WO2020195007A1 - Système de commande de travail - Google Patents

Système de commande de travail Download PDF

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Publication number
WO2020195007A1
WO2020195007A1 PCT/JP2020/000603 JP2020000603W WO2020195007A1 WO 2020195007 A1 WO2020195007 A1 WO 2020195007A1 JP 2020000603 W JP2020000603 W JP 2020000603W WO 2020195007 A1 WO2020195007 A1 WO 2020195007A1
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WIPO (PCT)
Prior art keywords
work
information
server
mesh
map
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PCT/JP2020/000603
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English (en)
Japanese (ja)
Inventor
想介 村田
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ヤンマー株式会社
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Publication of WO2020195007A1 publication Critical patent/WO2020195007A1/fr

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C21/00—Methods of fertilising, sowing or planting
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/02—Agriculture; Fishing; Forestry; Mining

Definitions

  • the present invention relates to a work control system.
  • Patent Document 1 remote sensing of the field is performed by a helicopter, soil at a plurality of points in the field is sampled and soil analysis is performed, and fertilization for each mesh of the entire field is performed based on the remote sensing result and the soil analysis result. It is disclosed to create a fertilization map consisting of quantities.
  • Patent Document 1 a fertilizer application map consisting of the amount of fertilizer applied for each mesh of the entire field is stored in the memory of the variable fertilizer application PC of the tractor type fertilizer application machine, and the variable fertilizer application PC corresponds to the current position of the tractor type fertilizer application machine. It is disclosed that the fertilizer application amount data to be applied is extracted, and the extracted fertilizer application amount data is converted into control data by a variable fertilizer application PC. Further, Patent Document 1 discloses that a fertilizer application amount control microcomputer drives a fertilizer application machine based on control data converted by a variable fertilizer application PC to perform fertilization.
  • An object of the present invention is work control that enables appropriate work control using work setting information without storing work setting information for each mesh included in the entire field and control information corresponding thereto in the work vehicle. To provide a system.
  • One embodiment of the present invention is a server that can communicate with the work vehicle and stores a work map composed of mesh-based work setting information included in at least a part of a work target field.
  • the work vehicle transmits positioning information representing the position of the work vehicle to the server, receives work control information transmitted from the server in response to the positioning information, and uses the received work control information as the received work control information.
  • the server is configured to control the work machine based on the above, and when the server receives the positioning information from the work vehicle, the server acquires the work setting information according to the received positioning information from the work map.
  • a work control system configured to transmit work control information including acquired work setting information or control information created from the work setting information to the work vehicle.
  • the work vehicle is equipped with a basic information detection unit that detects basic information for calculating work setting information for each mesh from the work target field. Is to send the basic information detected from a predetermined position in the work target field by the basic information detection unit and the detection position information indicating the position where the basic information is detected to the server in real time during the work.
  • the server is configured to transmit, and when the server receives the basic information and the detection position information from the work vehicle, the server sets work setting information for each mesh based on the received information. It is configured to be calculated and stored as part of the work map.
  • the work map is a fertilization map composed of a plurality of mesh-based target fertilizer application amounts included in at least a part of the work target area.
  • the work map is a fertilizer application map composed of a target fertilizer application amount in a plurality of mesh units included in at least a part of the work target area, and the basic information is the growth of a crop. It consists of growth status calculation information used for calculating status information, and when the server receives the growth status calculation information and the detection position information from the work vehicle, the server is based on the received information. Therefore, the growth status information of the mesh unit is calculated, and the target fertilizer application amount of the mesh unit is calculated based on the obtained growth status information of the mesh unit.
  • FIG. 1 is a schematic diagram showing a configuration of a work control system according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing an electrical configuration of a traveling machine, a working machine, and a management server.
  • FIG. 3 is a schematic diagram showing an example of a map attribute table.
  • FIG. 4 is a sequence diagram for explaining the operation of the work control system when a specific user applies fertilizer.
  • FIG. 5 is a schematic diagram showing an example of a pre-work notification information input screen.
  • FIG. 6 is a schematic view for explaining a modified example, and is a schematic view showing a state in which a work vehicle (traveling machine) performs fertilization work in a field.
  • FIG. 7 is an enlarged schematic view schematically showing the side surface of the traveling machine shown in FIG.
  • FIG. 1 is a schematic diagram showing a configuration of a work control system 101 according to an embodiment of the present invention.
  • the work control system 101 is a system for controlling the work performed by the work vehicle 1.
  • the work control system 1 includes a work vehicle 1, a user terminal 4, and a management server 5.
  • the work vehicle 1 can communicate with the management server 5 via the network 6.
  • the work vehicle 1 includes a work vehicle including a traveling machine and a working machine towed by the traveling machine, and a working vehicle in which the traveling machine and the working machine are integrated.
  • the work vehicle 1 includes a traveling machine 2 and a working machine 3 towed by the traveling machine 2.
  • the traveling machine 2 is a tractor.
  • the types of working machines 3 include, for example, fertilizer sprayers, pesticide sprayers, roll balers, cultivators, plows, levelers, mowers, sowing machines, harvesters and the like.
  • Examples of the work vehicle in which the traveling machine and the working machine are integrated include a rice transplanter, a combine harvester, and the like.
  • the work vehicle 1 works on a field owned by a specific user.
  • the user terminal 4 is a computer used by a specific user.
  • a portable terminal such as a smartphone or a tablet PC is used as the user terminal 4.
  • the management server 5 is provided in the management center 7.
  • the management server 5 stores a work map used for one or more works performed on each field owned by a plurality of users. However, for convenience of explanation, it is assumed that the management server 5 stores only the work map used for one or more works performed on each field owned by the specific user.
  • the work map consists of work setting information for each mesh included in at least a part of the area in the field.
  • the work setting information includes the target fertilizer application amount (hereinafter, may be referred to as "target fertilizer application amount”), the target pesticide application amount, and the like.
  • the mesh means individual subregions when the field is divided into a plurality of rectangular (square in this embodiment) subregions.
  • FIG. 2 is a block diagram showing the electrical configurations of the traveling machine 2, the working machine 3, and the management server 5.
  • the traveling machine 2 includes a control unit (hereinafter, referred to as "traveling machine control unit 10").
  • the traveling machine control unit 10 includes a microcomputer provided with a CPU and a memory (volatile memory, non-volatile memory, etc.).
  • the traveling machine control unit 10 controls the operation of the traveling machine 2 (movements such as forward movement, reverse movement, stop, turning, etc.).
  • a plurality of controllers (controller group 11) for controlling each part of the traveling machine 2 are electrically connected to the traveling machine control unit 10.
  • the plurality of controllers control the engine controller that controls the engine speed and the like, the vehicle speed controller that controls the vehicle speed of the traveling machine 2, the steering controller that controls the steering angle of the front wheels of the traveling machine 2, and the rotation of the PTO axis. Includes PTO axis controller and the like.
  • the position information calculation unit 12, the communication unit 13, and the like are further connected to the traveling machine control unit 10.
  • the satellite signal receiving antenna 14 is electrically connected to the position information calculation unit 12.
  • the satellite signal receiving antenna 14 receives signals from the positioning satellites 8 (see FIG. 1) constituting the satellite positioning system.
  • the satellite positioning system is, for example, GNSS (Global Navigation Satellite System).
  • the position information calculation unit 12 calculates the position of the traveling machine 2 (strictly speaking, the satellite signal receiving antenna 14) based on the positioning signal received by the satellite signal receiving antenna 14. Specifically, the position information calculation unit 12 generates positioning information including time information and position information.
  • the position information includes, for example, latitude information and longitude information.
  • the communication unit 13 is a communication interface for the traveling machine control unit 10 to communicate with the management server 5 via the network 6.
  • the work machine 3 includes a control unit (hereinafter, referred to as "work machine control unit 20") that controls the operation of the work machine 3.
  • the work equipment control unit 20 includes a microcomputer provided with a CPU and a memory (volatile memory, non-volatile memory, etc.).
  • the work machine control unit 20 is connected to the traveling machine control unit 10 via a CAN (Controller Area Network).
  • a work actuator 21 or the like is connected to the work machine control unit 20.
  • the work actuator 21 is, for example, an actuator for driving an electronic shutter provided at the bottom of a fertilizer storage tank.
  • the work actuator 21 is, for example, an actuator for driving a pump for supplying a pesticide from a pesticide storage drug tank to a discharge nozzle.
  • the working actuator 21 is, for example, an actuator for driving a feeding device for feeding seeds from a seed storage tank.
  • the management server 5 includes a control unit (hereinafter, referred to as "server control unit 30") that controls the management server 5.
  • the control unit 30 includes a microcomputer provided with a CPU and a memory (volatile memory, non-volatile memory, etc.) 30A.
  • the communication unit 31, the operation display unit 32, the operation unit 33, and the storage unit 34 are electrically connected to the server control unit 30.
  • the communication unit 31 is a communication interface for the server control unit 30 to communicate with the traveling machine control unit 10 and the user terminal 4 via the network 6.
  • the operation display unit 32 includes, for example, a touch panel display.
  • the operation unit 33 includes, for example, a keyboard, a mouse, and the like.
  • the storage unit 34 is composed of a storage device such as a hard disk and a non-volatile memory.
  • a plurality of work map files (work map file group) 34A, map attribute table 34B, and the like are stored in the storage unit 34.
  • the work map file group 34A shall include only the work map file (hereinafter, simply referred to as "work map") used for the work performed in the field owned by the specific user.
  • the work map for a field includes position information for identifying the position of each mesh in the field and work setting information for each mesh.
  • the position information for specifying the position of the mesh includes, for example, the position information of the four vertices of the mesh or the position information of a pair of vertices out of the four vertices.
  • the position information for specifying the position of the mesh may include the position information of the center of the mesh.
  • the attribute information of each work map included in the work map file group 34A is stored for each work map.
  • the attribute information includes a field number, work identification information (work ID), a work name, and a file name.
  • the field number for a work map is the number of the field in which the work map should be used.
  • the work identification information (work ID) for a certain work map is information for identifying the work for which the work map should be used.
  • the work name for a work map is the name of the work for which the work map should be used.
  • the file name for a work map is the file name of the work map (work map file).
  • the fields owned by the specific user include a field having a field number of "001" and a field having a field number of "002".
  • the work performed using the work map includes a sowing work, a fertilizer spraying work (hereinafter, may be referred to as “fertilizer application work”), and a pesticide spraying work.
  • the work setting information for the sowing work (work setting information for each mesh) is the target sowing amount per predetermined area.
  • the work setting information for the fertilizer application work is the target fertilizer application amount per predetermined area.
  • the work setting information for the pesticide spraying work is the target pesticide spraying amount per predetermined area.
  • FIG. 4 is a sequence diagram for explaining the operation of the work control system when a specific user performs fertilization work.
  • the specific user When performing the fertilizer application work, the specific user first operates the user terminal 4 to obtain the field number of the field (work target field) where the fertilizer application work is to be performed and the work identification information (work ID) indicating the fertilizer application work. And the pre-work notification information including the vehicle identification information for identifying the work vehicle 1 used for the work is transmitted to the management server 5 (step S1).
  • the specific user operates the user terminal 4 to input the field number of the work target field, the work identification information, and the vehicle identification information from the management server 5, a web page for inputting pre-work notification information. (Web page dedicated to a specific user) is acquired. As a result, the pre-work notification information input screen 41 as shown in FIG. 5 is displayed on the user terminal 4.
  • the pre-work notification information input screen 41 includes a field / work selection screen 42, a vehicle information input screen 43, and a confirmation button 44.
  • the vehicle identification information consists of the model and machine number of the traveling machine 2.
  • the vehicle information input screen 43 includes a model input box 43A and a machine number input box 43B.
  • the specific user selects a combination suitable for the work to be performed from among the plurality of combinations of the field number and the work name displayed on the field / work selection screen 42. Further, the specific user inputs the model and the machine number of the work vehicle 1 (traveling machine 2 in this example) to be used for the work to be performed in the model input box 43A and the machine number input box 43B, respectively.
  • the management server 5 When the management server 5 receives the pre-work notification information, it stores the pre-work notification information in the memory (working memory) 30A (step S2).
  • the traveling machine control unit 10 receives the positioning information generated by the position information calculation unit 12 and the vehicle identification information of the work vehicle 1 (in this example, traveling).
  • the model and machine number of the machine 2) are transmitted to the management server 5 (step S3).
  • Positioning information and vehicle identification information are transmitted, for example, at 1-second intervals.
  • the server control unit 30 When the server control unit 30 receives the positioning information and the vehicle identification information, it acquires the work map corresponding to the vehicle identification information received from the work map file group) 34A and stores it in the memory 30A (step S4).
  • the server control unit 30 first starts with the pre-work notification information corresponding to the received vehicle identification information among the pre-work notification information stored in the memory 30A. , Get field number and work identification information. Next, the server control unit 30 acquires the file name corresponding to the combination of the acquired field number and the work identification information from the map attribute table 34B. Then, the server control unit 30 acquires the work map corresponding to the acquired file name from the work map file group 34A and stores it in the memory 30A.
  • the work map (fertilizer application map whose file name is F02.task) corresponding to the combination of the field No. "001" and the fertilizer application work (fertilizer application work) is acquired from the map attribute table 34B and has a memory of 30A. Is temporarily stored in.
  • the server control unit 30 acquires work setting information in mesh units according to the position information in the received positioning information from the work map stored in the memory 30A (step S5).
  • the server control unit 30 creates control information for controlling the work machine 3 (more specifically, the work actuator 21) from the work setting information acquired in step S5 (step S6).
  • the server control unit 30 transmits the created information as work control information to the traveling machine control unit 10 (step S7).
  • the traveling machine control unit 10 gives the received work control information to the work machine control unit 20 (step S8).
  • the work machine control unit 20 controls the work actuator 21 using the work control information given by the work vehicle control unit 10 (step S9). In this example, this controls the amount of fertilizer applied per unit area to the mesh to be worked so as to be the target amount of fertilizer applied to the mesh in the work map.
  • step S4 every time the traveling unit 10 transmits the positioning information and the vehicle identification information to the management server 5, the same processing as the processing from step S4 to step S9 is repeatedly executed.
  • the server control unit 30 creates control information for controlling the work vehicle 1 (work machine 3) from the work setting information acquired in step S5 of FIG. 4, and controls the created information. As information, it is transmitted to the traveling machine control unit 10 (see step S6). However, the server control unit 30 may transmit the work setting information acquired in step S5 of FIG. 4 to the traveling machine control unit 10 as it is. In this case, the traveling machine control unit 10 or the working machine control unit 20 generates control information from the work setting information, and the working actuator 21 is controlled based on the generated control information.
  • the server control unit 30 transmits the work control information to the traveling machine control unit 10 (see step S7).
  • the work machine control unit 20 is provided with a communication unit for communicating with the server control unit 30 via the network 6, and the server control unit 30 transmits work control information or work setting information to the work machine control unit 20. You may try to do it.
  • the work setting information for each mesh included in the entire field is created and stored in the management server 5 before the work is performed on the field.
  • the work vehicle 1 is performing the work on a certain field
  • the work setting information of the area in which the work by the work vehicle 1 is not yet performed is created, and the work setting created in this way is created.
  • the information may be used to continue the work.
  • an embodiment in which the work setting information is created and the work by the work vehicle 1 is performed at the same time is referred to as a modification.
  • FIG. 6 is a schematic view showing a state in which the work vehicle 1 (traveling machine 2) performs fertilization work in the field F.
  • the working machine 3 is omitted for convenience of explanation.
  • the traveling machine 2 may be traveled by manual operation or by automatic operation.
  • a plurality of elongated rectangular crop growing regions L for growing crops are formed in a striped shape.
  • the lower end of FIG. 6 is referred to as the front end, and the upper end of FIG. 6 is referred to as the back end.
  • the traveling machine 2 performs fertilization work while moving along the crop growing area L in a posture in which the left and right wheels on the front side and the left and right wheels on the rear side each sandwich the crop growing area L.
  • the traveling machine 2 travels from the front end to the back end with respect to the leftmost crop growing area L, for example. Then, when the vehicle reaches the inner end of the crop growing area L, the traveling machine 2 turns to the right in the traveling direction and moves to the inner end of the crop growing area L adjacent to the right.
  • the traveling machine 2 travels in the crop growing area L from the back end to the front end. Then, when the vehicle reaches the front end of the crop growing area L, the traveling machine 2 turns to the left in the traveling direction and moves to the front end of the crop growing area L adjacent to the right. Such a traveling operation is repeatedly performed. Therefore, the movement path of the traveling machine 2 is generally a zigzag shape as shown by a broken line in FIG.
  • the traveling machine 2 is equipped with multispectral cameras 51, 52, 53 for photographing crops in the front, left, and right regions, as shown in FIGS. 6 and 7, and as shown by the alternate long and short dash line in FIG. Has been done. More specifically, the multispectral cameras 51, 52, and 53 are attached to the tips of the support arms 54, 55, and 56 whose base ends are fixed to the traveling machine 2, respectively, in a downward or diagonally downward posture. There is.
  • the multispectral cameras 51, 52, and 53 are, for example, cameras capable of capturing images of visible red light and near infrared light.
  • the normalized difference vegetation index (NDVI: Normalized Difference Vegetation Index) in the imaging region can be calculated based on the images captured by the multispectral cameras 51, 52, and 53.
  • the NDVI represents the leaf color of the crop and can be used as the growth status information indicating the growth status of the crop. Therefore, the target fertilizer application amount (work setting information) for each mesh can be calculated based on the NDVI for each mesh. In this case, the target fertilizer application amount is calculated so that the higher the NDVI, the smaller the amount.
  • NDVI is an example of "basic information" used to calculate work setting information.
  • the traveling machine 2 is further provided with an orientation sensor (attitude sensor) 57 for detecting the orientation (posture) of the traveling machine 2 as shown by a chain line in FIG.
  • an orientation sensor (attitude sensor) 57 for detecting the orientation (posture) of the traveling machine 2 as shown by a chain line in FIG.
  • a gyro sensor for detecting the orientation (posture) of the traveling machine 2 as shown by a chain line in FIG.
  • a gyro sensor a geomagnetic sensor
  • IMU Inertial Measurement Unit
  • the position information of the traveling machine 2 calculated by the position information calculation unit 12, the direction (traveling direction) of the traveling machine 2 detected by the orientation sensor 57, and the multispectral cameras 51, 52, 53 with respect to the reference position of the traveling machine 2.
  • the work vehicle control unit 10 can specify the position of the imaging region captured by the multispectral cameras 51, 52, and 53.
  • the fertilizer application map for a certain field which is stored in advance in the storage unit 34, includes position information for specifying the position of each mesh in the field and an initial value of the target fertilizer application amount for each mesh. ..
  • the initial value of the target fertilizer application amount is set to zero or a predetermined value.
  • the work vehicle control unit 10 and the server control unit 30 perform the following operations in addition to the same operations as those in the above-described embodiment when the work vehicle 1 is performing fertilization work. ..
  • the traveling machine control unit 10 transmits the captured images taken by the multispectral cameras 51, 52, and 53 to the management server 5 together with the imaging position information indicating the position of the imaging region at predetermined time intervals.
  • the server control unit 30 calculates the NDVI corresponding to each captured image based on the captured images of the received cameras 51, 52, 53.
  • the server control unit 30 calculates the target fertilizer application amount (work setting information) of the mesh corresponding to the imaging position information based on the NDVI and the imaging position information corresponding to the NDVI for each calculated NDVI. ..
  • the server control unit 30 updates the target fertilizer application amount corresponding to the mesh in the work map stored in the memory 20A in step S4 by using the calculated target fertilizer application amount of the mesh.
  • the target fertilizer application amount (work setting information) for the mesh to be worked on is created in real time, and the fertilizer application map in the memory 20A is updated. .. Then, the work machine 3 is controlled based on the contents of the fertilizer application map updated during the work.
  • the target fertilizer application amount for the mesh to be worked on is created.
  • the image captured by the front multispectral camera 51 and the image captured by the left multispectral camera 52 are captured. Based on the image, the target fertilizer application amount for the mesh to be worked on is created.
  • the crop is imaged by the multispectral cameras 51, 52, 53 or other types of cameras during the pesticide spraying work, and the captured image obtained is obtained.
  • the amount of pests adhering to the crop can be calculated from, and the target amount of pesticide sprayed can be calculated based on the calculated amount of pests.
  • the target pesticide application amount is calculated so that the mesh with a larger amount of pests has a larger amount.

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  • Aviation & Aerospace Engineering (AREA)
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  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Fertilizing (AREA)
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Abstract

Selon la présente invention, un véhicule de travail (1) transmet, à un serveur (5), des informations de positionnement indiquant la position du véhicule de travail (1), reçoit des informations de commande de travail qui sont transmises à partir du serveur (5) conformément aux informations de positionnement, et commande un engin de travail (3) sur la base des informations de commande de travail reçues. Après réception des informations de positionnement provenant du véhicule de travail (1), le serveur (5) acquiert, à partir d'une carte de travail, des informations de réglage de travail correspondant aux informations de positionnement reçues, et transmet au véhicule de travail (1) les informations de commande de travail qui comprennent les informations de réglage de travail acquises ou les informations de commande préparées à partir desdites informations de réglage de travail.
PCT/JP2020/000603 2019-03-26 2020-01-10 Système de commande de travail WO2020195007A1 (fr)

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