Work management system

Abstract

To provide a work management system that causes an unmanned airplane to appropriately fly and also makes monitoring by the unmanned airplane easier.SOLUTION: A work management system according to one mode of an embodiment has: a plurality of working vehicles that works while performing reciprocal travelling by repeating a staring process and a turning process; an unmanned airplane that has a camera and is capable of flying around the plurality of working vehicles; and a monitoring device that communicates with the plurality of working vehicles and the unmanned airplane. The working vehicle includes a first positioning device that detects its own vehicle position information. The unmanned airplane includes a second positioning device that detects its own airplane position information. The unmanned airplane flies based on a history of the vehicle position information and the airplane position information in a manner such as to photograph a route at which the staring process ended and transmits a photographed image to the monitoring device in a case where the starting process performed by the working vehicle has ended.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to a work management system. [Background technology]

[0002] 2. Description of the Related Art Conventionally, there has been known a work management system having an unmanned airplane that flies at a predetermined relative position to a work vehicle and controls the shooting direction of a camera in accordance with the relative position (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7006449 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when managing multiple work vehicles with the above technology, it is necessary to fly the same number of unmanned aircraft as the number of work vehicles. Also, when monitoring multiple work vehicles, it is difficult to manually fly the unmanned aircraft at the right time and in the right place.

[0005] The present invention has been made in consideration of the above, and aims to provide a work management system that properly flies an unmanned aircraft and facilitates monitoring using the unmanned aircraft. [Means for solving the problem]

[0006] In order to solve the above problems and achieve the object, a work management system (1000) according to one aspect of the embodiment includes a plurality of work vehicles (1) that perform work while traveling back and forth by repeating a straight line process and a turning process, an unmanned aerial vehicle (300) that has a camera (312) and can fly around the plurality of work vehicles (1), and a monitoring device (400) that communicates with the plurality of work vehicles (1) and the unmanned aerial vehicle (300). The work vehicles (1) are equipped with a first positioning device (150) that detects their own vehicle position information. The unmanned aerial vehicle (300) is equipped with a second positioning device (311) that detects their own aircraft position information. When the straight line process by the work vehicles is completed, the unmanned aerial vehicle (300) flies based on the history of vehicle position information and aircraft position information so as to capture an image of the route where the straight line process was completed, and transmits the captured image to the monitoring device (500). Effect of the Invention

[0007] According to one aspect of the embodiment, it is possible to properly fly an unmanned aerial vehicle and facilitate surveillance using the unmanned aerial vehicle. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing a work management system according to an embodiment. [Diagram 2] FIG. 2 is a schematic left side view showing the work vehicle according to the embodiment. [Diagram 3] FIG. 3 is a block diagram showing the control system for the work vehicle according to the embodiment. [Figure 4] FIG. 4 is a block diagram showing a monitoring device according to an embodiment. [Diagram 5] FIG. 5 is a schematic diagram showing a drone according to an embodiment. [Figure 6] FIG. 6 is a block diagram showing a control system of the drone according to the embodiment. [Figure 7] FIG. 7 is a block diagram showing a terminal device according to the embodiment. [Figure 8] Figure 8 is a diagram explaining the flight path of a drone. [Figure 9] FIG. 9 is a diagram illustrating drone flight. [Figure 10] FIG. 10 is a flowchart illustrating the flight route setting process according to the embodiment. [Figure 11] FIG. 11 is a flowchart illustrating the flight processing according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a work vehicle disclosed in the present application will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the embodiment described below.

[0010] First, an overview of a work management system according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a schematic diagram showing a work management system according to an embodiment. The work management system is a system that manages work performed by work vehicles in a farm field.

[0011] The work management system 1000 includes a work vehicle 1, a drone 300 (unmanned aerial vehicle), a terminal device 400, and a monitoring device 500. The work vehicle 1, the drone 300, and the terminal device 400 are wirelessly connected to the monitoring device 500 via a network N so as to be able to communicate with each other. The work vehicle 1, the drone 300, and the terminal device 400 are wirelessly connected to be able to communicate with each other via the network N. The network N includes communication using Bluetooth (registered trademark), wireless LAN (Local Area Network), and UWB (Ultra Wide Band), etc. The drone 300 and the terminal device 400 may be wirelessly connected to be able to communicate with each other via the network N. The work management system 1000 includes a plurality of work vehicles 1. In the following, a tractor 1 will be described as an example of the work vehicle 1.

[0012] The tractor 1 will be described with reference to Fig. 2. Fig. 2 is a schematic left side view showing the tractor 1 according to the embodiment. The tractor 1 is an agricultural tractor capable of performing agricultural work in a field while autonomously traveling straight ahead. The tractor 1 may be an agricultural tractor capable of autonomously traveling when turning. The tractor 1 performs work in the field while traveling back and forth by repeating a straight-ahead process and a turning process.

[0013] In addition, the tractor 1 is operated by an operator (also called an operator) while traveling within a field to perform specified tasks, and also performs specified tasks while traveling autonomously within a field through control of each part by a control system centered on the control device 200 (see Figure 3), which will be described later.

[0014] In the following description, the forward / rearward direction is the direction of travel of the tractor 1 when traveling straight, with the forward side of the traveling direction being defined as "front" and the rear side being defined as "rear." The traveling direction of the tractor 1 is the direction from the operator's seat 8 to the steering wheel 9, which will be described later, when the tractor 1 is traveling straight.

[0015] The left-right direction is a direction that is horizontally perpendicular to the front-rear direction. Hereinafter, left and right are defined with respect to the "front" side. That is, when the pilot is seated in the pilot's seat 8 and facing forward, the left hand side is the "left" and the right hand side is the "right". The up-down direction is the vertical direction. The front-rear direction, left-right direction, and up-down direction are perpendicular to each other in three dimensions.

[0016] As shown in FIG. 2, the tractor 1 includes a traveling body 2 and a work implement 6. The traveling body 2 is capable of traveling within a farm field and includes front wheels 3 and rear wheels 4. The front wheels 3 are a pair of left and right wheels for steering (steered wheels). The rear wheels 4 are a pair of left and right wheels for driving (driven wheels). The traveling body 2 may include a crawler device instead of the wheels (at least one of the front wheels 3 and the rear wheels 4). In this case, the traveling crawlers are the drive wheels.

[0017] Rotational power generated by an engine E, which is a drive source housed inside a bonnet 5, is transmitted to rear wheels 4, which are drive wheels, after being appropriately reduced in speed by a speed change device (transmission) 121 (see FIG. 3) provided in a power transmission device (mission case) 12. The rear wheels 4 are driven by the rotational power transmitted from the engine E. The speed change device 121 switches the rotational power transmitted from the engine E to one of a plurality of gears (for example, 1st to 8th gears).

[0018] The traveling vehicle body 2 is configured to be able to transmit power generated by the engine E and reduced in speed by the transmission 121 to the front wheels 3 via the 4WD clutch as well. In this case, when the 4WD clutch transmits power, the four wheels, the front wheels 3 and the rear wheels 4, are driven by the power transmitted from the engine E. Also, when the 4WD clutch blocks the transmission of power, only the two wheels, the rear wheels 4, are driven by the power transmitted from the engine E. In this way, the traveling vehicle body 2 is configured to be able to switch between two-wheel drive (2WD) and four-wheel drive (4WD).

[0019] A work implement 6 that performs work in a farm field is connected to the rear of the traveling body 2, and a PTO device 7 having a PTO (Power take-off) shaft 71 that transmits power to drive the work implement 6 is provided. A driver's seat 8 where a driver sits when operating the tractor 1 is provided in the center of the traveling body 2.

[0020] In the example shown in Fig. 2, the working machine 6 is a rotary tiller. The rotary tiller tills the field (soil) by rotating the tiller tines 61 by power transmitted from the PTO shaft 71 of the PTO device 7. The working machine 6 is not limited to a rotary tiller, and may be a working machine that performs plowing, etc.

[0021] A steering wheel 9, which is a handle for steering the front wheels 3, is provided in front of the cockpit 8. The steering wheel 9 and a drive section for driving the steering wheel 9 constitute a steering device 122 (see FIG. 3). The steering wheel 9 is provided at the upper end of a handle post 10. Various operating pedals 11 (accelerator pedal, brake pedal, clutch pedal) are provided below the handle post 10, near the feet of the pilot when he or she sits in the cockpit 8.

[0022] In addition, a lifting device 13 that raises and lowers the work implement 6 is provided at the rear of the traveling body 2. The lifting device 13 moves the work implement 6 to a non-working position by raising the work implement 6. In addition, the lifting device 13 moves the work implement 6 to a ground work position by lowering the work implement 6. The lifting device 13 includes a hydraulic lifting cylinder 131, a lift arm 132, a lift rod 133, a lower link 134, and a top link 135.

[0023] When hydraulic oil is supplied to the lift cylinder 131, the lift arm 132 rotates about the axis AX to raise the work implement 6, and when hydraulic oil is discharged from the lift cylinder 131, the lift arm 132 rotates about the axis AX to lower the work implement 6. A lift arm sensor 114 (lift sensor) (see FIG. 3) that detects the rotation angle of the lift arm 132 is provided at the base of the lift arm 132 (near the axis AX). The height of the work implement 6 is calculated based on the detection value of the lift arm sensor 114.

[0024] Furthermore, the lift arm 132 is connected to the lower link 134 via the lift rod 133. In this manner, the lifting device 13 connects the work machine 6 to the traveling body 2 by the lower link 134 and the top link 135 so that the work machine 6 can be raised and lowered.

[0025] The tractor 1 also includes a control device 200 (see FIG. 3). The control device 200 controls the engine E and also controls the traveling speed of the traveling vehicle body 2. The control device 200 also controls the work equipment 6.

[0026] The tractor 1 also includes a positioning device 150 (first positioning device). The positioning device 150 is provided on the upper part of the traveling body 2, and measures the position of the traveling body 2 at a predetermined period and acquires the position information (for example, latitude and longitude) of the traveling body 2 itself. The positioning device 150 is, for example, a Global Navigation Satellite System (GNSS), and can receive radio waves from a navigation satellite S orbiting in the sky to perform positioning and timing.

[0027] Next, a control system centered on the control device 200 of the work vehicle 1 according to the embodiment will be described with reference to Fig. 3. Fig. 3 is a block diagram showing the control system of the work vehicle 1 according to the embodiment. As shown in Fig. 3, the control device 200 includes an engine ECU (Electronic Control Unit) 201, a travel system ECU 202, and a work implement lifting system ECU 203.

[0028] The engine ECU 201 controls the rotation speed of the engine E. The traveling system ECU 202 controls the rotation of the drive wheels (rear wheels 4) to control the traveling speed of the traveling vehicle body 2 (see FIG. 2). The working machine lifting system ECU 203 controls the lifting device 13 to drive the working machine 6 to lift and lower.

[0029] The control device 200 is capable of controlling each part through electronic control, and is equipped with a processing unit having a CPU (Central Processing Unit) and the like, as well as a memory unit composed of, for example, a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), etc., in which various programs and the like are stored.

[0030] 3, the control device 200 is connected to the positioning device 150, the rotation sensor 110, the vehicle speed sensor 111, the gear shift sensor 112, the turning angle sensor 113, and the lift arm sensor 114. The control device 200 is also connected to the engine E, the gear shift device 121, the steering device 122, the lift device 13, and the like. The control device 200 is also connected to the autonomous driving changeover switch 140, the reference line setting switch 142, and the like. The control device 200 is also connected to the monitoring device 500 and the terminal device 400 by wireless communication through the network N by the communication unit 123.

[0031] The rotation sensor 110 detects the rotation speed of the rear wheels 4. The vehicle speed sensor 111 detects the traveling speed (vehicle speed) of the traveling vehicle body 2 (see FIG. 2). The gear shift sensor 112 detects which of a plurality of gear shift stages the transmission 121 is in. The turning angle sensor 113 detects the turning angle of the front wheels 3 (see FIG. 2), which are steered wheels. In other words, the turning angle sensor 113 detects the steering angle of the steering wheel 9.

[0032] The autonomous traveling changeover switch 140 is a switch that switches whether or not to execute autonomous traveling, which will be described later. When the autonomous traveling changeover switch 140 is "ON", the autonomous traveling control is enabled and the autonomous traveling control is executed. When the autonomous traveling changeover switch 140 is "OFF", the autonomous traveling control is disabled and the autonomous traveling control is not executed. In other words, the autonomous traveling changeover switch 140 is a switch that can switch the autonomous traveling control between enabled and disabled. The autonomous traveling changeover switch 140 is operated by an operator.

[0033] In straight-line autonomous driving, the tractor 1 travels in a straight-line process along a straight-line driving path. The straight-line driving path is a driving path parallel to a set reference straight line. The reference straight line is set by operating the reference line setting switch 142 to set a reference start point and a reference end point during driving. For example, the reference straight line includes information on the distance and direction of the reference straight line.

[0034] Even if the autonomous driving changeover switch 140 is turned "ON", if certain conditions are not met, the autonomous driving control will not be enabled and the autonomous driving control may not be performed.

[0035] The autonomous driving changeover switch 140 turns "OFF" when the traveling vehicle body 2 stops, for example, when the vehicle speed becomes equal to or lower than a predetermined stopping vehicle speed set in advance. That is, when the autonomous driving changeover switch 140 is set to "ON" and autonomous driving control is being executed, if the traveling vehicle body 2 stops, the switch switches from "ON" to "OFF". The predetermined stopping vehicle speed is a vehicle speed at which it can be determined that the traveling vehicle body 2 is stopped.

[0036] In addition, when the autonomous driving changeover switch 140 is set to "ON" and autonomous driving control is being executed, even if the traveling vehicle body 2 stops, it may not be set to "OFF" and may remain at "ON".

[0037] Further, a lift lever 160 and the like are connected to the control device 200. The lift lever 160 is a lever that raises and lowers the working machine 6. The lift lever 160 is, for example, a lever that is provided on the handle post 10 and is operated up and down. For example, when the lift lever 160 is operated upward, the working machine 6 rises. When the lift lever 160 is operated downward, the working machine 6 descends.

[0038] The control device 200 receives inputs of position (self-position) information of the traveling vehicle body 2 in a field or the like from the positioning device 150, the number of rotations of the rear wheels 4 from the rotation sensor 110, the vehicle speed of the traveling vehicle body 2 from the vehicle speed sensor 111, the current gear position from the gear shift sensor 112, and the turning angle of the front wheels 3, i.e., the steering angle of the steering wheel 9, from the turning angle sensor 113. When the control device 200 causes the traveling vehicle body 2 to travel autonomously, it steers the steering wheel 9 (see FIG. 2) by controlling a steering cylinder connected to the steering wheel 9 while feeding back the turning angle of the front wheels 3 using the detection value of the turning angle sensor 113 so that the calculated orientation of the traveling vehicle body 2 becomes a set predetermined orientation (orientation on a straight traveling path).

[0039] In the control device 200, the engine ECU 201 is connected to the engine E, the traveling system ECU 202 is connected to the transmission 121 and the steering system 122, and the work implement lifting system ECU 203 is connected to the lifting device 13. The work implement lifting system ECU 203 raises and lowers the work implement 6 via the lifting device 13 in response to the operation of the lifting lever 160.

[0040] The traveling vehicle body 2 is capable of autonomous travel in a farm field. The traveling vehicle body 2 automatically travels straight along a straight travel path under autonomous travel control by the control device 200. The control device 200 adjusts the steering angle of the traveling vehicle body 2 based on the self-position measured by the positioning device 150 so that the traveling vehicle body 2 travels along the straight travel path, and executes autonomous travel control.

[0041] The control device 200 generates information regarding the straight-line process of the tractor 1. When the tractor 1 finishes the straight-line process, the control device 200 generates information regarding the route along which the tractor 1 performed the work by the straight-line process as information regarding the straight-line process of the tractor 1. The information regarding the straight-line process of the tractor 1 includes information regarding the route from the point where the tractor 1 started the work by the straight-line process to the point where the tractor 1 finished the work by the same straight-line process. Specifically, the information regarding the straight-line process of the tractor 1 includes position information of the route from the point where the tractor 1 started the work by the straight-line process to the point where the tractor 1 finished the work by the same straight-line process. The information regarding the route along which the tractor 1 performed the work by the straight-line process includes position information of the tractor 1 detected by the positioning device 150 of the tractor 1.

[0042] The point at which the tractor 1 starts working through the straight-line process is the point at which the implement 6 is lowered, for example, the point at which the lift lever 160 is operated downward. Also, the point at which the tractor 1 starts working through the straight-line process may be the point at which turning is completed and the steering wheel 9 is in a predetermined straight-line position.

[0043] The point at which the tractor 1 ends the work by the straight-line process is the point at which the work implement 6 is raised, for example, the point at which the lift lever 160 is operated upward. The point at which the tractor 1 ends the work by the straight-line process may also be the point at which the steering wheel 9 is operated from a predetermined straight-line position to a turning position.

[0044] The control device 200 transmits information regarding the straight running process of the tractor 1 to the monitoring device 500 via the communication unit 123.

[0045] The monitoring device 500 will be described with reference to Fig. 4. Fig. 4 is a block diagram showing the monitoring device 500 according to the embodiment. The monitoring device 500 is, for example, a server device. The monitoring device 500 includes a communication unit 501 and a control device 502.

[0046] The communication unit 501 is connected to the tractor 1, the drone 300, and the terminal device 400 by wireless communication via the network N. The communication unit 501 receives information about the straight line movement process of the tractor 1 from the tractor 1. The communication unit 501 transmits information about the flight path of the drone 300 to the drone 300. The communication unit 501 receives images captured by the camera 312 (see FIG. 5) from the drone 300. The communication unit 501 transmits a notification signal about residual cultivation to the terminal device 400.

[0047] The control device 502 includes a processing unit having a CPU and the like, and a storage unit configured, for example, of a hard disk, a ROM, a RAM, and the like in which various programs and the like are stored.

[0048] The control device 502 sets a flight path for the drone 300. Based on information on the straight-line process acquired from the tractor 1, the control device 502 detects an area in the field where the tractor 1 has completed work, and generates information on the flight path for the drone 300. Specifically, the control device 502 sets a flight path for the drone 300 to fly along the straight-line process of the tractor 1, based on the position information of the tractor 1 included in the information on the straight-line process of the tractor 1. The information on the flight path includes position information on the flight of the drone 300. For example, the flight path for the drone 300 is a path configured by the history of position information of the tractor 1 during the straight-line process.

[0049] The control device 502 transmits the generated information about the flight path of the drone 300 to the drone 300 via the communication unit 501. The control device 502 generates information about the flight path of the drone 300 corresponding to the straight-line process of each of the multiple tractors 1.

[0050] The flying drone 300 is set in advance based on information about the straight-line process of the tractor 1. For example, one drone 300 is set for two tractors 1, and the drone 300 can fly along a flight path set based on information about the straight-line process of the two tractors 1.

[0051] The control device 502 detects residual tillage in the field. The control device 502 detects residual tillage based on an image captured by the camera 312 of the drone 300. That is, the control device 502 detects residual tillage during the straight-line process of the tractor 1. The control device 502 detects residual tillage by executing predetermined image processing on the image.

[0052] When residual tillage is detected, the control device 502 generates a notification signal regarding the residual tillage. The notification signal regarding the residual tillage is a signal indicating that residual tillage has been detected. The notification signal regarding the residual tillage may include either a signal indicating the position of the residual tillage or an image of the residual tillage. The control device 502 transmits the generated signal regarding the residual tillage to the terminal device 400 via the communication unit 501.

[0053] Next, the drone 300 will be described with reference to Fig. 5. The drone 300 includes a main body 301 and a rotor 302. Fig. 5 is a schematic diagram showing the drone 300 according to the embodiment. The drone 300 can fly around multiple tractors 1.

[0054] The main body 301 includes a control device 310 (see FIG. 6), a battery (not shown), a positioning device 311 (second positioning device), a camera 312, and a communication unit 313 (see FIG. 6).

[0055] The positioning device 311 is provided on the top of the main body 301, and measures the position of the drone 300 at a predetermined period and acquires information on the self-position of the drone 300. The positioning device 311 is, for example, a GNSS, and can receive radio waves from a navigation satellite S orbiting in the sky to perform positioning and timing.

[0056] The camera 312 is attached to the main body 301 and takes images of, for example, a farm field. The images taken by the camera 312 are transmitted to the terminal device 400 and the monitoring device 500 via the communication unit 313.

[0057] Rotor 302 is rotatably supported by main body 301. Rotor 302 is driven to rotate by a motor.

[0058] Next, a control system centered on the control device 310 of the drone 300 according to the embodiment will be described with reference to Fig. 6. Fig. 6 is a block diagram showing the control system of the drone 300 according to the embodiment. A positioning device 311, a camera 312, a communication unit 313, and the like are connected to the control device 310.

[0059] The communication unit 313 is connected to the monitoring device 500 and the terminal device 400 by wireless communication via the network N. The communication unit 313 transmits images captured by the camera 312 to the terminal device 400 and the monitoring device 500. The communication unit 313 receives information on the flight path of the drone 300 from the monitoring device 500.

[0060] The control device 310 is capable of controlling the rotation of the rotor 302 through electronic control, and is equipped with a processing unit having a CPU, etc., and a memory unit composed of, for example, a hard disk, ROM, RAM, etc., in which various programs, etc. are stored.

[0061] The control device 310 controls the rotation of the rotor 302, etc., so that the drone 300 flies along the set flight path. In other words, the control device 310 controls the rotation of the rotor 302, etc., so that the drone 300 flies along the path along which the tractor 1 performed work by the straight-line process. The control device 310 controls the rotation of the rotor 302, etc., so that the drone 300 flies along the set flight path, based on the history of the position information of the tractor 1, which is included in the path of the straight-line process of the tractor 1, and the position information of the drone 300.

[0062] The control device 310 determines whether or not there is any flight path that has not been flown among the flight paths received from the monitoring device 500. If there is no flight path that has not been flown, the control device 310 moves the drone 300 to a predetermined waiting place and makes it wait. In other words, if there is no straight path to be photographed by the drone 300, the control device 310 moves the drone 300 to a predetermined waiting place and makes it wait. There is no straight path to be photographed by the drone 300 when, for example, the work in the field by the tractor 1 has ended or when there is only a straight path in which the tractor 1 is working.

[0063] The predetermined waiting place is, for example, a charging base where a charging device is installed. The drone 300 is charged at the charging base. If there is no flight route that has not been flown, the drone 300 may wait by hovering at the current position.

[0064] If there is a flight path that the drone 300 is not flying, the control device 310 controls the rotor 302, etc. so that the drone 300 flies toward the flight path that is not being flown and flies along the flight path that is not being flown.

[0065] After flying along the flight path, the control device 310 further determines whether there is any flight path that has not been flown.

[0066] The control device 310 causes the camera 312 to capture an image of the farm field where work has been performed by the straight travel process of the tractor 1. In other words, the control device 310 causes the camera 312 to capture an image of the path after the straight travel process of the tractor 1 has been completed.

[0067] The control device 310 transmits an image of the route after the straight driving process has been completed to the terminal device 400 and the monitoring device 500 via the communication unit 313.

[0068] Next, a terminal device 400 according to an embodiment will be described with reference to Fig. 7. Fig. 7 is a block diagram showing the terminal device 400 according to an embodiment. The terminal device 400 includes a communication unit 401, a display unit 402, and a control device 403.

[0069] The communication unit 401 is connected to the monitoring device 500 and the drone 300 by wireless communication via the network N. The communication unit 401 receives images captured by the camera 312 of the drone 300 from the drone 300. The communication unit 401 receives a notification signal transmitted from the monitoring device 500.

[0070] The display unit 402 is, for example, a monitor. The display unit 402 displays an image received from the drone 300. The display unit 402 also notifies the remaining tillage based on a notification signal received from the monitoring device 500.

[0071] The control device 403 is capable of controlling the display unit 402 and the like, and includes a processing unit having a CPU and the like, as well as a storage unit configured, for example, of a hard disk, ROM, RAM, and the like in which various programs and the like are stored.

[0072] In addition, the terminal device 400 may be capable of communicating with the tractor 1, and may be capable of remotely operating the tractor 1 by operating the terminal device 400. Alternatively, the terminal device 400 may be capable of operating the drone 300.

[0073] Here, the flight path of the drone 300 will be described with reference to FIG. 8. FIG. 8 is a diagram illustrating the flight path of the drone 300. Here, an example will be described in which two fields are worked on by a tractor 1A and a tractor 1B, and the drone 300 flies between the two fields FA and FB. In FIG. 8, the path traveled by the tractor 1A or tractor 1B is indicated by a solid arrow, and a part of the flight path of the drone 300 is indicated by a dashed arrow. Note that multiple tractors 1A, 1B may work in the same field.

[0074] The tractor 1A is working in a field FA, and the tractor 1B is working in a field FB. The drone 300 flies along the route where the straight-line process of the tractor 1A is completed, and photographs the route where the straight-line process of the tractor 1A is completed. The drone 300 photographs while flying in the same direction as the traveling direction of the tractor 1 in the straight-line process. The photographed images are transmitted to the terminal device 400 and the monitoring device 500.

[0075] The images captured by the drone 300 are images captured by the drone 300 flying in the same direction as the traveling direction of the tractor 1. This makes it easy for the monitoring device 500 to process the images for residual tillage detection.

[0076] After drone 300 has finished photographing the route along which tractor 1A's straight-line process is completed, it moves to field FB, flies along the route along which tractor 1B's straight-line process is completed, and photographs the route along which tractor 1B's straight-line process is completed.

[0077] In addition, the drone 300 may fly along the straight-line process from the end of the straight-line process closer to the drone 300, regardless of the driving direction of the tractor 1 during the straight-line process.

[0078] Also, the drone 300 may fly, for example, a flight path along the straight path of the tractor 1A for a predetermined time, and then move to fly a flight path along the straight path of the tractor 1B. The drone 300 flies, for a predetermined time, a flight path along the straight path of the tractor 1B, and then moves to fly again a flight path along the straight path of the tractor 1A.

[0079] Furthermore, for example, when the drone 300 moves to fly again on a flight path that follows the straight path of the tractor 1A, it resumes flying on the flight path that follows the straight path of the tractor 1A from the point where the drone 300 stopped flying on the flight path that follows the straight path of the tractor 1A last time. In this case, the drone 300 may fly until it catches up with the tractor 1A, as shown in FIG. 9. FIG. 9 is a diagram for explaining the flight of the drone 300. Note that the predetermined time includes the time for flying to catch up with the tractor 1A.

[0080] In addition, for example, after flying a flight path along the straight-line process of tractor 1A for a predetermined period of time, if there are multiple flight paths to follow, for example, in addition to a flight path along the straight-line process of tractor 1B, there is a flight path along the straight-line process of tractor 1A and a tractor 1 other than tractor 1B, the drone 300 assigns a number to the tractor 1 corresponding to the flight path to follow and moves to fly the flight paths corresponding to the numbers in order.

[0081] In addition, for example, after flying a flight path along the straight path of the tractor 1A for a predetermined time, if there are multiple flight paths to follow, the drone 300 moves to fly a flight path along the straight path of the tractor 1 that is closest to the drone 300. Note that a mark is added to the flight path that has already been flown, and the drone 300 moves to fly a flight path that does not have a mark. When all marked flight paths have been flown, the mark is removed.

[0082] Next, a flight route setting process according to the embodiment will be described with reference to Fig. 10. Fig. 10 is a flowchart illustrating the flight route setting process according to the embodiment. The flight route setting process is executed by the monitoring device 500.

[0083] The control device 502 acquires information relating to the straight running process of the tractor 1 from the tractor 1 via the communication unit 501 (S100).

[0084] The control device 502 sets a flight path for the drone 300 (S101). The control device 502 sets a flight path for the drone 300 to fly along the straight path of the tractor 1 based on the position information of the tractor 1 included in the information related to the straight path of the tractor 1.

[0085] The control device 502 transmits information regarding the flight path to the drone 300 via the communication unit 501 (S102).

[0086] Next, the flight processing according to the embodiment will be described with reference to Fig. 11. Fig. 11 is a flowchart illustrating the flight processing according to the embodiment. The flight processing is executed by the drone 300.

[0087] The control device 310 determines whether or not there is any flight path that has not been flown among the flight paths received from the monitoring device 500 (S200). If there is no flight path that has not been flown (S200: No), the control device 310 moves the drone 300 to a predetermined waiting location (S201) and ends this processing.

[0088] If there is a flight path that has not been flown (S200: Yes), the control device 310 moves the drone 300 so as to fly along the flight path that has not been flown (S202).

[0089] The control device 310 flies the drone 300 along the flight path (S203). That is, the control device 310 flies the drone 300 along the path along which the tractor 1 performed the work by the straight traveling process.

[0090] The control device 310 causes the camera 312 to capture an image of the path along which the tractor 1 has performed the work by the straight forward process (S204). The control device 310 transmits the captured image to the monitoring device 500 (S205).

[0091] The control device 310 determines whether the flight of the flight path has ended (S206). If the flight of the flight path has not ended (S206: No), the control device 310 continues the flight along the flight path (S203).

[0092] If the flight of the flight path has ended (S206: Yes), the control device 310 ends this processing.

[0093] The work management system 1000 includes a plurality of tractors 1, a drone 300, and a monitoring device 500. The tractors 1 perform work while traveling back and forth by repeating a straight line process and a turning process. The drone 300 has a camera 312 and can fly around the plurality of tractors 1. The tractor 1 includes a positioning device 150. The positioning device 150 detects the position information of the tractor 1. The drone 300 includes a positioning device 311. The positioning device 311 detects the position information of the drone 300. When the straight line process by the tractor 1 is completed, the drone 300 flies based on the history of the position information of the tractor 1 and the position information of the drone 300 so as to capture an image of the route where the straight line process has been completed, and transmits the captured image to the monitoring device 500.

[0094] This allows the work management system 1000 to appropriately fly the drone 300 to photograph the state of work in the field by the multiple tractors 1. In other words, the work management system 1000 can use the drone 300 to photograph and remotely monitor the state of completion of work in the field by the multiple tractors 1. When the tractor 1 finishes a straight-line process, the drone 300 photographs the path of the completed straight-line process, so the work management system 1000 can easily remotely monitor the completion of the work by the tractor 1.

[0095] When residual tillage is detected in the straight line process based on the image captured by the drone 300, the monitoring device 500 transmits a notification signal regarding the residual tillage to the terminal device 400.

[0096] This allows the worker to easily check the remaining tillage. For example, the worker can prevent the remaining tillage from remaining in the field by operating the tractor 1. In other words, the work management system 1000 can prevent the remaining unworked areas in the field.

[0097] The drone 300 photographs the route where a certain tractor 1 has completed its straight-line process, and then moves to photograph the route where another tractor 1 has completed its straight-line process.

[0098] As a result, when the work management system 1000 manages work performed by multiple tractors 1, it can use the drone 300 to photograph the route along which work was performed by each tractor 1, making it easy to manage the work performed by multiple tractors 1.

[0099] When the tractor 1 to be photographed is not moving in a straight line, the drone 300 returns to the charging base to charge, for example.

[0100] This enables the work management system 1000 to prevent the drone 300 from running out of battery power, while allowing the drone 300 to quickly capture an image of the route after the tractor 1 has completed its straight-line process.

[0101] In the work management system 1000 according to the modified example, when residual tillage is detected, the monitoring device 500 or the tractor 1 may create a tilling path for plowing over the residual tillage. The created tilling path is transmitted to the terminal device 400 together with information such as changes to work time. When the worker approves the tilling path through the terminal device 400, the approval information is transmitted to the tractor 1, and the tractor 1 works along the tilling path.

[0102] In the work management system 1000 according to the modified example, the drone 300 may be equipped with a metal detector. The drone 300 flies ahead of the tractor 1 performing the straight line process and detects metal in the field. When the drone 300 detects metal, it transmits a notification signal indicating that metal has been detected to the terminal device 400 and the monitoring device 500.

[0103] This makes it possible to, for example, stop the tractor 1 before the tractor 1 passes over a location where there is metal, thereby preventing deterioration due to the metal.

[0104] When the drone 300 detects metal, it may transmit a notification signal indicating that the metal has been detected to the tractor 1. The tractor 1 stops, for example, at a point a predetermined distance before the point where the metal was detected. Also, when a release signal indicating that the metal has been removed is transmitted from the terminal device 400, the tractor 1 continues moving straight without stopping. In this case, when a release signal is not transmitted from the terminal device 400, the tractor 1 stops at a point a predetermined distance before the point where the metal was detected.

[0105] For example, the drone 300 may fly a straight path where a certain tractor 1 is scheduled to work, and then fly a straight path where another tractor 1 is scheduled to work, and detect metal in each straight path.

[0106] This enables the work management system 1000 to check for the presence or absence of metal on the planned work routes of multiple tractors 1 using a small number of drones 300.

[0107] If there are multiple tractors 1 that have not undergone metal detection on the route for the next step after the tractor 1 turns, the drone 300 moves to fly along the route for the next step of the tractor 1 with the shortest distance to turn. If no tractor 1 has progressed more than halfway through the straight-line step, the drone 300 may move to a charging base and be charged.

[0108] In the work management system 1000 according to the modified example, when the work of the tractor 1 in the field is completed, the drone 300 may photograph the field where the work has been completed and detect residual tillage. In this case, the drone 300 waits, for example, at a charging base until the work of the tractor 1 in the field is completed. Furthermore, the tractor 1 waits in the field where the work has been performed, without moving to another field, until the determination of the presence or absence of residual tillage in the field is completed. When residual tillage is detected, a travel route for tilling the residual tillage is set based on the information on the residual tillage. For example, the tractor 1 travels along the set travel route and tills the residual tillage.

[0109] The drone 300 may wait at the charging base until the work completion range of the tractor 1 in the field reaches a predetermined value, for example, 90% or more. The determination of the presence or absence of remaining tillage in the field is performed before the tractor 1 finishes work in the field.

[0110] The work machine 6 attached to the tractor 1 may be a pest control machine. In this case, the drone 300 uses the camera 312 to capture an image of the field on which the pest control machine has sprayed a chemical or the like. The monitoring device 500 performs image processing based on the image captured by the camera 312, and detects the spraying state from the wetness of the crops, etc. Then, when there is an unevenness in the spraying state, for example, when the amount of spraying is equal to or less than a predetermined value, the monitoring device 500 generates a notification signal indicating that there is an unevenness in the spraying state and transmits it to the terminal device 400. As a result, a warning is issued by the terminal device 400.

[0111] In the above embodiment and the modified example, the tractor 1 is described as an example of a work vehicle, but the present invention is not limited to this. The work vehicle may be a combine harvester or a seedling transplanter. The flight control of the drone 300 is also applicable to the combine harvester and the seedling transplanter.

[0112] For example, when the work vehicle is a seedling transplanter, the monitoring device 500 detects missing stalks, floating seedlings, and the like based on the images captured by the drone 300. When missing stalks, floating seedlings, and the like are detected, a notification signal is transmitted to the terminal device 400 to notify the detection of missing stalks, floating seedlings, and the like.

[0113] Furthermore, when the work vehicle is a seedling transplanter, the drone 300 may be equipped with a water depth sensor. The water depth sensor detects the water depth of the field using optics, acoustics, radio waves, and the like. The drone 300 flies ahead of the seedling transplanter and detects the water depth of the field where the seedling transplanter works using the water depth sensor. When the detected water depth of the field is equal to or greater than a preset value, a notification signal indicating that the water depth is deep is transmitted to the terminal device 400 to issue a warning.

[0114] Also, when the water depth in the field is equal to or greater than a predetermined value, the seedling transplanter is stopped, and, for example, a water level control signal is generated by the control device to operate a water level control device that controls the water level in the field, and the water level control signal is transmitted to the water level control device. Then, the water level control device adjusts the water level in the field to an appropriate water level.

[0115] Further advantages and modifications may readily occur to those skilled in the art. Thus, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof. [Explanation of symbols]

[0116] 1. Work vehicle (tractor) 150 Positioning device (first positioning device) 200 Control device 300 Drones (Unmanned Aerial Vehicles) 310 Control device 311 Positioning device (secondary positioning device) 312 Camera 400 Terminal Equipment 402 Display section 403 Control device 500 monitoring equipment 502 Control device 1000 Work Management System

Claims

1. A plurality of work vehicles that perform work while traveling back and forth by repeating straight-line strokes and turning strokes; An unmanned aerial vehicle having a camera and capable of flying around the plurality of work vehicles; a monitoring device that communicates with the plurality of work vehicles and the unmanned aerial vehicle; Equipped with The work vehicle includes a first positioning device that detects its own vehicle position information, The unmanned aerial vehicle includes a second positioning device that detects its own aircraft position information, This is a work management system in which the unmanned aerial vehicle flies based on the history of the vehicle position information and the aircraft position information so as to photograph the route along which the straight-line process by the work vehicle has ended when the straight-line process has ended, and transmits the captured images to the monitoring device.

2. The work management system according to claim 1 , wherein the monitoring device transmits an alarm signal regarding the residual tillage to a terminal device when residual tillage is detected in the straight-line process from an image captured by the unmanned aerial vehicle.

3. The work management system described in claim 1, wherein the unmanned aerial vehicle moves so as to photograph the route where a straight-line process of a first work vehicle is completed, and then photograph the route where a straight-line process of a second work vehicle is completed.

4. The work management system according to claim 1 , wherein the unmanned aerial vehicle returns to a charging base to charge when there is no straight-line process to be photographed.

Images