidate is equal to or more than a predetermined number of times, the first harvester 2A and the first track 3A are identified as a pair. The number of pairs identified as a pair may be one or more.

Next, the work period identification unit 62B in the information analysis unit 62 identifies, for each identified pair (harvest system), the start time of the harvest operation by the pair (step S15).

The method of specifying the start time of the harvesting operation for one pair will be described. The work period identification unit 62B identifies the pairing start time of the pair as the start time of the harvest operation by the pair. The pairing start time of the pair is the time when the pair is initially set as a pair candidate.

Next, the work period identification unit 62B identifies, for each identified pair (harvest system), the end time of the harvest operation by the pair (step S16).

The method of specifying the end time of the harvesting operation for one pair will be described. After the start time of the harvesting operation by the pair identified in step S15, the operation period identifying unit 62B determines that the state in which the interval (linear distance) between the pair is equal to or greater than the predetermined value continues for a predetermined period of time or longer. The time is specified as the end time of the harvesting work by the pair. During the predetermined time, when harvester 2 and track 3 run in parallel to perform a harvesting operation, the distance between harvester 2 and track 3 is temporarily set to a predetermined value in order to perform a direction change (for example, a U-turn). Even if it becomes above, it is set as the time in which the period is included in the harvesting work period. A period from the harvest work start time identified in step S15 to the harvest work end time identified in step S16 is a harvest work period.

Next, the work area specification unit 62C in the information analysis unit 62 specifies a harvest work area for each of the specified pairs (step S17).

A method of specifying a work area for one pair will be described. The work area specifying unit 62C is not correct that the error is estimated to be large among the position information of the harvester 2 in the pair within the harvesting operation period from the start time of the harvesting operation by the pair to the end time of the harvesting operation Positional information is removed by known methods. Next, the work area identification unit 62C increases the number of time-series position information in the harvest operation period by performing interpolation processing on the position information in the harvest operation period after the incorrect position information removal. Finally, the work area specifying unit 62C obtains a convex hull for a set of time-series position information in the harvesting work period after the interpolation process, and specifies an area corresponding to the convex hull as a harvest work area. The work area specification unit 62C may specify the harvest work area by a method other than the method of obtaining the convex hull.

Next, the work area identification unit 62C calculates the area (harvest area) of the harvest work area for each pair identified in step S17 (step S18). The work area specifying unit 62C can calculate the area of the harvest work area for each pair by the method described in step S6 of FIG.

Next, the evaluation value calculation unit 62D in the information analysis unit 62 acquires the harvest amount for each pair (step S19).

The method of specifying the yield for one pair is described. The evaluation value calculation unit 62D acquires, from the inside of the harvest amount information storage unit 48, the harvest amount information corresponding to the identification number of the track 3 in the pair and corresponding to the analysis target period as the harvest amount information of the pair Do.

Next, the evaluation value calculation unit 62D calculates an evaluation value (step S20). Specifically, the evaluation value calculation unit 62D calculates, for example, the unit yield of the harvest work area and the work efficiency as an evaluation value for each pair. The method of calculating the unit yield of the harvest work area and the work efficiency is the same as that of step S7 in FIG.

According to the second embodiment, when harvest operations are performed by the plurality of harvesters 2 and the plurality of tracks 3, a pair of the harvester 2 and the tracks 3 that perform the harvest operation in cooperation with each other (a harvest system) Can be identified. And it becomes possible to specify only the harvesting work area where harvesting work was performed by each pair (harvest system). That is, it becomes possible to specify only the harvesting work area where the harvesting work has been performed by the harvester 2. Thereby, it becomes possible to calculate the area of only the harvesting work area where the harvesting work has been performed by the harvester 2.

[3] Third Embodiment Next, when the harvest amount sensor is not provided in the harvester 2 or when the harvest amount sensor is provided in the harvester 2 but the information on the yield is not sent to the management server 4 The third embodiment to be applied will be described. In the third embodiment, for convenience of explanation, it is assumed that the harvester 2 is not provided with the harvest amount sensor.

Further, in the second embodiment described above, the operation information of the harvester 2 including the engine on / off information and the clutch on / off information is transmitted from the harvester 2 to the management server 4, but in the third embodiment, such harvester 2 The operation information is not sent to the management server 4.

The configuration of the harvest operation information management system 1 in the third embodiment is the same as the configuration of the harvest operation information management system 1 in the second embodiment shown in FIG. 7. That is, the harvesting work information management system 1 in the third embodiment includes the harvester 2, the track 3 and the management server 4. The harvester 2 for harvesting sugar cane and the truck 3 for transporting the harvested sugar cane along with the harvester 2 constitute a harvesting system.

The electrical configuration of the harvester 2 is the same as the electrical configuration of the harvester 2 of the second embodiment shown in FIG. However, in the third embodiment, the harvester 2 does not transmit operation information such as engine on / off information and clutch on / off information to the management server. However, also in the third embodiment, the harvester 2 transmits the position information of its own at every time together with its identification information to the management server 4 in real time or at regular intervals.

The communication terminal 81 is mounted on the track 3 in the same manner as the track 3 of the second embodiment. The configuration of the communication terminal 81 is the same as the electrical configuration of the communication terminal 81 of the second embodiment shown in FIG. The communication terminal 81 transmits its own position information for each time together with its own identification information to the management server 4 in real time or at regular intervals.

The management server 4 acquires position information for each harvester 2 time, together with the identification information of the harvester 2. Further, the management server 4 acquires position information of each time of the track 3 together with identification information of the harvester 2. Further, the management server 4 acquires sugarcane yield information measured using a calibration meter or the like, together with time information indicating the measurement time and identification information of the truck 3 carrying the sugarcane.

The electrical configuration of the management server 4 is substantially the same as the electrical configuration of the management server 4 of the second embodiment shown in FIG. That is, as illustrated in FIG. 8, the management server 4 includes a control unit 60, a communication unit 71, an operation display unit 72, an operation unit 73, and a storage unit 74.

The storage unit 74 is provided with a first time-series information storage unit 76, a second time-series information storage unit 77, a harvested amount information storage unit 78, and the like. The first time-series information storage unit 76 stores position information for each time received from each harvester 2 (hereinafter may be referred to as first time-series information) for each harvester 2. The second time-series information storage unit 77 stores time-series information (hereinafter may be referred to as second time-series information) of position information at each time received from each track 3 for each track 3. The harvest amount information storage unit 78 stores information (a track identification number, measurement time information and harvest amount information) regarding the harvest amount sent from a communication device (not shown).

The control unit 60 of the management server 4 includes an information management unit 61, an information analysis unit 62, and a memory 63, as shown in FIG. When the information management unit 61 receives the information including the first time-series information and the identification information from the harvester 2, the information management unit 61 responds to the identification information in the first time-series information storage unit 76 based on the received identification information. The received first time-series information is stored in the storage area. Further, when the information management unit 61 receives the information including the second time-series information and the identification information from the track 3, the information management unit 61 determines the identification information in the second time-series information storage unit 77 based on the received identification information. The received second time-series information is stored in the corresponding storage area. Further, the information management unit 61 stores the received information in the harvested amount information storage unit 78 when the information including the harvested amount information, the measurement time information, and the identification number of the track 3 from the communication device (not shown) is received. .

The information analysis unit 62 analyzes the first time series information and the second time series information (analysis target data) of the predetermined analysis target period designated by the operator, for example, to obtain a corresponding harvester within the analysis target period. 2 (harvest system) specify the harvest work area where the harvest work was performed, calculate the area of the harvest work area, calculate the evaluation value, etc.

The information analysis unit 62 includes a work state determination unit 62A, a work period specification unit 62B, a work area specification unit 62C, and an evaluation value calculation unit 62D. The work state determination unit 62A determines whether or not each harvester 2 is in a harvest work state at each time within the analysis target period, based on the position information of each harvester 2 in the analysis target data. In addition, based on the position information of each track 3 in the analysis target data, the work state determination unit 62A determines whether each track 3 is in a harvest work state at each time within the analysis target period.

FIG. 12 is a flowchart for explaining the operation of the information analysis unit 62. In FIG. 12, the steps having the same process contents as those in FIG. 10 described above are indicated with the same step numbers as in FIG.

The process in FIG. 12 is, for example, analysis of information from among the first and second time-series information in the first and second time-series

information storage units

76 and 77, and stores the analysis target data in a memory (specifically, a RAM as a work memory) (step S11A).

As shown in FIG. 13A, first harvester data consists of position information P1t _n for each time _{t n} for the first harvester 2A. As shown in FIG. 13B, second harvester data consists of position information P2t _n for each time _{t n} for the second harvester 2B. As shown in FIG. 13C, the first track data consists of position information Q1t _n for each time _{t n} for the first track 3A. As shown in FIG. 13D, the second track data consists of position information Q2t _{n for} each time t _n regarding the second track 3B.

The work state determination unit 62A in the information analysis unit 62 determines for each harvester 2 whether or not the harvester 2 is in a harvest work state based on the position information of the harvester 3 for each time, The determination result is stored (step S12A).

In the work state determination unit 62A, for example, the first harvester 2A is in the harvest work state at the time (the time to be judged) in order from the early time within the analysis target period based on the first harvester data shown in FIG. 13A. It is determined whether there is any. The work state determination unit 62A determines whether the fourth condition that the first harvester 2A is in the operating state and the traveling speed of the first harvester 2A is within the predetermined speed range is satisfied at the determination target time. When the fourth condition is satisfied, the work state determination unit 62A determines that the first harvester 2A is in the harvesting work state at the determination target time, and when the fourth condition is not satisfied, the determination is made. It is determined that the harvester 2A is not in the harvesting work state at the target time. Then, the work state determination unit 62A stores the determination result.

Whether or not the first harvester 2A is in operation can be determined based on whether or not the position of the current determination target time (current time) has changed from the position of the previous determination target time (previous time). More specifically, at least one of the absolute value difference of the latitude information between the current time and the previous time and the absolute value difference of the longitude information between the current time and the previous time is predetermined by the work state determination unit 62A. If the threshold value γ (γ> 0) or more, at this time, it is determined that the first harvester 2A is in the operating state, otherwise it is determined that the first harvester 2A is not in the operating state. The traveling speed of the first harvester 2A can be calculated by gradually calculating the distance from the position of the previous time to the current time position in a time corresponding to the difference between the two times. The predetermined speed range is set to, for example, 2 kph to 5 kph.

The work state determination unit 62A performs the same processing based on the second harvester data shown in FIG. 13B to determine, for each time, whether the second harvester 2B is in the harvest work state. Then, the work state determination unit 62A stores the determination result.

The work state determination unit 62A may use only the condition that the traveling speed is within the predetermined speed range as the fourth condition.

Next, the work state determination unit 62A determines, for each of the tracks 3A and 3B, whether or not the track 3 is in a harvest work state based on the position information of the track, and determines the time The result is stored (step S13). Since this process is the same as the process of step S13 of FIG. 10, the description thereof is omitted.

Next, the work state determination unit 62A specifies a pair (harvest system) of the harvester 2 and the truck 3 performing the harvest work in cooperation with each other (Step S14). This process is the same as the process of step S14 in FIG.

Next, the work period identification unit 62B in the information analysis unit 62 identifies, for each identified pair (harvest system), the start time of the harvest operation by the pair (step S15). Since this process is the same as the process of step S15 of FIG. 10, the description thereof is omitted.

Next, the work period identification unit 62B identifies, for each identified pair (harvest system), the end time of the harvest operation by the pair (step S16). Since this process is the same as the process of step S16 of FIG. 10 described above, the description thereof is omitted.

Next, the work area identification unit 62C in the information analysis unit 62 identifies the identified harvest work area for each pair (step S17). Since this process is the same as the process of step S17 of FIG. 10 described above, the description thereof is omitted.

Next, the work area identification unit 62C calculates the area (harvest area) of the harvest work area for each pair identified in step S17 (step S18). Since this process is the same as the process of step S18 of FIG. 10 described above, the description thereof is omitted.

Next, the evaluation value calculation unit 62D in the information analysis unit 62 acquires the harvest amount for each pair (step S19). Since this process is the same as the process of step S19 of FIG. 10 described above, the description thereof is omitted.

Next, the evaluation value calculation unit 62D calculates an evaluation value (step S20). The information analysis unit 62 calculates, for example, the unit yield of the harvest work area for each pair and the work efficiency as an evaluation value by the same method as in step S20 of FIG.

According to the third embodiment, when harvest operations are performed by the plurality of harvesters 2 and the plurality of tracks 3, a pair of the harvester 2 and the tracks 3 that perform the harvest operation in cooperation with each other (a harvest system) Can be identified. And it becomes possible to specify only the harvesting work area where harvesting work was performed by each pair (harvest system). That is, it becomes possible to specify only the harvesting work area where the harvesting work has been performed by the harvester 2. Thereby, it becomes possible to calculate the area of only the harvesting work area where the harvesting work has been performed by the harvester 2.

As mentioned above, although embodiment of this invention was described, this invention can also be implemented with another form. For example, in step S13 of FIG. 10, the work state determination unit 62A in the information analysis unit 62 satisfies the condition that the track 3 is in operation and the speed of the track 3 is within a predetermined speed range. It is determined that the track 3 is in the working state.

However, when data for specifying the area of the field where the crop should be harvested is given to the management server 4, the work state determination unit 62A indicates that the track 3 is in operation and the track 3 is in the field. When the condition of being present in the area is satisfied, it may be determined that the track 3 is in a harvesting operation state. In addition, when the work state determination unit 62A is in the working state of the track 3 and the travel pattern of the track 3 (pattern of the travel locus) has a preset feature pattern, the operation state determination unit 62A satisfies the condition It may be determined that the track 3 is in a harvesting operation state. The feature pattern is created based on the actual traveling pattern of the truck 3 when harvesting sugar cane.

Further, in step S12A of FIG. 12, the work state determination unit 62A in the information analysis unit 62 satisfies the condition that the harvester 2 is in the operating state and the traveling speed of the harvester 2 is within the predetermined speed range. , It is determined that the harvester 2 is in a harvesting operation state. However, when data for specifying the area of the field where the crop should be harvested is given to the management server 4, the work state determination unit 62A indicates that the harvester 2 is in the operating state and the harvester 2 is the field. When the condition that the region is present is satisfied, it may be determined that the harvester 2 is in a harvesting operation state. When the harvester 2 is in the operating state and the traveling pattern of the harvester 2 (pattern of the traveling locus) satisfies the preset characteristic pattern, the work state determination unit 62A satisfies the condition: It may be determined that the harvester 2 is in the working state. The feature pattern is created based on the actual travel pattern of the harvester 2 when harvesting sugar cane.

In the above-described embodiment, the information analysis process for specifying the harvest work area and the like is performed by the management server 4, but this information analysis process is performed by the computer mounted on the harvester 2 and the farmer who performs the harvest operation. It may be performed by a computer other than the management server 4 installed in the management center 5, such as a computer installed, a computer installed in a factory that processes harvested crops, and the like.

In the above-described embodiment, a GNSS single positioning system is used as a positioning system used for the communication terminal 42 mounted on the harvester 2 and the communication terminal 81 mounted on the track 3. -A positioning system other than a single positioning system such as GNSS (Real-time Kinematic GNSS) may be used.

Moreover, in the above-mentioned embodiment, although harvester 2 is a harvester for harvesting sugar cane, harvester 2 may be a harvester which harvests crops other than sugar cane.

In addition, various design changes can be made within the scope of matters described in the claims.

Although the embodiments of the present invention have been described in detail, these are merely specific examples used for clarifying the technical contents of the present invention, and the present invention is construed as being limited to these specific examples. It is not to be construed that the scope of the present invention is limited only by the appended claims.

This application corresponds to Japanese Patent Application No. 2017-1657673 filed on Aug. 30, 2017, and the entire disclosure of that application is incorporated herein by reference.

1 Harvesting work information management system 2 Harvesting machine (Harvester)
3 Transport vehicle (truck)
4 Management server 41 Harvester control device 41A Clutch on / off state detection unit 41B Clutch on / off state detection unit 42 Communication terminal 50 Control unit 51 Position detection unit 52 Communication unit 55 Storage unit 60 Control unit 71 Communication unit 74 Storage unit 75 Time series information storage unit 76 1st time-series information storage unit 77 2nd time-series information storage unit 78 harvest information storage unit 61 information management unit 62 information analysis unit 62A work state determination unit 62B work period identification unit 62C work area identification unit 62D evaluation value calculation unit 63 Memory 81 communication terminal 90 control unit 91 position detection unit 92 communication unit

Claims

A harvest work area specifying device for specifying a harvest work area where a harvest operation has been performed by a harvest machine for harvesting a crop,
Information analysis for identifying a harvest work area by the harvester by analyzing time-series information including location information for each harvester time and harvest amount information for each crop harvested by the harvester Have a department,
The information analysis unit
A work state determination unit that determines whether or not the harvester is in a harvest work state at each time based on the harvest amount information for each time;
A work period identification unit that specifies a harvest operation period by the harvester based on the determination result of the operation state determination unit;
A harvest work area specification including a work area specification unit for specifying a harvest work area by the harvester based on the position information within the harvest work period specified by the work period identification unit among the position information for each time apparatus.
The harvester includes a position detection unit capable of detecting its own position information at each time, and a harvest amount measurement unit capable of measuring the harvest amount information at each time,
The position information for each time is information detected by the position detection unit,
The harvest operation area specifying device according to claim 1, wherein the harvest amount information for each time is information measured by the yield measurement unit.
Identify the harvest work area where the harvest operation was performed with a harvest system consisting of a harvester having a harvester for harvesting crops and a transport vehicle loaded with the crops harvested by the harvester in parallel with the harvester Harvesting work area identification device,
It includes position information for each time of the harvester, activated / deactivated information for each time indicating whether the harvester is activated or deactivated, and position information for each time of the transport vehicle Comprising an information analysis unit for specifying a harvest work area by the harvest system by analyzing time-series information;
The information analysis unit
A work state determination unit that determines whether or not the harvesting system is in a harvesting work state at each time based on the operation / non-operation information for each time and the position information for each time of the transport vehicle;
A work period identification unit that specifies a harvest operation period by the harvesting system based on the determination result of the operation state determination unit;
A harvest area including a work area specifying unit for specifying a harvest work area by the harvest system based on the position information within the harvest work period specified by the work period identification unit among the position information for each time of the harvester; Work area identification device.
The harvester has an operation state detection unit capable of detecting at each time whether the harvester is in an operation state or a non-operation state, and a first position detection unit capable of detecting its own position information at each time Equipped with
The transport vehicle includes a second position detection unit capable of detecting its own position information at each time,
The position information for each time of the harvester is information detected by the first position detection unit,
The operation / non-operation information at each time is information detected by the operation state detection unit,
The harvesting work area specifying device according to claim 3, wherein the position information for each time of the transport vehicle is information detected by the second position detecting unit.
The operation state detection unit includes a work clutch on / off state detection unit for detecting an on / off state of a work clutch for transmitting or cutting off a driving force of a drive source of the harvest machine to the harvest unit. The harvest work area identification device according to claim 4.
The harvest working area specifying device according to claim 5, wherein the operation state detection unit further includes a drive source on / off state detection unit that detects an on / off state of the drive source.
A harvest operation area for identifying a harvest work area in which a harvest operation is performed by a harvest system comprising a harvester for harvesting a crop and a transport vehicle loaded with the crop harvested by the harvester in parallel with the harvester A specific device,
The information analysis unit is configured to specify a harvest work area by the harvest system by analyzing time-series information including position information for each time of the harvester and position information for each time of the transport vehicle,
The information analysis unit
A work state determination unit that determines whether or not the harvest system is in a harvest work state at each time based on position information for each time of the harvester and position information for each time of the transport vehicle;
A work period identification unit that specifies a harvest operation period by the harvesting system based on the determination result of the operation state determination unit;
A harvest area including a work area specifying unit for specifying a harvest work area by the harvest system based on the position information within the harvest work period specified by the work period identification unit among the position information for each time of the harvester; Work area identification device.
The harvester is provided with a first position detection unit capable of detecting its own position information at each time,
The transport vehicle includes a second position detection unit capable of detecting its own position information at each time,
The position information for each time of the harvester is information detected by the first position detection unit,
The harvesting work area specifying device according to claim 7, wherein the position information for each time of the transport vehicle is information detected by the second position detecting unit.
The harvest work area specifying device according to any one of claims 1 to 8, wherein the work area specification unit further includes a work area calculation unit that calculates an area of the harvest work area.