Job management method, job management program, and job management system

Abstract

Provided are a work management method, a work management program, and a work management system with which it is possible to grasp the time required for work when a work vehicle is operated in a plurality of fields. An acquisition processing unit (212) acquires: work history information when a work vehicle (10) performs work on each of a plurality of fields; and movement history information when the work vehicle (10) moves on a road connecting the plurality of fields. The output processing unit (213) outputs a predicted required time required for the work vehicle (10) to perform work on the plurality of fields on the basis of the work history information and the movement history information.

Description

Technical Field

[0001] The present invention relates to a work management method, a work management program, and a work management system for managing work performed by a work vehicle. Background Art

[0002] In recent years, with the advancement of automation technology for agricultural machinery, work vehicles that automatically travel in fields while performing work have been introduced. For example, the work vehicle is equipped with a positioning unit that obtains position information of the work vehicle using a positioning system, and automatically travels according to a target path pre-set for the field. In the past, there is a known system that calculates the estimated working time required for the work vehicle to work in the field and displays it on an operating terminal (user terminal) (for example, see Patent Document 1).

[0003] Patent Document 1: Japanese Patent No. 6807794

[0004] However, there are cases where a work vehicle continuously works on multiple fields. For example, after a work vehicle finishes working on one field, it travels on a farm road or the like, moves to the next field, and works on that field. In such a case where a work vehicle continuously works on multiple fields, it is difficult to grasp the time required for the work in the prior art when there are multiple fields to be worked on. Summary of the invention

[0005] An object of the present invention is to provide a work management method, a work management program, and a work management system that can grasp the time required for work when a work vehicle is operated on a plurality of fields.

[0006] The work management method involved in the present invention executes: obtaining the work history information of the work vehicle when performing work in each of multiple work areas, and the movement history information of the above-mentioned work vehicle when moving on the connecting road connecting the above-mentioned multiple work areas during the above-mentioned work; and based on the above-mentioned work history information and the above-mentioned movement history information, outputting the estimated time required for the above-mentioned work vehicle to perform the work in the above-mentioned multiple work areas.

[0007] The work management program involved in the present invention is used to enable one or more processors to execute: obtaining work history information of a work vehicle when performing work in each of a plurality of work areas, and movement history information of the work vehicle when moving on a connecting road connecting the plurality of work areas; and based on the work history information and the movement history information, outputting the estimated time required for the work vehicle to perform work in the plurality of work areas.

[0008] The work management system according to the present invention comprises an acquisition processing unit and an output processing unit. The acquisition processing unit acquires work history information when a work vehicle performs work in each of a plurality of work areas and movement history information when the work vehicle moves on a connecting road connecting the plurality of work areas. The output processing unit outputs an estimated required time required for the work vehicle to perform work in the plurality of work areas based on the work history information and the movement history information.

[0009] According to the present invention, it is possible to provide a work management method, a work management program, and a work management system that can grasp the time required for work when a work vehicle is operated in a plurality of fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention.

[0011] Figure 2 This is an external view showing an example of a work vehicle according to an embodiment of the present invention.

[0012] Figure 3 This is a diagram showing an example of a target path according to an embodiment of the present invention.

[0013] Figure 4 This is a diagram showing an example of a target route set in a field according to an embodiment of the present invention.

[0014] Figure 5 This is a diagram showing an example of a menu screen displayed on the operation terminal according to the embodiment of the present invention.

[0015] Figure 6 This is a diagram showing an example of a field selection screen displayed on the operation terminal according to the embodiment of the present invention.

[0016] Figure 7 It is a diagram showing an example of a work plan screen displayed on the operation terminal according to the embodiment of the present invention.

[0017] Fig. 8A It is a diagram showing an example of a work plan selection screen displayed on the operation terminal according to the embodiment of the present invention.

[0018] Figure 8B It is a diagram showing an example of a work plan selection screen displayed on the operation terminal according to the embodiment of the present invention.

[0019] Fig. 9 This is a diagram showing an example of a work screen displayed on the operation terminal according to the embodiment of the present invention.

[0020] Fig.10 This is a diagram showing an example of a field selection screen displayed on the operation terminal according to the embodiment of the present invention.

[0021] Fig.11 This is a diagram showing an example of a job history screen displayed on the operation terminal according to the embodiment of the present invention.

[0022] Fig.12 This is a flowchart showing an example of a procedure of an automatic driving process executed by the automatic driving system according to the embodiment of the present invention.

[0023] Fig.13 It is a diagram showing an example of a work plan screen displayed on the operation terminal according to the embodiment of the present invention.

[0024] Fig.14 This is a diagram showing an example of a work screen displayed on the operation terminal according to the embodiment of the present invention.

[0025] Description of Reference Numerals

[0026] 1…Automatic driving system; 10…Work vehicle; 11…Vehicle control device; 20…Operation terminal; 21…Operation control unit; 111…Driving processing unit; 211…Setting processing unit; 212…Acquisition processing unit; 213…Output processing unit; D1…Menu screen; D2…Field selection screen; D3…Work plan screen; D4…Work plan selection screen; D5…Work screen; D6…Work history screen; F…Field (work area); P1…Specified position; R0…Road (connecting road); R1…Target path; Ra…Moving path; Rb…Moving path; Rc…Moving path; Rd…Moving path. DETAILED DESCRIPTION

[0027] The following embodiment is an example of embodying the present invention, and does not limit the technical scope of the present invention.

[0028] like Figure 1 As shown, the automatic driving system 1 according to the embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. The work vehicle 10 and the operation terminal 20 can communicate via a communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate via a mobile phone line network, a packet line network, or a wireless LAN.

[0029] In the present embodiment, the case where the working vehicle 10 is a tractor is cited as an example for explanation. In addition, as other embodiments, the working vehicle 10 may also be a rice transplanter, a combine harvester, a construction machine, or a snowplow. The working vehicle 10 has a structure that can automatically travel (autonomously travel) according to a preset target path in a field as a working area. In addition, the working vehicle 10 can perform prescribed operations while automatically traveling according to a target path in the field. In addition, the working vehicle 10 has a structure that can automatically travel according to a preset moving path on a road (connecting road) connecting multiple fields. The working vehicle 10 automatically travels on roads in and outside the field according to a preset target path and moving path based on the position information of the current position of the working vehicle 10 calculated by the positioning unit 16.

[0030] For example Figure 3 As shown, when the working vehicle 10 starts to travel automatically at a predetermined position P1 (travel start position), it automatically travels on the road R0 according to a preset travel path Ra, moves to the field F1, and moves along a preset target path R1 (working path) (see Figure 4 ) while automatically driving and performing the prescribed work. Then, when the work in the field F1 is completed, the work vehicle 10 automatically drives on the road R0 according to the preset moving path Rb, moves to the field F6, and moves in the field F6 according to the preset target path R1 (refer to Figure 4 ) while automatically driving and performing the prescribed work. Then, when the work in the field F6 is completed, the work vehicle 10 automatically drives on the road R0 according to the preset moving path Rc, moves to the field F12, and moves in the field F12 according to the preset target path R1 (refer to Figure 4 ) while automatically traveling to perform a predetermined operation. Then, when the operation in the field F12 is completed, the work vehicle 10 automatically travels on the road R0 according to the preset moving path Rd and returns to the predetermined position P1 (travel end position), and the automatic travel is terminated.

[0031] Figure 4 The field F ( Figure 3 1 to 12). For example, the target path R1 includes a plurality of parallel straight paths r1 and a turning path r2 connecting adjacent straight paths r1. The work vehicle 10 performs a predetermined work while automatically traveling along the straight path r1 and the turning path r2 from the work start position S to the work end position G. In addition, the target path R1 is generated for each field F according to the work content, etc. In addition, the target path R1 is generated at the operation terminal 20 according to the operation of the user (worker, operator, etc.).

[0032] In addition, the movement path set for the road R0 is generated according to the user's operation (teaching operation, etc.) at the operation terminal 20. In addition, the road R0 (the connecting road of the present invention) can be a road dedicated to working vehicles such as a farm road, a forest road, a public road, a private road, a motor vehicle road, etc., or a road accessible to general vehicles (passenger cars, etc.).

[0033] However, in the prior art, it is difficult to grasp the time required for the work when the work vehicle 10 is continuously operated in a plurality of fields F. In contrast, as described below, the automatic driving system 1 according to the present embodiment can grasp the time required for the work when the work vehicle 10 is operated in a plurality of fields F.

[0034] [Work vehicle 10]

[0035] like Figure 1 and Figure 2 As shown, the work vehicle 10 includes a vehicle control device 11, a storage unit 12, a travel device 13, a work machine 14, a communication unit 15, a positioning unit 16, etc. The vehicle control device 11 is electrically connected to the storage unit 12, the travel device 13, the work machine 14, the positioning unit 16, etc. In addition, the vehicle control device 11 and the positioning unit 16 may also be capable of wireless communication.

[0036] The communication unit 15 is a communication interface for connecting the work vehicle 10 to the communication network N1 by wire or wirelessly and performing data communication with external devices such as the operation terminal 20 via the communication network N1 in accordance with a predetermined communication protocol. The work vehicle 10 can perform wireless communication with the operation terminal 20 via the communication unit 15 .

[0037] The storage unit 12 is a non-volatile storage unit such as a HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various information. The storage unit 12 stores information for causing the vehicle control device 11 to execute the automatic driving process described later (see Fig.12 ) and other control programs such as automatic driving programs. For example, the automatic driving program is recorded non-temporarily on a computer-readable recording medium such as a flash ROM, an EEPROM, a CD, or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. In addition, the automatic driving program can also be downloaded from a server (not shown) to the work vehicle 10 via the communication network N1 and stored in the storage unit 12. In addition, the storage unit 12 can also store the target path R1 generated in the operation terminal 20 and the path data of the moving path.

[0038] The travel device 13 is a driving unit that drives the work vehicle 10. Figure 2As shown, the travel device 13 includes an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a steering wheel 137, etc. In addition, the front wheels 132 and the rear wheels 133 are respectively provided on the left and right sides of the work vehicle 10. In addition, the travel device 13 is not limited to a wheel type including the front wheels 132 and the rear wheels 133, and may also be a crawler type including crawlers provided on the left and right sides of the work vehicle 10.

[0039] The engine 131 is a driving source such as a diesel engine or a gasoline engine that is driven by fuel supplied from a fuel tank not shown. The travel device 13 may also be equipped with an electric motor as a driving source on the basis of the engine 131 or instead of the engine 131. In addition, the engine 131 is connected to a generator not shown, and power is supplied from the generator to electrical components such as the vehicle control device 11 and batteries provided in the work vehicle 10. In addition, the above-mentioned battery is charged by the power supplied from the above-mentioned generator. Moreover, the electrical components such as the vehicle control device 11 and the positioning unit 16 provided in the work vehicle 10 can also be driven by the power supplied from the above-mentioned battery after the engine 131 stops.

[0040] The driving force of the engine 131 is transmitted to the front wheel 132 via the transmission 134 and the front axle 135, and is transmitted to the rear wheel 133 via the transmission 134 and the rear axle 136. In addition, the driving force of the engine 131 is also transmitted to the work machine 14 via the PTO shaft (not shown). When the work vehicle 10 is automatically driven, the driving device 13 performs the driving action according to the command of the vehicle control device 11.

[0041] The work machine 14 is, for example, a tiller, a mower, a plow, a fertilizer spreader, a seed drill, a sowing machine, etc., and can be loaded and unloaded from the work vehicle 10. Thus, the work vehicle 10 can perform various operations using each work machine 14. In this embodiment, a case where the work machine 14 is a tiller and the work vehicle 10 performs tillage operations on a plurality of fields is described as an example.

[0042] When the work vehicle 10 is on the road R0 (refer to Figure 3), the work vehicle 10 may be driven with the work machine 14 installed or with the work machine 14 removed. For example, when the work vehicle 10 is performing tillage work in each of the fields F1, F6, and F12, after the tillage work in the field F1 is completed, the work vehicle 10 drives on the road R0 with the work machine 14 installed, moves to the field F6, and performs tillage work in the field F6. After the tillage work in the field F6 is completed, the work vehicle 10 drives on the road R0 with the work machine 14 installed, moves to the field F12, and performs tillage work in the field F12. In addition, when the work vehicle 10 has a lifting function for the work machine 14, it drives on the road R0 with the work machine 14 raised.

[0043] For example, when different operations are performed in the fields F1 and F6, after the operation in the field F1 is completed, the work vehicle 10 travels on the road R0 with the work machine 14 removed, moves to the field F6, and installs another work machine 14 in the field F6 to perform the operation.

[0044] The steering wheel 137 is an operation unit operated by an operator or the vehicle control device 11. For example, in the travel device 13, the angle of the front wheel 132 is changed by a hydraulic power steering mechanism (not shown) or the like according to the operation of the steering wheel 137 by the vehicle control device 11, thereby changing the travel direction of the work vehicle 10. When the operator performs a teaching operation, the operator operates the steering wheel 137 to manually drive the work vehicle 10.

[0045] In addition to the steering wheel 137, the travel device 13 is also provided with a shift lever, an accelerator, a brake, etc. (not shown) which are operated by the vehicle control device 11. Moreover, in the travel device 13, according to the operation of the shift lever by the vehicle control device 11, the gear position of the transmission 134 is switched to a forward gear or a reverse gear, etc., and the travel mode of the work vehicle 10 is switched to forward or reverse, etc. In addition, the vehicle control device 11 operates the accelerator to control the rotation speed of the engine 131. In addition, the vehicle control device 11 operates the brake to brake the rotation of the front wheel 132 and the rear wheel 133 using an electromagnetic brake.

[0046] The positioning unit 16 is a communication device including a positioning control unit 161, a storage unit 162, a communication unit 163, and a positioning antenna 164. Figure 2As shown, the positioning unit 16 is arranged on the upper part of the cab 18 for the operator to ride. In addition, the installation place of the positioning unit 16 is not limited to the cab 18. In addition, the positioning control unit 161, the storage unit 162, the communication unit 163 and the positioning antenna 164 of the positioning unit 16 can also be dispersed and arranged at different positions in the work vehicle 10. In addition, as described above, the positioning unit 16 is connected to the above-mentioned battery, and the positioning unit 16 can also operate during the stop of the engine 131. In addition, for example, a mobile phone terminal, a smart phone, a tablet terminal or a quantum compass can also be used instead of the positioning unit 16.

[0047] The positioning control unit 161 is a computer system having one or more processors, and non-volatile memory and storage memory such as RAM. The storage unit 162 is a non-volatile memory that stores a program for causing the positioning control unit 161 to perform positioning processing, and data such as positioning information and movement information. For example, the above program is non-temporarily recorded in a computer-readable recording medium such as a flash ROM, EEPROM, CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 162. In addition, the above program can also be downloaded from a server (not shown) to the positioning unit 16 via the communication network N1 and stored in the storage unit 162.

[0048] The communication unit 163 is a communication interface for connecting the positioning unit 16 to the communication network N1 by wire or wirelessly, and performing data communication with an external device such as a base station (not shown) via the communication network N1 in accordance with a predetermined communication protocol.

[0049] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0050] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signal received from the satellite by the positioning antenna 164. For example, when the work vehicle 10 is automatically traveling on a field, road, etc., if the positioning antenna 164 receives radio waves (transmission time, orbit information, etc.) transmitted from multiple satellites, the positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. In addition, the positioning control unit 161 can also perform positioning based on a real-time dynamic method (RTK-GNSS positioning method (RTK method)), which calculates the current position of the work vehicle 10 using the correction information corresponding to the base station (reference station) closer to the work vehicle 10. In this way, the work vehicle 10 automatically travels using the positioning information of the RTK method. In addition, the current position of the work vehicle 10 can be the same position as the positioning position (for example, the position of the positioning antenna 164), or it can be a position offset from the positioning position. Furthermore, the positioning control unit 161 may calculate (position) the current position of the work vehicle 10 using a quantum compass.

[0051] The vehicle control device 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that performs various calculations. The ROM is a non-volatile storage unit that pre-stores control programs such as BIOS and OS for the CPU to perform various calculations. The RAM is a volatile or non-volatile storage unit that stores various information and is used as a temporary storage memory (operation area) for various processes performed by the CPU. In addition, the vehicle control device 11 controls the work vehicle 10 by executing various control programs pre-stored in the ROM or storage unit 12 using the CPU.

[0052] The vehicle control device 11 controls the operation of the work vehicle 10 according to various user operations on the work vehicle 10. In addition, the vehicle control device 11 performs automatic driving processing of the work vehicle 10 based on the current position of the work vehicle 10 calculated by the positioning unit 16 and the preset target path R1 and movement path.

[0053] like Figure 1 As shown, the vehicle control device 11 includes various processing units such as a driving processing unit 111. In addition, the vehicle control device 11 functions as the various processing units by executing various processing in accordance with the automatic driving program using the CPU. In addition, a part or all of the processing units may be composed of electronic circuits. In addition, the automatic driving program may be a program for causing a plurality of processors to function as the processing units.

[0054] The driving processing unit 111 controls the driving of the work vehicle 10. Specifically, if a driving start instruction is obtained from the operation terminal 20, the driving processing unit 111 starts the automatic driving of the work vehicle 10. For example, if the operator presses the start button (see Figure 8B ), the operation terminal 20 outputs a driving start instruction to the work vehicle 10. If the driving start instruction is obtained from the operation terminal 20, the driving processing unit 111 starts the automatic driving of the work vehicle 10. As a result, the work vehicle 10 starts to drive automatically from the predetermined position P1, drives automatically on the road R0 according to the moving path Ra, moves to the field F1, and performs predetermined work while driving automatically according to the target path R1 in the field F1, drives automatically on the road R0 according to the moving path Rb, moves to the field F6, and performs predetermined work while driving automatically according to the target path R1 in the field F6, drives automatically on the road R0 according to the moving path Rc, moves to the field F12, and performs predetermined work while driving automatically according to the target path R1 in the field F12, and drives automatically on the road R0 to the predetermined position P1 according to the moving path Rd.

[0055] Furthermore, the travel processing unit 111 may receive a work start instruction from a worker for each field and execute automatic travel and work in the field.

[0056] The travel processing unit 111 obtains the target route R1 and the route data corresponding to each field from the operation terminal 20 , and causes the work vehicle 10 to automatically travel according to the target route R1 and the route.

[0057] Furthermore, when receiving a travel stop instruction from the operation terminal 20 , the travel processing unit 111 stops the automatic travel of the work vehicle 10 . For example, when the operator presses a stop button on the operation screen of the operation terminal 20 , the operation terminal 20 outputs a travel stop instruction to the work vehicle 10 .

[0058] In addition, when the work vehicle 10 detects an obstacle, the driving processing unit 111 stops the automatic driving of the work vehicle 10. For example, when an obstacle detection device (not shown) mounted on the work vehicle 10 detects an obstacle within a range of 3m to 8m in front of the work vehicle 10, the driving processing unit 111 decelerates the work vehicle 10. In addition, when the obstacle detection device detects an obstacle within a range of 3m in front of the work vehicle 10, the driving processing unit 111 stops the work vehicle 10.

[0059] [Operation terminal 20]

[0060] like Figure 1As shown, the operation terminal 20 is an information processing device including an operation control unit 21, a storage unit 22, an operation display unit 23, a communication unit 24, etc. The operation terminal 20 may be constituted by a mobile terminal such as a tablet terminal or a smartphone.

[0061] The communication unit 24 is a communication interface for connecting the operation terminal 20 to the communication network N1 by wire or wirelessly, and performing data communication with external devices such as one or more work vehicles 10 via the communication network N1 in accordance with a prescribed communication protocol.

[0062] The operation display unit 23 is a user interface including a display unit such as a liquid crystal display or an organic EL display for displaying various information, and an operation unit such as a touch panel, a mouse, or a keyboard for receiving operations. The operator can operate the operation unit in the operation screen displayed on the display unit to register various information (operation vehicle information, field information, operation information, etc. described later).

[0063] Furthermore, the operator performs an operation (teaching operation) on the operation unit to set a movement route for automatically traveling on the road R0 (connecting road) connecting the fields.

[0064] In addition, the operator can operate the operation unit to give a start instruction, a stop instruction, etc. to the work vehicle 10. Furthermore, the operator can understand the progress of the work vehicle 10, such as the driving condition and the working condition, by operating the driving track displayed on the operation terminal 20 at a place separated from the work vehicle 10, which is automatically driving on the field and road according to the target path R1 and the moving path.

[0065] The storage unit 22 is a non-volatile storage unit such as a HDD or SSD that stores various information. The storage unit 22 stores information for causing the operation control unit 21 to execute the automatic driving process described later (see Fig.12 ) and other control programs such as automatic driving programs. For example, the automatic driving program is recorded non-temporarily in a computer-readable recording medium such as a flash ROM, an EEPROM, a CD, or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 22. In addition, the automatic driving program can also be downloaded from a server (not shown) to the operation terminal 20 via the communication network N1 and stored in the storage unit 22.

[0066] In addition, a dedicated application for automatically driving the work vehicle 10 is installed in the storage unit 22. The operation control unit 21 activates the dedicated application to perform setting processing of various information related to the work vehicle 10, generation processing of the target path R1 and the movement path of the work vehicle 10, automatic driving instructions to the work vehicle 10, etc.

[0067] The storage unit 22 also stores data such as work vehicle information that is information about the work vehicle 10 and target route information that is information about the target route.

[0068] The work vehicle information includes information such as a vehicle number and a model number for each work vehicle 10. The vehicle number is identification information of the work vehicle 10. The model number is the model number of the work vehicle 10.

[0069] In addition, the storage unit 22 may store the work vehicle information related to one work vehicle 10 or the work vehicle information related to a plurality of work vehicles 10. For example, when a specific operator owns a plurality of work vehicles 10, the work vehicle information related to each work vehicle 10 is stored in the storage unit 22.

[0070] The target path information includes information such as a path name, a field name, an address, a field area, and a working time for each target path. The path name is the path name of the target path generated in the operation terminal 20. The field name is the name of the field for which the working object of the target path is set. The address is the address of the field, and the field area is the area of ​​the field. The working time is the estimated time (estimated required time, etc.) required to perform the working in the field using the working vehicle 10.

[0071] When the target path is a path (moving path) corresponding to the road R0, the target path information includes information such as a path name, an address, a travel distance, and a travel time. The path name is the name of the road, and the address is the address of the road. The travel distance is the distance traveled by the work vehicle 10 on the road R0, for example, the distance traveled on the road R0 from the field F1 to the field F6. The travel time is the time the work vehicle 10 travels on the road R0, for example, the estimated time required to move from the field F1 to the field F6 (estimated travel time).

[0072] In addition, the storage unit 22 may store the above-mentioned target path information related to one target path, and may also store the above-mentioned target path information related to multiple target paths. For example, in a case where a specific operator generates multiple target paths for one or more fields owned by the operator, the above-mentioned target path information related to each target path is stored in the storage unit 22. In addition, for a field, one target path may be set, or multiple target paths may be set. In addition, for a group of fields (two fields where operations are performed continuously), one moving path may be set, or multiple moving paths may be set. In the present embodiment, the storage unit 22 stores: each target path R1 (refer to Figure 4) corresponding to the target path information; and the moving path Ra, Rb, Rc, Rd (reference Figure 3 ) corresponding to the target path information.

[0073] In addition, as another embodiment, part or all of the above-mentioned work vehicle information, target path information and other information may also be stored in a server accessible from the operation terminal 20. The operator may also register the above-mentioned work vehicle information and the above-mentioned target path information on the above-mentioned server (such as a personal computer, a cloud server, etc.). In this case, the operation control unit 21 may also obtain the above-mentioned information from the above-mentioned server and execute the automatic driving process described later (refer to Fig.12 ) and other processing.

[0074] The operation control unit 21 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that performs various calculations. The ROM is a non-volatile storage unit that pre-stores control programs such as BIOS and OS for the CPU to perform various calculations. The RAM is a volatile or non-volatile storage unit that stores various information and is used as a temporary storage memory for various processes performed by the CPU. In addition, the operation control unit 21 controls the operation terminal 20 by executing various control programs pre-stored in the ROM or storage unit 22 using the CPU.

[0075] like Figure 1 As shown, the operation control unit 21 includes various processing units such as a setting processing unit 211, an acquisition processing unit 212, and an output processing unit 213. In addition, the operation control unit 21 functions as the various processing units by executing various processes in accordance with the control program using the CPU. In addition, a part or all of the processing units may be composed of electronic circuits. In addition, the control program may also be a program for causing a plurality of processors to function as the processing units.

[0076] The setting processing unit 211 sets various setting information for making the work vehicle 10 perform automatic driving. Specifically, the setting processing unit 211 sets information related to the work vehicle 10 (hereinafter referred to as work vehicle information). The setting processing unit 211 sets information such as the type (model) of the work vehicle 10, the position of the work vehicle 10 where the positioning antenna 164 is installed, the type of the work machine 14, the size and shape of the work machine 14, the position of the work machine 14 relative to the work vehicle 10, the vehicle speed and engine speed of the work vehicle 10 during operation, and the vehicle speed and engine speed of the work vehicle 10 during turning, through the operation registered by the operator at the operation terminal 20.

[0077] For example, the processing unit 211 is set to Figure 5The menu screen D1 shown is displayed on the operation display unit 23. The operator selects "work machine registration" on the menu screen D1 and registers the work machine information related to the work machine 14.

[0078] The setting processing unit 211 also sets information related to the field (hereinafter referred to as field information). The position and shape of the field, the work start position S where work is started, and the work end position G where work is ended (see Figure 4 ), working direction, etc., and the setting processing unit 211 sets the information by performing a registration operation on the operation terminal 20. The working direction refers to the direction in which the working vehicle 10 is driven while working with the working machine 14 in the working area after removing the head of the field and the non-working area from the field. For example, the operator selects "field registration" on the menu screen D1 and registers the field information.

[0079] The information on the position and shape of the field can be automatically acquired, for example, by an operator riding on the work vehicle 10 and driving around the periphery of the field and recording the change of the position information of the positioning antenna 164 at that time. In addition, the position and shape of the field can also be acquired based on a polygon obtained by the operator operating the operation terminal 20 to specify a plurality of points on the map while the operation terminal 20 is displaying the map. The area specified by the acquired position and shape of the field is the area (travel area) where the work vehicle 10 can travel.

[0080] In addition, the setting processing unit 211 sets information related to how to perform the operation (hereinafter referred to as operation information). The setting processing unit 211 is configured to set the existence of the coordinated operation of the unmanned operation vehicle 10 and the manned operation vehicle 10, the number of operation paths skipped when the operation vehicle 10 turns at the edge of the field, that is, the number of skips, the width of the edge of the field, and the width of the non-cultivated land as the operation information. For example, the operator selects "path generation" on the menu screen D1 and registers the operation information.

[0081] In addition, the setting processing unit 211 generates a target path (a target path in a field, a moving path on a road) which is a path for the work vehicle 10 to automatically travel based on the above-mentioned setting information. The setting processing unit 211 generates and stores the target path of the work vehicle 10 based on the above-mentioned setting information that is set in advance. For example, the operator selects "path creation" on the menu screen D1 and instructs the generation of the target path.

[0082] Here, the setting processing unit 211 sets the work plan in the route generation process. For example, when the work vehicle 10 is operated continuously in multiple fields, the setting processing unit 211 creates and displays the work plan including the work order (movement order) of the multiple fields, the required time required for the work, the moving distance, and other information based on the setting operation of the operator. The operator confirms the created work plan and starts the work.

[0083] Specifically, when the operator selects "route creation" on the menu screen D1, the setting processing unit 211 causes the operator to Figure 6 The field selection screen D2 shown is displayed. The field selection screen D2 displays map information including multiple fields and a list of information related to multiple fields registered in the above-mentioned "field registration" (field list E1). The field information of each field in the field list E1 may also include the field name, address, field area, registration date, etc. The setting processing unit 211 receives a field selection operation from the operator in the field selection screen D2. For example, when the operator causes the work vehicle 10 to continuously operate (for example, plowing operation) in the field F1, field F6, and field F12 in sequence, the operator selects field F1, field F6, and field F12 in the field list E1 in sequence. In this way, the operator selects multiple fields in the order of operation. In addition, the operator may also be able to set and change the order of operation after selecting multiple fields.

[0084] In addition, if Figure 6 As shown, the setting processing unit 211 may display the field selected by the worker in each of the field list E1 and the map information so as to be identifiable (displayed as a thick frame, filled, lit, blinked, etc.).

[0085] When the operator selects a plurality of fields in the field selection screen D2 and presses the OK button, the setting processing unit 211 causes the Figure 7 The work plan screen D3 shown in FIG. 1 is displayed. In the work plan screen D3, the movement path connecting the selected fields is displayed in the map information. Specifically, the setting processing unit 211 generates a movement path connecting each of the plurality of fields according to the work order of the plurality of selected fields (refer to FIG. 14 ). Figure 3 ), so that the generated movement path is displayed on the map. In addition, the setting processing unit 211 calculates the estimated movement time required for the work vehicle 10 to move along the movement path for each movement path, and displays the calculated estimated movement time on the map in correspondence with the movement path. Figure 7 As shown, the setting processing unit 211 displays the movement order of each movement path in a identifiable manner.

[0086] In addition, the setting processing unit 211 generates a target path R1 for each selected field (see Figure 3Here, the setting processing unit 211 generates a target path R1 for each of the fields F1, F6, and F12 based on the above-mentioned setting information that is set in advance. In addition, although not shown in the figure, the setting processing unit 211 displays the generated target path R1 for each field on the operation terminal 20. In addition, when the operator Figure 7 When a field is selected on the map of the work plan screen D3 shown, the setting processing unit 211 may display the target route R1 corresponding to the selected field.

[0087] In addition, the setting processing unit 211 calculates the estimated working time required for the working vehicle 10 to work on each selected field, and displays the calculated estimated working time on the map in correspondence with the field. Figure 7 As shown, the setting processing unit 211 displays the work order of the field in a recognizable manner. Figure 7 In the example shown, the estimated working time of the operation A in the field F1 to be operated first is 60 minutes, the estimated working time of the operation B in the field F6 to be operated next is 80 minutes, and the estimated working time of the operation C in the field F12 to be operated last is 60 minutes. In addition, in the present embodiment, the operations A, B, and C are, for example, tillage operations. The operations A, B, and C may also be different operations.

[0088] In this way, the setting processing unit 211 displays a series of operation plans starting from the predetermined position P1, working in the fields F1, F6, and F12 in sequence, and returning to the predetermined position P1 on the map. In addition, the predetermined position P1 is an example of the travel start position and the travel end position in the above-mentioned operation plan. Here, the setting processing unit 211 calculates the above-mentioned estimated travel time and the above-mentioned estimated operation time based on the past operation information (historical information).

[0089] Specifically, the acquisition processing unit 212 acquires the operation history information when the work vehicle 10 performs operations in each of the plurality of fields, and the movement history information when the work vehicle 10 moves between the fields (road R0). The above operation history information and the above movement history information are stored in the storage unit 22 each time the work vehicle 10 performs operations. The storage unit 22 stores the operation time (actual operation time) for each field. In addition, the storage unit 22 stores a plurality of past operation times for the same field. Similarly, the storage unit 22 stores the movement time (actual movement time) for each movement path set in the road R0. In addition, the storage unit 22 stores a plurality of past movement times for the same movement path. In addition, the above operation time is stored in correspondence with each operation content. The acquisition processing unit 212 acquires the above operation history information corresponding to the plurality of fields selected by the operator, and the above movement history information corresponding to the road R0 (movement path) connecting the fields from the storage unit 22.

[0090] The setting processing unit 211 calculates, for example, the average time of a plurality of past operation times of a field and sets it as the estimated operation time of the field. For example, the setting processing unit 211 calculates the average time of a plurality of operation times (here, the operation time of operation A) included in a plurality of past operation results for field F1 and sets it as the estimated operation time of field F1 ("60 minutes"). In addition, for example, the setting processing unit 211 calculates the average time of a plurality of operation times (here, the operation time of operation A) included in a plurality of past operation results for field F1 and sets it as the estimated operation time of field F1 ("60 minutes"). Figure 3 ) calculates the average time of multiple movement times included in multiple past movement results and sets it as the expected movement time ("10 minutes") of the movement path Rb.

[0091] In this way, the setting processing unit 211 calculates the estimated working time for each field and the estimated travel time for each travel route based on the working history information and the travel history information, and outputs (displays) the calculated working time for each field and the calculated travel time for each travel route.

[0092] In addition, the setting processing unit 211 outputs the estimated time required (total required time) required for the work vehicle 10 to work on a plurality of fields based on the work history information and the movement history information. Specifically, the setting processing unit 211 displays the overall estimated time required (total required time) corresponding to the work plan. Figure 7 In the example shown, the setting processing unit 211 displays the total required time ("4 hours and 15 minutes") obtained by summing up the estimated working time of each field F1, field F6, and field F12 and the estimated moving time of each moving path Ra, Rb, Rc, and Rd in the work plan display column E2.

[0093] In addition, the setting processing unit 211 displays the total operation time (estimated total operation time) required for the work vehicle 10 to operate in a plurality of fields and the total travel time (estimated total travel time) required for the work vehicle 10 to move on the road (travel path). Figure 7 In the example shown, the setting processing unit 211 displays the total operation time ("3 hours and 20 minutes") obtained by summing up the estimated operation times of the fields F1, F6, and F12, and the total travel time ("55 minutes") obtained by summing up the estimated travel times of the travel paths Ra, Rb, Rc, and Rd in the operation plan display column E2. The estimated required time (total required time) includes the total operation time (estimated total operation time) and the total travel time (estimated total travel time).

[0094] In addition, in the work plan display column E2, the setting processing unit 211 can also display the moving distance (the overall moving distance or the moving distance of the moving path), the number of fields (number of blocks) of the work object, the total work area, the name of the field of the work object, etc.

[0095] When the operator confirms the work plan in the work plan screen D3 and presses the registration button, the setting processing unit 211 gives identification information (number, etc., for example, "work plan 4") to the generated work plan and registers it in the storage unit 22. The work plan includes the total required time, the total work time, the total moving time, the estimated work time for each field, the estimated moving time for each moving path, the target path R1 for each field, and information such as each moving path (see Figure 7 ). In this way, when receiving an operation of selecting a plurality of fields from the operator, the setting processing unit 211 creates a work plan including the estimated work time for each field and the estimated travel time for each travel route, and displays it on the operation terminal 20.

[0096] The setting processing unit 211 causes the operation plan list E3 that lists the registered operation plans to be displayed on the Fig. 8A The work plan selection screen D4 shown in FIG. 1 is displayed. Each work plan in the work plan list E3 includes the name of the work plan, the registration date, etc. The setting processing unit 211 receives the selection operation of the work plan from the operator in the work plan selection screen D4. For example, if the operator selects "work plan 4" in the work plan selection screen D4, Figure 8B As shown, the setting processing unit 211 displays detailed information of the work plan 4 on the work plan selection screen D4.

[0097] When the operator starts the work according to the "work plan 4", the operator presses the start button on the work plan selection screen D4. When the operator presses the start button, the output processing unit 213 outputs the path data of the target path and the moving path corresponding to the work plan 4 to the work vehicle 10. Here, the output processing unit 213 outputs the path data including the target path R1 corresponding to each of the fields F1, F6, and F12, the moving path Ra connecting the predetermined position P1 and the field F1, the moving path Rb connecting the field F1 and the field F6, the moving path Rc connecting the field F6 and the field F12, and the moving path Rd connecting the field F12 and the predetermined position P1 to the work vehicle 10.

[0098] The work vehicle 10 is configured such that the path data of the target path and the moving path generated in the operation terminal 20 are transmitted to the work vehicle 10 and stored in the storage unit 12, and the work vehicle 10 can autonomously travel according to the target path and the moving path while detecting the current position of the work vehicle 10 through the positioning antenna 164. In addition, the current position of the work vehicle 10 is usually consistent with the position of the positioning antenna 164.

[0099] In addition, the working vehicle 10 is configured such that, when starting working in a field, the working vehicle 10 is located at a distance of 1.5 km from the working starting position S in the field (see FIG. Figure 3 ) can automatically drive in the field when the position is less than the specified distance.

[0100] For example, when the current position of the work vehicle 10 in the field is less than a predetermined distance from the work start position S, the travel processing unit 111 of the work vehicle 10 starts automatic travel of the work vehicle 10 according to the target route R1.

[0101] For example, the travel processing unit 111 causes the work vehicle 10 to automatically travel from the predetermined position P1 to the field F1 according to the movement path Ra. When the work vehicle 10 arrives at the field F1, the travel processing unit 111 causes the work vehicle 10 to automatically travel from the work start position S to the work end position G in the field F1 according to the target path R1. When the work vehicle 10 arrives at the work end position G, the travel processing unit 111 causes the work vehicle 10 to automatically travel from the field F1 to the field F6 according to the movement path Rb. Similarly, the travel processing unit 111 causes the work vehicle 10 to automatically travel from the work start position S to the work end position G in the field F6 according to the target path R1, and when the work vehicle 10 arrives at the work end position G, the work vehicle 10 is automatically driven from the field F6 to the field F12 according to the movement path Rc. In addition, the travel processing unit 111 causes the work vehicle 10 to automatically travel from the work start position S to the work end position G in the field F12 according to the target path R1. When the work vehicle 10 reaches the work end position G, the work vehicle 10 is automatically driven from the field F12 to the specified position P1 according to the movement path Rd.

[0102] When the work vehicle 10 starts to travel automatically, the operation control unit 21 displays the travel status, the progress status of the work, etc. on the operation display unit 23 of the operation terminal 20. For example, when the work vehicle 10 starts to travel automatically, the operation control unit 21 displays the travel status, the progress status of the work, etc. Fig. 9 The work screen D5 shown is displayed, and the map information and the work information E4 are displayed on the work screen D5. In addition, the operation control unit 21 displays the driving track, current position and other driving conditions of the work vehicle 10 on the map. In addition, the operation control unit 21 displays the identification information of the work plan (here, "work plan 4"), the name of the field currently being worked on, the time to start the work (start time), the scheduled time to end the work (scheduled end time), the progress, the scheduled deviation time and other information in the work information E4. The above-mentioned scheduled end time is based on the above-mentioned total required time included in the work plan 4 (refer to Figure 8B ) is calculated, for example, the time obtained by adding the above-mentioned start time to the above-mentioned total required time. The above-mentioned progress is calculated based on the elapsed time from the above-mentioned start time, the above-mentioned scheduled end time, the current position of the work vehicle 10, the total work area, the worked area, the unworked area and other information. The above-mentioned scheduled deviation time is the time representing the deviation between the above-mentioned scheduled end time and the estimated time when the actual work ends, for example, calculated based on the above-mentioned scheduled end time and the above-mentioned progress. Fig. 9 In the example shown, it is indicated that the work is delayed by 10 minutes at the current time, and if the work is continued at this rhythm, the work will be completed at "15:40", which is 10 minutes later than the above-mentioned scheduled end time ("15:30").

[0103] In this way, when the work vehicle 10 is working according to the work plan, the operation control unit 21 outputs (displays) progress information (the above-mentioned progress, the above-mentioned predetermined deviation time, etc.) indicating the progress status relative to the above-mentioned total required time. In addition, the operation control unit 21 updates the above-mentioned progress and the above-mentioned predetermined deviation time in real time according to the driving status and working status of the work vehicle 10. As a result, the operator can grasp the above-mentioned progress and the above-mentioned predetermined deviation time in real time at the operation terminal 20 while the work vehicle 10 is working.

[0104] Here, the operation control unit 21 may also report a warning message when a predetermined time lag occurs relative to the above-mentioned scheduled end time, that is, when the above-mentioned predetermined deviation time exceeds a predetermined time. That is, the operation control unit 21 reports the prescribed information when the delay time of the operation relative to the operation plan exceeds a predetermined time. For example, the operation control unit 21 may cause the operation terminal 20 to output (play) a warning sound, or may cause the work vehicle 10 to output a warning sound.

[0105] As another embodiment, when the predetermined deviation time exceeds the specified time, the driving processing unit 111 of the work vehicle 10 may change the driving state of the work vehicle 10. For example, the driving processing unit 111 may increase the driving speed in the non-operated area (e.g., the headland area in the field, the road connecting the fields, etc.) or change the moving path. That is, the driving processing unit 111 may also control the driving of the work vehicle 10 based on the above progress status. In addition, it is preferable to allow the processing of changing the driving state to be conditioned on the instruction of the operator.

[0106] As another embodiment of the process of creating the above-mentioned work plan, the setting processing unit 211 may also display the work history information of the field selected by the worker. Fig.10 As shown, the setting processing unit 211 displays the work history button K1 on the field selection screen D2. When the worker presses the work history button K1, the setting processing unit 211 displays the work history button K1 on the field selection screen D2. Fig.11 The operation history screen D6 shown is displayed, and the operation history information E5 is displayed on the operation history screen D6. For example, if the operator selects the field F6 and presses the operation history button K1, the setting processing unit 211 causes the operation history information E5 corresponding to the field F6 to be displayed on the operation history screen D6. The operation history information E5 includes information such as the operation content, operation day, required time, and meteorological (weather, temperature, humidity, etc.) of past operations. In addition, the setting processing unit 211 calculates the average time (average required time) required for each operation in the past and displays it. In addition, the above-mentioned average required time is equivalent to the above-mentioned operation plan (refer to Figure 8B) (e.g., "80 minutes" for field F6). In addition, the setting processing unit 211 displays the average required time for each work content in the work history information E5. If the operator presses the return button K2 in the work history screen D6, the setting processing unit 211 Fig. 9 The field selection screen D2 is displayed again. When the worker selects a field to be worked on, he can check past work information.

[0107] In addition, the operation terminal 20 can also access the website (agricultural support website) of the agricultural support service provided by the server (not shown) via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal of the above-mentioned server by executing the browser program by the operation control unit 21. In addition, the above-mentioned server has the above-mentioned processing units and executes each process.

[0108] [Automatic driving processing]

[0109] Below, refer to Fig.12 An example of the above-mentioned automatic driving process executed by the automatic driving system 1 will be described.

[0110] In addition, the present invention can be understood as the invention of an automatic driving method that executes one or more steps included in the above-mentioned automatic driving process. In addition, one or more steps included in the above-mentioned automatic driving process described here can also be appropriately omitted. In addition, the execution order of each step in the above-mentioned automatic driving process can also be changed within the range of producing the same effect. Moreover, the case where the operation control unit 21 executes each step in the above-mentioned automatic driving process is cited here as an example for explanation. As another embodiment, it can also be an automatic driving method in which one or more processors execute each step in the automatic driving process in a distributed manner.

[0111] In addition, the work management method of the present invention is included in the above-mentioned automatic driving method, and the work management program of the present invention is included in the above-mentioned automatic driving program.

[0112] In step S1, the operation control unit 21 of the operation terminal 20 determines whether a field selection operation is received from the operator. If the operation control unit 21 receives a field selection operation (S1: Yes), the process moves to step S2. The operation control unit 21 waits until a field selection operation is received (S1: No).

[0113] In step S2, the operation control unit 21 determines whether the selected field is multiple plots. If the selected field is multiple plots (S2: Yes), the operation control unit 21 moves the process to step S3. On the other hand, if the selected field is one plot (S2: No), the operation control unit 21 moves the process to step S21.

[0114] In step S3, the operation control unit 21 generates a target path R1 corresponding to each of the plurality of fields and a moving path connecting each of the plurality of fields. Figure 6 In the field selection screen D2 (field list E1) shown in FIG. 1 , the field F1, the field F6, and the field F12 are selected in sequence and the OK button is pressed. Then, the operation control unit 21 generates a target path R1 in the field F1, a target path R1 in the field F6, a target path R1 in the field F12, a moving path Ra connecting the predetermined position P1 and the field F1, a moving path Rb connecting the field F1 and the field F6, a moving path Rc connecting the field F6 and the field F12, and a moving path Rd connecting the field F12 and the predetermined position P1 (see FIG. 1 ). Figure 7 ).

[0115] As another embodiment, when the operator Fig.10 When any field is selected in the field selection screen D2 shown in the figure and the operation history button K1 is pressed, the operation control unit 21 can also make Fig.11 The work history screen D6 shown is displayed, and the work history information E5 corresponding to the selected field is displayed. Thereby, the worker can check the past work results when selecting the field.

[0116] Next, in step S4, the operation control unit 21 calculates the total operation time (estimated total operation time) required for the work vehicle 10 to work on the plurality of fields, and the total travel time (estimated total travel time) required for the work vehicle 10 to move on the travel path. Specifically, the operation control unit 21 calculates the average time of the past plurality of operation times of a field as the estimated operation time of the field, and calculates the total operation time (estimated total operation time) by adding up the estimated operation times of the plurality of fields. For example, the operation control unit 21 calculates the total operation time ("3 hours and 20 minutes") obtained by adding up the estimated operation times of the fields F1, F6, and F12.

[0117] In addition, the operation control unit 21 calculates the average time of multiple travel times included in the past multiple travel results for the travel path as the estimated travel time, and adds up the estimated travel times to calculate the total travel time (estimated total travel time). For example, the operation control unit 21 calculates the total travel time ("55 minutes") obtained by adding up the estimated travel times of the travel paths Ra, Rb, Rc, and Rd.

[0118] In addition, the operation control unit 21 calculates the total required time (estimated required time) obtained by adding the above-mentioned total operation time and the above-mentioned total travel time. For example, the operation control unit 21 calculates the total required time ("4 hours and 15 minutes") obtained by adding the estimated operation time of each field F1, field F6, and field F12, and the estimated travel time of each travel path Ra, Rb, Rc, and Rd. After step S4, the operation control unit 21 moves the processing to step S5.

[0119] On the other hand, if the worker selects only one field (S2: No), the operation control unit 21 generates a target route R1 for the selected field in step S21. In the next step S22, the operation control unit 21 calculates the estimated operation time for the field. After step S22, the operation control unit 21 moves the process to step S5.

[0120] Next, in step S5, the operation control unit 21 outputs a work plan. Specifically, the operation control unit 21 creates a work plan including information such as the time required for the work, the moving distance, the work area, and the field name, and displays it on the work plan screen D3. In addition, when the selected field is multiple, for example, Figure 7 As shown, the operation control unit 21 also displays the information of the operation sequence of the plurality of fields, the movement sequence between the fields, and the estimated operation time of each field on the operation plan screen D3. Specifically, the operation control unit 21 displays the information such as the field name, the operation content, the estimated operation time, and the operation sequence on the map of the operation plan screen D3 in correspondence with each field, and displays the information such as the estimated movement time and the movement sequence on the map of the operation plan screen D3 in correspondence with each movement path.

[0121] In addition, the operation control unit 21 displays the total required time, the total operation time, the total moving time, the moving distance, the number of fields (number of plots) of the operation target, the total operation area, the name of the field of the operation target, etc. in the operation plan display column E2. In addition, the information displayed on the map and the information displayed in the operation plan display column E2 are each an example of the operation plan of the present invention. When the selected field is a plot, the operation plan includes information corresponding to the field.

[0122] If the operator performs the registration operation after the above operation plan is output (displayed) Figure 7 If the operation of pressing the registration button is performed, the operation control unit 21 registers the work plan in the storage unit 22.

[0123] Next, in step S6, the operation control unit 21 determines whether the operator has received an operation to instruct the vehicle to start driving. If the operator has received an operation to instruct the vehicle to start driving (S6: Yes), the operation control unit 21 moves the process to step S7. Fig. 8A In the work plan selection screen D4 shown in FIG. 1 , the operator selects “work plan 4” and Figure 8B When the start button is pressed in the work plan selection screen D4 shown, the operation control unit 21 receives the operation of the above-mentioned travel start instruction.

[0124] If the operation of the driving start instruction is not received from the operator, the operation control unit 21 shifts the process to step S1 (S6: No). The operation control unit 21 repeatedly executes the above-mentioned work plan creation process until the operation of the driving start instruction is received from the operator.

[0125] In step S7, the operation control unit 21 outputs the path data to the work vehicle 10. Here, the operation control unit 21 outputs the path data of the target path and the moving path corresponding to the "work plan 4" to the work vehicle 10. Specifically, the operation control unit 21 outputs the path data including the target path R1 corresponding to each of the fields F1, F6, and F12, the moving path Ra connecting the predetermined position P1 and the field F1, the moving path Rb connecting the field F1 and the field F6, the moving path Rc connecting the field F6 and the field F12, and the moving path Rd connecting the field F12 and the predetermined position P1 to the work vehicle 10.

[0126] When the work vehicle 10 acquires the above-mentioned route data, it starts to travel automatically (see Figure 3 ). Specifically, the travel processing unit 111 of the work vehicle 10 causes the work vehicle 10 to automatically travel from the predetermined position P1 to the field F1 according to the moving path Ra. When the work vehicle 10 arrives at the field F1, the work vehicle 10 is automatically driven from the work start position S to the work end position G in the field F1 according to the target path R1. When the work vehicle 10 arrives at the work end position G, the travel processing unit 111 causes the work vehicle 10 to automatically travel from the field F1 to the field F6 according to the moving path Rb, and causes the work vehicle 10 to automatically travel from the work start position S to the work end position G in the field F6 according to the target path R1. When the work vehicle 10 arrives at the work end position G, the travel processing unit 111 causes the work vehicle 10 to automatically travel from the field F6 to the field F12 according to the moving path Rc, and causes the work vehicle 10 to automatically travel from the work start position S to the work end position G in the field F12 according to the target path R1. When the work vehicle 10 reaches the work end position G, the travel processing unit 111 causes the work vehicle 10 to automatically travel from the field F12 to the predetermined position P1 according to the movement path Rd.

[0127] Next, in step S8, the operation control unit 21 displays the progress status on the operation terminal 20 (operation display unit 23). Specifically, when the work vehicle 10 starts to travel automatically, the operation control unit 21 displays the travel status, the progress status of the work, etc. on the operation terminal 20. Fig. 9 The work screen D5 shown in the figure displays the driving status such as the driving track and current position of the work vehicle 10 on the map of the work screen D5. In addition, the operation control unit 21 displays the identification information of the work plan ("work plan 4"), the name of the field currently being worked, the time to start the work (start time), the scheduled time to end the work (scheduled end time), the progress, the scheduled deviation time and other information in the work information E4 of the work screen D5.

[0128] Next, in step S9, the operation control unit 21 determines whether the work vehicle 10 has reached the travel end position. Here, the travel end position is set to a predetermined position P1 (see Figure 3 ). If the work vehicle 10 reaches the travel end position (prescribed position P1) (S9: Yes), the operation control unit 21 ends the processing. The operation control unit 21 continues the display processing of step S8 until the work vehicle 10 reaches the travel end position (S9: No). For example, while the work vehicle 10 is performing automatic driving, the operation control unit 21 updates the above progress and the above predetermined deviation time in real time according to the driving condition and working condition of the work vehicle 10. In addition, in step S8, for example, when the above predetermined deviation time exceeds the prescribed time, the operation control unit 21 may also cause the operation terminal 20 or the work vehicle 10 to output a warning sound.

[0129] The operation control unit 21 performs the automatic driving process (work management process) as described above. In addition, the operation control unit 21 stores the work history information in the storage unit 22 at the end of each work. For example, the operation control unit 21 adds information such as the work content, work date, and required time related to this work to the work history information E5 (refer to Fig.11 ), and updates the average required time. In this way, the operation control unit 21 accumulates and updates the operation history information each time the work vehicle 10 performs the work.

[0130] As described above, the automatic driving system 1 involved in the present embodiment obtains the operation history information when the work vehicle 10 performs operations in each of a plurality of fields (operation areas), and the movement history information when the work vehicle 10 moves the road (connecting road) connecting the plurality of fields during the above operations, and outputs the total required time (estimated required time) required for the work vehicle 10 to perform the operations in the plurality of fields based on the above operation history information and the above movement history information.

[0131] According to the above structure, the operator can be not only prompted with the estimated working time in one field, but also prompted with the total required time (estimated required time) which is the sum of the estimated working time of each of the plurality of fields and the estimated moving time for moving between the fields. Therefore, the operator can understand the required time for working on the plurality of fields as working objects.

[0132] In addition, the automatic driving system 1 can also display the total operation time (estimated total operation time) required for the work vehicle 10 to work on the above-mentioned multiple fields, and the total movement time (estimated total movement time) required for the work vehicle 10 to move on the above-mentioned road (moving path) on the operation terminal 20. As a result, the operator can respectively grasp the time required for working on multiple fields and the time required for moving between fields. In addition, the above-mentioned total operation time (estimated total operation time) and the above-mentioned total movement time (estimated total movement time) are respectively an example of the estimated required time of the present invention. That is, the automatic driving system 1 of the present invention can output at least any one of the above-mentioned total operation time (estimated total operation time) and the above-mentioned total movement time (estimated total movement time). For example, the automatic driving system 1 can also output any one of the above-mentioned total operation time (estimated total operation time) and the above-mentioned total movement time (estimated total movement time) according to the display setting operation of the operator, and can also output both.

[0133] [Other embodiments]

[0134] The present invention is not limited to the above-described embodiment, and the following embodiments are also possible.

[0135] For example, when the work vehicle 10 performs a set operation (operation with the aid of the work machine 14) set by the operator in the field (tillage, mowing, harvesting, sowing, etc.), the work vehicle 10 may perform operations other than the set operation, such as replenishment of equipment, fuel, etc., discharge of harvested products, adjustment of the work machine 14, and replacement of the work machine 14. In this way, the operation history information includes the operation time required for the work vehicle 10 to actually perform the set operation (set operation time), and the time required for operations other than the above-mentioned set operation (non-set operation time). Therefore, the operation control unit 21 may also calculate the estimated set operation time and the estimated non-set operation time based on the above-mentioned operation history information, and display the above-mentioned estimated set operation time and the above-mentioned estimated non-set operation time separately on the operation terminal 20. For example, Fig.13 As shown, the operation control unit 21 makes the estimated setting operation time (equivalent to Fig.13 "Actual working time"), and the above-mentioned estimated non-set working time (equivalent to Fig.13 The detailed information of "non-working time" (E21) is displayed.

[0136] In addition, there is a situation where the operator temporarily stops the automatic driving and operation of the work vehicle 10 for a rest. That is, there is a situation where the above-mentioned work history information includes the time required for rest in past work (rest time). Therefore, the operation control unit 21 can also calculate the expected rest time based on the above-mentioned work history information, and display the above-mentioned expected rest time on the operation terminal 20. The time required for the replenishment of equipment, fuel, etc., the time required for the discharge of harvested products, the time required for the adjustment and replacement of the work machine 14, and the rest time are examples of non-set work time of the present invention.

[0137] Here, the estimated set working time is a certain time that the working vehicle 10 really needs to perform the set working, whereas the estimated non-set working time and the estimated rest time are times that may change each time (variable time). Therefore, the operation control unit 21 may also receive the following operation from the operator, which operation is an operation to select whether to display both the estimated set working time and the variable time on the operating terminal 20 or to display only the estimated set working time of the estimated set working time and the variable time on the operating terminal 20.

[0138] In addition, for example, when the work vehicle 10 is traveling on a moving path on a road, the work vehicle 10 may stop when an obstacle is detected, or stop so as not to hinder the travel of other work vehicles 10. In this way, the above-mentioned movement history information includes the actual movement time required for the actual movement of the work vehicle 10, and the parking time. Therefore, the operation control unit 21 can also calculate the estimated actual movement time and the estimated parking time based on the above-mentioned movement history information, and display the above-mentioned estimated actual movement time and the above-mentioned estimated parking time separately on the operation terminal 20. For example, Fig.13 As shown, the operation control unit 21 makes the estimated actual moving time (equivalent to Fig.13 The "actual moving time" of Fig.13 The detailed information of “Parking Time”) is displayed on E22.

[0139] Here, the estimated actual moving time is a fixed time that the work vehicle 10 actually needs to move on the road, while the estimated parking time is a time that may change each time (variable time). Therefore, the operation control unit 21 may also receive the following operation from the operator, which operation is an operation to select whether to display both the estimated actual moving time and the parking time on the operation terminal 20 or to display only the estimated actual moving time of the estimated actual moving time and the parking time on the operation terminal 20.

[0140] According to the above structure, when creating a work plan, the operator can grasp the actual required work time and travel time, other required time, etc. In addition, as another embodiment, the operation control unit 21 may create the above work plan by excluding the above variable time and the above estimated parking time. In addition, the operation control unit 21 may also receive the following operation from the operator, which is an operation of selecting whether to create the above work plan by excluding the above variable time and the above estimated parking time or by including the above variable time and the above estimated parking time.

[0141] As another embodiment of the present invention, the operation control unit 21 may also be able to accept a setting operation for setting a desired required time for a work plan from the operator. For example, when the operator creates a work plan, the operator sets the desired required time when the work vehicle 10 executes the work plan. For example, when implementing "Work Plan 4", when the estimated total required time is "4 hours and 15 minutes", the operator sets "4 hours" as the desired total required time (desired required time). When the operator sets the desired required time, the operation control unit 21 displays the above-mentioned desired required time on the work screen D5 (refer to Fig.14 ).

[0142] In addition, when the operation control unit 21 receives a setting operation for setting a desired required time for the work plan from the operator, the operation control unit 21 outputs progress information indicating the progress status relative to the desired required time when the work vehicle 10 is working according to the work plan. The operation control unit 21 sets the time obtained by adding the desired required time to the start time as the scheduled end time, and calculates the progress and the scheduled deviation time based on the elapsed time from the start time and the scheduled end time. For example, Fig.14 As shown, the operation control unit 21 displays the information of the set required time, the scheduled end time, the progress, and the scheduled deviation time. Thus, the operator can grasp the progress and the scheduled deviation time relative to the time set by himself (desired required time) in real time at the operation terminal 20 during the operation of the work vehicle 10.

[0143] Furthermore, when the predetermined deviation time exceeds the prescribed time, the travel processing unit 111 of the work vehicle 10 may also change the travel state (vehicle speed, moving path, etc.) of the work vehicle 10. In addition, the operation control unit 21 may also receive a setting operation or a change operation of the desired required time from the operator after the work vehicle 10 starts automatic travel.

[0144] The operation terminal 20 involved in this embodiment can be mounted on the work vehicle 10, or can be arranged outside the work vehicle 10. In addition, the various processing units of the operation terminal 20 can also be included in the vehicle control device 11 of the work vehicle 10. That is, in the above-mentioned embodiment, the operation terminal 20 is equivalent to the work management system involved in the present invention, but the work management system involved in the present invention can also be composed of a single work vehicle 10. In addition, the work management system involved in the present invention can also be configured to include the work vehicle 10 and the operation terminal 20. In addition, the various processing units of the operation terminal 20 can also be included in a server that can communicate with the work vehicle 10.

[0145] [Additional Notes on the Invention]

[0146] The following is a supplementary note of the invention extracted from the above-mentioned embodiments. In addition, each structure and each processing function described in the following supplementary note can be selected and combined arbitrarily.

[0147] <Note 1>

[0148] A method for job management, wherein:

[0149] Acquiring operation history information when the operation vehicle performs operation in each of a plurality of operation areas, and movement history information when the operation vehicle moves on a connecting road connecting the plurality of operation areas during the operation; and

[0150] Based on the work history information and the movement history information, an estimated required time required for the work vehicle to perform the work in the plurality of work areas is output.

[0151] <Note 2>

[0152] According to the operation management method described in Appendix 1,

[0153] An estimated total working time required for the working vehicle to work in the plurality of working areas and an estimated total moving time required for the working vehicle to move on the connecting road are displayed on the operation terminal as the estimated required time.

[0154] <Note 3>

[0155] The operation management method according to Appendix 1 or 2, wherein:

[0156] The estimated work time for each of the work areas and the estimated travel time for each of the connecting roads are displayed on the operation terminal as the estimated required time.

[0157] <Note 4>

[0158] According to the operation management method described in Appendix 3,

[0159] The estimated operation time includes: the set operation time required for the operation vehicle to perform the set operation set for the operation area, and the non-set operation time required for the operation vehicle to perform the operation different from the set operation.

[0160] The set operation time and the non-set operation time are displayed separately on the operation terminal.

[0161] <Note 5>

[0162] According to the operation management method described in Appendix 4,

[0163] An operation is received from the user, the operation being an operation of selecting whether to display both the set working time and the non-set working time on the operating terminal or to display only the set working time of the non-set working time on the operating terminal.

[0164] <Note 6>

[0165] The work management method according to any one of appendices 3 to 5, wherein:

[0166] The estimated moving time includes: the actual moving time required for the working vehicle to travel on the connecting road, and the parking time of the working vehicle on the connecting road.

[0167] The actual moving time and the parking time are displayed separately on the operation terminal.

[0168] <Note 7>

[0169] According to the operation management method described in Appendix 6,

[0170] An operation is received from the user, the operation being an operation of selecting whether to display both the actual travel time and the parking time on the operation terminal or to display only the actual travel time of the actual travel time and the parking time on the operation terminal.

[0171] <Note 8>

[0172] The work management method according to any one of appendices 3 to 7, wherein:

[0173] When an operation of selecting the plurality of work areas is received from the user, a work plan including the estimated work time for each of the work areas and the estimated travel time for each of the connecting roads is created and displayed on the operation terminal.

[0174] <Note 9>

[0175] According to the operation management method recorded in Appendix 8,

[0176] When the work vehicle is performing the work according to the work plan, progress information indicating a progress status relative to the estimated required time is output.

[0177] <Note 10>

[0178] According to the operation management method recorded in Appendix 8 or 9,

[0179] When a setting operation of setting a desired required time for the work plan is accepted from the user, progress information indicating a progress status with respect to the desired required time is output while the work vehicle is performing the work according to the work plan.

[0180] <Note 11>

[0181] The operation management method according to Supplement 9 or 10, wherein:

[0182] When the delay time of the operation relative to the above-mentioned operation plan exceeds a prescribed time, prescribed information is reported.

[0183] <Note 12>

[0184] The work management method according to any one of Supplementary Notes 9 to 11, wherein the travel of the work vehicle is controlled based on the progress status.

Claims

1. A method for operation management, characterized in that: implement: Acquiring work history information when a work vehicle performs work in each of a plurality of work areas, and movement history information when the work vehicle moves on a connecting road connecting the plurality of work areas during the work; and Based on the work history information and the movement history information, an estimated required time required for the work vehicle to perform the work in the plurality of work areas is output.

2. The operation management method according to claim 1, characterized in that: An estimated total working time required for the working vehicle to work in the plurality of working areas and an estimated total moving time required for the working vehicle to move on the connecting road are displayed on the operation terminal as the estimated required time.

3. The operation management method according to claim 1, characterized in that: The estimated work time for each of the work areas and the estimated travel time for each of the connecting roads are displayed on the operation terminal as the estimated required time.

4. The operation management method according to claim 3, characterized in that: The estimated working time includes: a set working time required for the working vehicle to perform a set working set for the working area, and a non-set working time required for the working vehicle to perform a working different from the set working. The set working time and the non-set working time are displayed separately on the operation terminal.

5. The operation management method according to claim 4, characterized in that: An operation is received from a user, the operation being an operation of selecting whether to display both the set working time and the non-set working time on the operating terminal or to display only the set working time of the non-set working time on the operating terminal.

6. The operation management method according to claim 3, characterized in that: The estimated travel time includes: the actual travel time required for the work vehicle to travel on the connecting road, and the parking time of the work vehicle when it stops on the connecting road. The actual travel time and the parking time are displayed separately on the operation terminal.

7. The operation management method according to claim 6, characterized in that: An operation is accepted from the user, the operation being an operation of selecting whether to display both the actual travel time and the parking time on the operation terminal or to display only the actual travel time of the actual travel time and the parking time on the operation terminal.

8. The operation management method according to claim 3, characterized in that: When an operation of selecting the plurality of work areas is received from the user, a work plan including the estimated work time for each of the work areas and the estimated travel time for each of the connecting roads is created and displayed on the operation terminal.

9. The operation management method according to claim 8, characterized in that: When the work vehicle is performing the work according to the work plan, progress information indicating a progress status relative to the estimated required time is output.

10. The operation management method according to claim 8, characterized in that: When a setting operation of setting a desired required time for the work plan is accepted from the user, progress information indicating a progress status with respect to the desired required time is output while the work vehicle is performing the work according to the work plan.

11. The operation management method according to claim 9 or 10, characterized in that: When the delay time of the operation relative to the operation plan exceeds a prescribed time, prescribed information is reported.

12. The operation management method according to claim 9 or 10, characterized in that: The travel of the work vehicle is controlled based on the progress status.

13. A job management program, characterized in that: Used to cause one or more processors to execute: Acquiring work history information when a work vehicle performs work in each of a plurality of work areas and movement history information when the work vehicle moves on a connecting road connecting the plurality of work areas; and Based on the work history information and the movement history information, an estimated required time required for the work vehicle to perform the work in the plurality of work areas is output.

14. A job management system, characterized in that: have: an acquisition processing unit that acquires work history information when the work vehicle performs work in each of a plurality of work areas, and movement history information when the work vehicle moves on a connecting road connecting the plurality of work areas; and The output processing unit outputs an estimated required time required for the work vehicle to perform the work in the plurality of work areas based on the work history information and the movement history information.

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