Operation trajectory classification method, operation trajectory classification system and operation trajectory classification program

Abstract

To more efficiently acquire a work trajectory on which a work vehicle performs work in an operation trajectory on which the work vehicle moves.SOLUTION: An operation trajectory classification method includes: preparing positioning information at a plurality of positioning points (70) obtained by measuring the position of a work vehicle (2) performing prescribed work while moving inside a farm field (9) at a plurality of times (S2); generating operation trajectory information representing an operation trajectory (80) on which the work vehicle moves on the basis of the positioning information (S3); calculating a prescribed parameter representing a state of the work vehicle at the plurality of respective positioning points on the basis of the positioning information (S4); leaving a harvesting work position to move to a discharging position to allow the work vehicle (2) to discharge harvested crops, and classifying a leaving and merging trajectory (85) from the discharging position to a harvesting work position in the operation trajectory (80) on the basis of the parameter (S5); and outputting operation trajectory information so as to make the leaving and merging trajectory (85) identifiable (S6).SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an operation trajectory classification method, an operation trajectory classification system, and an operation trajectory classification program, and can be suitably used, for example, in an operation trajectory classification method, an operation trajectory classification system, and an operation trajectory classification program for classifying trajectories generated when a work vehicle performs agricultural work in a field. [Background technology]

[0002] There is a demand for determining the work KPIs (Key Performance Index) of agricultural work performed by a work vehicle in a field. Work KPIs include, for example, the planting amount in a planting work, the fertilizer amount in a fertilizer application work, and the harvest amount in a harvesting work. In order to determine the work KPIs, it is possible to separate the work trajectory traveled while performing actual agricultural work from the operation trajectory traveled by the work vehicle in the field, determine its length, and multiply this length by the amount of work per unit length. However, although a user can manually select the work trajectory by operating a touch panel that displays the operation trajectory, it is not easy to automatically separate the work trajectory from the operation trajectory.

[0003] In relation to the above, Patent Document 1 (JP Patent Publication No. 6697955) discloses a technique for dividing the travel time of a vehicle equipped with a working device for performing ground work on a work site into the time required for straight travel performing ground work and the time required for turning travel not performing ground work. This division is made by utilizing the fact that the state of the traveling mechanism equipped on the vehicle body differs greatly between straight travel and turning travel. In addition, a technique is disclosed for calculating the slip rate at which slip occurs between the ground and the wheels of the traveling mechanism for straight travel and turning travel, respectively, based on a target travel time, which is the appropriate time for traveling a specified distance, and an actual distance travel time the vehicle body actually traveled this distance. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6697955 Summary of the Invention [Problem to be solved by the invention]

[0005] In the technology of Patent Document 1, in order to distinguish between straight running and turning running, it is necessary to continue to monitor the state of the running mechanism while the vehicle body is running. Whether this distinction is made while the vehicle body is running or after the vehicle body is running, it is necessary to monitor the state of the running mechanism throughout the entire running process from when the vehicle body starts to run until it ends.

[0006] In view of the above circumstances, an object of the present disclosure is to provide an operation trajectory classification method, an operation trajectory classification system, and an operation trajectory classification program that can easily determine the operation trajectory where the work vehicle performed work among the operation trajectories where the work vehicle moved. Other objects and novel features will become apparent from the description of this specification and the accompanying drawings. [Means for solving the problem]

[0007] The means for solving the problems will be explained below using the numbers used in the (Mode for carrying out the invention). These numbers are added to clarify the correspondence between the description in the (Claims) and the (Mode for carrying out the invention). However, these numbers should not be used to interpret the technical scope of the invention described in the (Claims).

[0008] According to one embodiment, the operating trajectory classification method includes preparing (S2) positioning information at a plurality of positioning points (70) obtained by measuring the position of a work vehicle (2) performing work while moving inside a field (9) at a plurality of times; generating (S3) operating trajectory information representing an operating trajectory (80) moved by the work vehicle (2) based on the positioning information; calculating (S4) predetermined parameters representing the state of the work vehicle (2) at each of the plurality of positioning points (70) based on the positioning information; classifying (S5) a departure / merging trajectory (85) from the operating trajectory (80) in which the harvesting work vehicle (2) as a work vehicle leaves a harvesting work position to move to a discharge position in order to discharge the harvest, and returns from the discharge position to the harvesting work position; and outputting (S6) the operating trajectory information so that the departure / merging trajectory (85) is identifiable.

[0009] According to one embodiment, the operating trajectory classification method includes preparing (S2) positioning information at a plurality of positioning points (70) obtained by measuring the position of a work vehicle (2) performing work while moving inside a field (9) at a plurality of times; generating (S3) operating trajectory information representing an operating trajectory (80) moved by the work vehicle (2) based on the positioning information; calculating (S4) predetermined parameters representing the state of the work vehicle (2) at each of the plurality of positioning points (70) based on the positioning information; classifying (S5) a departure / merging trajectory (85) from the operating trajectory (80) in which the work vehicle (2) leaves a work position to move to a supply point to replenish materials required for the work, and returns from the supply point to the work position, based on the parameters; and outputting (S6) the operating trajectory information so that the departure / merging trajectory (85) is identifiable.

[0010] According to one embodiment, the operation trajectory classification system (1) includes an input unit (511), a generation unit (512), a calculation unit (513), a classification unit (514), and an output unit (515). The input unit (511) prepares positioning information at a plurality of positioning points (70) obtained by measuring the position of a work vehicle (2) performing work while moving inside a farm field (9) at a plurality of times. The generation unit (512) generates operation trajectory information representing an operation trajectory (80) moved by the work vehicle (2) based on the positioning information. The calculation unit (513) calculates a predetermined parameter representing a state of the work vehicle (2) at each of the plurality of positioning points (70) based on the positioning information. The classification unit (514) classifies, based on the parameters, a departure / merging trajectory (85) from the operation trajectory (80) in which the harvesting work vehicle (2) as a work vehicle leaves a harvesting work position to discharge the harvest, moves to a discharge position, and returns from the discharge position to the harvesting work position. The output unit (515) outputs the operation trajectory information so that the departure / merging trajectory (85) can be identified.

[0011] According to one embodiment, the operation trajectory classification system (1) includes an input unit (511), a generation unit (512), a calculation unit (513), a classification unit (514), and an output unit (515). The input unit (511) prepares positioning information at a plurality of positioning points (70) obtained by measuring the position of a work vehicle (2) performing work while moving inside a farm field (9) at a plurality of times. The generation unit (512) generates operation trajectory information representing an operation trajectory (80) moved by the work vehicle (2) based on the positioning information. The calculation unit (513) calculates a predetermined parameter representing a state of the work vehicle (2) at each of the plurality of positioning points (70) based on the positioning information. The classification unit (514) classifies, based on the parameters, a departure / merging trajectory (85) from the operating trajectory (80) in which the work vehicle (2) leaves the work position, moves to a supply point to replenish materials required for the work, and returns from the supply point to the working position. The output unit (515) outputs operating trajectory information so that the departure / merging trajectory (85) can be identified.

[0012] According to one embodiment, the operation trajectory classification program (521) is executed to realize a predetermined process. This process includes preparing (S2) positioning information at a plurality of positioning points (70) obtained by measuring the position of the work vehicle (2) performing work while moving inside the farm field (9) at a plurality of times, generating (S3) operation trajectory information representing the operation trajectory (80) moved by the work vehicle (2) based on the positioning information, calculating (S4) predetermined parameters representing the state of the work vehicle (2) at each of the plurality of positioning points (70) based on the positioning information, classifying (S5) a departure / merging trajectory (85) of the operation trajectory (80) from the harvesting work vehicle (2) as the work vehicle leaving the harvesting work position to the discharge position to discharge the harvested product, and returning from the discharge position to the harvesting work position, based on the parameters, and outputting (S6) the operation trajectory information so that the departure / merging trajectory (85) can be identified.

[0013] According to one embodiment, the operation trajectory classification program (521) is executed to realize a predetermined process. This process includes preparing (S2) positioning information at a plurality of positioning points (70) obtained by measuring the position of the work vehicle (2) performing work while moving inside the farm field (9) at a plurality of times, generating (S3) operation trajectory information representing the operation trajectory (80) moved by the work vehicle (2) based on the positioning information, calculating (S4) predetermined parameters representing the state of the work vehicle (2) at each of the plurality of positioning points (70) based on the positioning information, classifying (S5) a departure / merging trajectory (85) of the operation trajectory (80) from the work position where the work vehicle (2) leaves the work position to move to a supply point to supply materials required for the work, and returns from the supply point to the work position, based on the parameters, and outputting (S6) the operation trajectory information so that the departure / merging trajectory (85) can be identified. Effect of the Invention

[0014] According to one embodiment, the work trajectory along which the work vehicle performed work can be easily determined from among the operating trajectories along which the work vehicle moved. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a diagram illustrating an example of a configuration of an operation trajectory classification system according to an embodiment. [Diagram 2] FIG. 2 is a block circuit diagram showing an example of a configuration of an operation trajectory classification device according to an embodiment. [Diagram 3] FIG. 3 is a flowchart showing an example of a configuration of an operation trajectory classification program according to an embodiment. [Figure 4A] FIG. 4A is a diagram illustrating an example of an operation trajectory according to one embodiment. [Figure 4B] FIG. 4B is a partially enlarged view of FIG. 4A. [Diagram 5] FIG. 5 is a diagram illustrating an example of parameters according to one embodiment. [Figure 6] FIG. 6 is a graph showing an example of a distribution of vehicle speeds according to one embodiment. [Figure 7] FIG. 7 is a diagram illustrating an example of a classified operating trajectory according to one embodiment. [Figure 8] FIG. 8 is a graph showing an example of distribution of movement directions according to one embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment for carrying out an operation trajectory classification method, an operation trajectory classification system, and an operation trajectory classification program according to the present invention will be described below with reference to the accompanying drawings.

[0017] (First embodiment) As shown in FIG. 1, an operation trajectory classification system 1 according to an embodiment includes an operation trajectory classification device 5. The operation trajectory classification device 5 receives, via a network 4, positioning information that measures the position of the on-board terminal 3 mounted on a work vehicle 2 that performs work while moving inside a field 9. Furthermore, the operation trajectory classification device 5 outputs information representing the result of classifying the operation trajectory along which the work vehicle 2 moved to perform work in the field 9 to an external terminal 6 via the network 4. The work vehicle 2 may be, for example, a tractor equipped with a work machine that performs agricultural work in the field 9, or a combine harvester with a work machine integrated therein. Hereinafter, a case in which the work vehicle 2 performs fertilization will be described, but the embodiment is not limited to this example.

[0018] 2, the operation trajectory classification device 5 according to one embodiment may have a configuration as a so-called computer. That is, the operation trajectory classification device 5 according to one embodiment includes a bus 50, a calculation device 51, a storage device 52, an input / output device 53, and a communication device 54. The calculation device 51, the storage device 52, the input / output device 53, and the communication device 54 are connected to each other via the bus 50 so as to be able to communicate with each other.

[0019] The arithmetic device 51 realizes a predetermined process by executing an operation trajectory classification program 521 stored in the storage device 52. The operation trajectory classification program 521 may be read from the recording medium 520 and stored in the storage device 52. The recording medium 520 may be non-transitory and tangible.

[0020] The arithmetic device 51 includes an input unit 511, a generation unit 512, a calculation unit 513, a classification unit 514, and an output unit 515. Here, the input unit 511, the generation unit 512, the calculation unit 513, the classification unit 514, and the output unit 515 are virtual functional units that perform processing realized by the arithmetic device 51 executing the operation trajectory classification program 521. Details of the processing performed by the input unit 511, the generation unit 512, the calculation unit 513, the classification unit 514, and the output unit 515 will be described later.

[0021] Fig. 3 is a flowchart showing an example of a configuration of the operation trajectory classification program 521 according to one embodiment. An operation example of the operation trajectory classification device 5 according to one embodiment, that is, an example of a configuration of an operation trajectory classification method according to one embodiment will be described with reference to the flowchart of Fig. 3.

[0022] The flowchart in Fig. 3 starts, for example, when the operation trajectory classification device 5 is started. When the flowchart in Fig. 3 starts, step S1 is executed.

[0023] In step S1, the input unit 511 of the calculation device 51 of the operation trajectory classification device 5 prepares field information. Here, the function of the input unit 511 is realized by the calculation device 51 executing the operation trajectory classification program 521. The field information represents the position and shape of the field 9. In Fig. 4A, the shape of the field 9 is rectangular, but this is merely an example, and one embodiment does not limit the shape of the field 9.

[0024] As an example, the field information may be acquired by performing a predetermined image processing on image data obtained by photographing the field 9 from above. The field information may be acquired before the start of the flowchart in Fig. 3. In this case, the field information may be stored in the storage device 52, and the input unit 511 may prepare the field information in step S1 by reading the field information from the storage device 52. As an example, the field information may include the latitude and longitude of each of a plurality of vertices of the field 9.

[0025] After step S1 in FIG. 3, step S2 is executed. In step S2, the input unit 511 prepares positioning information. As in step S1, the function of the input unit 511 is realized by the calculation device 51 executing the operation trajectory classification program 521. The positioning information is a collection of information representing the positions of multiple positioning points. The positioning information may include the latitude and longitude of the position where the positioning was performed, and the time when the positioning was performed. Each positioning point is a place where the on-board terminal 3 measured the position using a GNSS (Global Navigation Satellite System) or the like when the work vehicle 2 performed work while moving inside the field 9. In addition, the position information of the multiple positioning points is measured in sequence at multiple times. This position information strictly represents the position of the on-board terminal 3, but in reality it represents the position of the work vehicle 2 equipped with the on-board terminal 3, and also represents the position of the work machine attached to the work vehicle 2.

[0026] The positioning information measured by the vehicle-mounted terminal 3 may be transmitted to the operation trajectory classification device 5 sequentially each time it is measured, or may be transmitted collectively to the operation trajectory classification device 5 when work in the field 9 is completed. The operation trajectory classification device 5 receives the positioning information and stores it in the storage device 52. The positioning information may be acquired before the flowchart of Fig. 3 is started. In this case, the positioning information is stored in the storage device 52, and the input unit 511 may prepare the positioning information by reading the positioning information from the storage device 52 in step S2.

[0027] 3, step S3 is executed. In step S3, the generation unit 512 generates operation trajectory information representing an operation trajectory along which the work vehicle 2 has moved, based on the positioning information. First, the operation trajectory will be described, and then the operation trajectory information will be described.

[0028] The working trajectory can be broadly classified into a working trajectory along which the work vehicle 2 moves while performing work on the field 9, and a non-work trajectory along which the work vehicle 2 moves without performing work. The non-work trajectory can be further classified into a turning trajectory, a leaving / merging trajectory, a moving trajectory, and the like. The turning trajectory is a trajectory along which the work vehicle 2 turns when moving from one of the linear work areas arranged in parallel to another work area. The leaving / merging trajectory is a trajectory along which the work vehicle 2 leaves the work trajectory in the middle of work and moves to a supply station to replenish materials such as fertilizer, or conversely, moves from the supply station to merge with the work trajectory. The moving trajectory is a trajectory along which the work vehicle 2 moves for other purposes. Hereinafter, a case in which the work vehicle 2 performs fertilization work will be described.

[0029] FIG. 4A is a diagram showing an example of an operation trajectory 80 according to one embodiment. As an example, the operation trajectory 80 can be classified into a movement trajectory 81, a turning trajectory 82, a work trajectory 83, and departure / merging trajectories 85A and 85B. The movement trajectory 81 is a trajectory along which the work vehicle 2 moves without performing work. In the example of FIG. 4A, the movement trajectory 81 has a straight line shape. The turning trajectory 82 is a trajectory along which the work vehicle 2 moves without performing work and for the purpose of changing the moving direction. In the example of FIG. 4A, the turning trajectory 82 has a semicircular shape. The work trajectory 83 is a trajectory along which the work vehicle 2 moves while performing work. In the example of FIG. 4A, the work trajectory 83 has a straight line shape. The departure / merging trajectory 85A is a trajectory along which the work vehicle 2 moves from the departure / merging point 84A of the work trajectory 83 to the supply point 86, and then moves back from the supply point 86 to the departure / merging point 84A. Similarly, the departure / merging trajectory 85B is the trajectory traveled by the work vehicle 2 to leave the departure / merging point 84B of the work trajectory 83, move to the supply point 86, and return from the supply point 86 to the departure / merging point 84B. In the example of FIG. 4A , the departure / merging trajectories 85A, 85B are shown by dashed dotted lines. Hereinafter, when the departure / merging points 84A, 84B are not distinguished from each other, they will be collectively referred to simply as the departure / merging point 84. Furthermore, when the departure / merging trajectories 85A, 85B are not distinguished from each other, they will be collectively referred to simply as the departure / merging trajectory 85.

[0030] In the example of Fig. 4A, the work vehicle 2 enters the field 9 from a position at the bottom left of the drawing, travels straight along a movement trajectory 81, turns along a turning trajectory 82, and then travels straight along a work trajectory 83 to perform fertilization work. The work vehicle 2 turns and moves to the adjacent work trajectory 83 to continue the operation of performing fertilization work, and leaves the work trajectory 83 at a departure / junction point 84 to move to a supply point 86 to replenish fertilizer as necessary, and after replenishing fertilizer, returns from the supply point 86 to the departure / junction point 84 and joins the work trajectory 83 to resume fertilization work.

[0031] FIG. 4B is a partially enlarged view of FIG. 4A. More specifically, FIG. 4B is a partially enlarged view of an area 90 in FIG. 4A that mainly includes a portion of the turning trajectory 82. As shown in FIG. 4B, the working trajectory 80 on which the work vehicle 2 actually moves includes trajectories 71A, 71B, 71C, 71D, 71E, and 71F that connect the positioning points 70A, 70B, 70C, 70D, 70E, 70F, and 70G. In the example of FIG. 4B, the trajectories 71B, 71C, 71D, and 71E are curved lines. Hereinafter, when the positioning points 70A to 70G are not distinguished from each other, they are collectively referred to simply as the positioning points 70. When the trajectories 71A to 71F are not distinguished from each other, they are collectively referred to simply as the trajectory 71.

[0032] The operating trajectory information is obtained by connecting the positioning points 70 included in the positioning information in the order of measurement. At this time, a trajectory 71 between two positioning points 70 whose measurement orders are adjacent to each other is approximated to straight estimated trajectories 72A, 72B, 72C, 72D, 72E, and 72F as shown in Fig. 5. Hereinafter, when the trajectories 72A to 72F are not distinguished from each other, they are collectively referred to simply as an estimated trajectory 72.

[0033] 3, step S4 is executed. In step S4, the calculation unit 513 calculates a parameter used to classify the operation trajectory 80 based on the positioning information. Hereinafter, a case where this parameter is the vehicle speed of the work vehicle 2 will be described, but this is merely an example and does not limit the embodiment.

[0034] The inventor confirmed that the vehicle speed of the work vehicle 2 differs among the movement trajectory 81, the turning trajectory 82, the work trajectory 83, and the departure / merging trajectory 85 of the operation trajectory 80, and therefore it is possible to classify the operation trajectory 80 based on the vehicle speed of the work vehicle 2. This is particularly noticeable when the area in which the work vehicle 2 performs work is, for example, linear, and the respective work areas are parallel to each other. Therefore, in one embodiment, the vehicle speed is calculated as a parameter at each of the positioning points 70 in step S4, and the operation trajectory 80 is classified based on the vehicle speed corresponding to each of the positioning points 70 in the subsequent step S5.

[0035] In step S4, the calculation unit 513 calculates the vehicle speed of the work vehicle 2 for each of the positioning points 70. As an example, the vehicle speed is calculated by dividing the distance from the first positioning point 70 of interest to the second positioning point 70 whose position was measured next by the time from the first time when the position of the first positioning point 70 was measured to the second time when the position of the second positioning point 70 was measured. The calculation unit 513 stores the vehicle speed calculated for each of the positioning points 70 in the storage device 52 in association with each of the positioning points 70.

[0036] After step S4 in Fig. 3, step S5 is executed. In step S5, the classification unit 514 classifies the operation trajectory 80 based on the parameters calculated in step S4. Specifically, the classification unit 514 classifies the portion of the operation trajectory 80 where the work vehicle 2 performed work as a work trajectory 83. The classification unit 514 may further classify the portion of the operation trajectory 80 where the work vehicle 2 did not perform work as a non-work trajectory. More specifically, the classification unit 514 may classify the non-work trajectory into some or all of the movement trajectory 81, the turning trajectory 82, and the departure / merging trajectory 85.

[0037] The inventor confirmed that the vehicle speed on the work trajectory 83 is faster than the vehicle speed on the turning trajectory 82 and slower than the vehicle speed on the movement trajectory 81 and the departure / merging trajectory 85, and therefore it is possible to extract the positioning points 70 included in the work trajectory 83 by appropriately setting two thresholds for classifying the ranges of these three types of vehicle speed. For example, the classification unit 514 calculates the distribution of vehicle speeds at each of the positioning points 70, and classifies, as the work trajectory 83, an estimated trajectory 72 that connects, in the order of measurement, the positioning points 70 whose corresponding vehicle speeds are between the first threshold and the second threshold.

[0038] 6 is a graph showing an example of a vehicle speed distribution according to an embodiment. In this graph, the horizontal axis represents vehicle speed for each predetermined range, and the vertical axis represents the number of data. Here, the number of data is the total number of positioning points 70 whose corresponding vehicle speeds fall within each range on the horizontal axis among the positioning points 70 included in the positioning information.

[0039] When there are linear work areas arranged in parallel inside the field 9, and the work vehicle 2 moves between these work areas while turning, and travels to and from the supply point 86 as necessary, there are maximum values ​​at three speeds other than zero speed. These three maximum values ​​are the turning speed when the work vehicle 2 turns along the turning trajectory 82, the working speed when the work vehicle 2 moves while working along the working trajectory 83, and the moving speed when the work vehicle 2 moves along the moving trajectory 81 or the leaving / merging trajectory 85. As described above, the working speed is presumed to be faster than the turning speed and slower than the moving speed. This is because when turning, the vehicle moves at a low speed in order to turn with as small a radius as possible, and when not working, the vehicle can move at a high speed regardless of the optimal speed for work. From the above, the classification unit 514 estimates that of the three maximum values, the slowest maximum value (hereinafter referred to as speed V1) is the representative value of the turning speed, the fastest maximum value (hereinafter referred to as speed V3) is the representative value of the moving speed, and the remaining intermediate maximum value (hereinafter referred to as speed V2) is the representative value of the working speed. Note that speed V0 is zero, and corresponds to a stopped state of the work vehicle 2 at the departure and junction point 84, the supply point 86, etc.

[0040] The threshold T1 is appropriately set between the speed V0 and the speed V1. The threshold T1 is, for example, the speed at the minimum value formed between the speed V0 and the speed V1. The threshold T2 is appropriately set between the speed V1 and the speed V2. The threshold T2 is, for example, the speed at the minimum value formed between the speed V1 and the speed V2. The threshold T3 is appropriately set between the speed V2 and the speed V3. The threshold T3 is, for example, the speed at the minimum value formed between the speed V2 and the speed V3. The turning speed range is defined as the range from the threshold T1 to the threshold T2, the working speed range is defined as the range from the threshold T2 to the threshold T3, and the moving speed range is defined as the range equal to or greater than the threshold T3.

[0041] The classification unit 514 classifies each of the positioning points 70 included in the positioning information into a turning positioning point, a working positioning point, or a moving positioning point, depending on the range of the vehicle speed corresponding to each of the positioning points 70. Here, the turning positioning point is a positioning point 70 estimated to be included in a turning trajectory 82, the working positioning point is a positioning point 70 estimated to be included in a working trajectory 83, and the moving positioning point is a positioning point 70 estimated to be included in a moving trajectory 81 or a leaving / merging trajectory 85.

[0042] The classification unit 514 classifies the operation trajectory 80 into a work trajectory 83 or a non-work trajectory based on the result of classifying the positioning points 70. Here, the non-work trajectory includes the movement trajectory 81, the turning trajectory 82, and the departure / merging trajectory 85. In other words, among the positioning points 70 included in the positioning information, a set of positioning points 70 whose corresponding vehicle speed is faster than the threshold T2 and slower than the threshold T3 is classified as a work trajectory 83. In addition, the other positioning points 70 are classified as non-work trajectories. The result of this classification is stored in the storage device 52.

[0043] The classification unit 514 may perform a process of removing noise data included in the positioning points 70 classified as the work trajectory 83. The process performed here includes a correction process of classifying the detected positioning points 70 as part of the work trajectory 83 when a small number of consecutive positioning points 70 classified as part of a non-work trajectory that exists between two positioning points 70 classified as part of the work trajectory 83 is detected from among the positioning points 70 arranged in the order of measurement. Here, the total number of the small number of consecutive positioning points 70 is equal to or less than a predetermined threshold, and this threshold is appropriately set based on, for example, a sampling period for measuring the positions of the positioning points 70 so that the movement trajectory 81, the turning trajectory 82, the departure / merging trajectory 85, etc. are not erroneously corrected to the work trajectory 83. As an example, the sampling period is 5 seconds, and the threshold is 3.

[0044] The process performed here also includes a correction process for classifying the detected positioning points 70 as part of the non-work trajectory when, for example, consecutive positioning points 70 that are equal to or less than a predetermined threshold and that are classified as part of the work trajectory 83 and exist between two positioning points 70 classified as part of the non-work trajectory are detected from among the positioning points 70 arranged in the order of measurement. This threshold is appropriately set based on, for example, the sampling period for measuring the positions of the positioning points 70 so as not to erroneously correct the work trajectory 83 to the movement trajectory 81, the turning trajectory 82, the departure / merging trajectory 85, or the like.

[0045] The classification unit 514 may further classify the non-work trajectory into a moving trajectory 81, a turning trajectory 82, or a leaving / merging trajectory 85. A set of the positioning points 70 whose corresponding vehicle speed is faster than the threshold value T1 and slower than the threshold value T2 among the positioning points 70 classified as the non-work trajectory is classified as a turning trajectory 82. For the moving trajectory 81 or the leaving / merging trajectory 85, first, a set of the positioning points 70 whose corresponding vehicle speed is faster than the threshold value T3 among the positioning points 70 classified as the non-work trajectory is extracted in a continuous measurement order. Next, among the extracted sets, a set including the positioning point 70 measured immediately before the first measured positioning point 70 and the positioning point 70 measured immediately after the last measured positioning point 70 are both classified as part of the work trajectory 83, and the distance from the supply point 86 is shorter than a predetermined threshold is classified as a leaving / merging trajectory 85. The remainder of the extracted set is classified as a movement trajectory 81.

[0046] 3, step S6 is executed. In step S6, the output unit 515 outputs work trajectory information representing the work trajectory 83. The output unit 515 controls the communication device 54 to transmit the work trajectory information to the external terminal 6. The external terminal 6 notifies the user that the work trajectory information has been received, and optically outputs the work trajectory 83 represented by the work trajectory information by displaying it on the screen in response to an operation by the user.

[0047] The output unit 515 may further output non-work trajectory information representing a non-work trajectory in addition to the work trajectory information. At this time, the external terminal 6 may display on the screen the classified operation trajectory 87, a part of which has been classified as the work trajectory 83.

[0048] Furthermore, the output unit 515 may output, in addition to the work trajectory information, movement trajectory information representing the movement trajectory 81, turning trajectory information representing the turning trajectory 82, and departure / merging trajectory information representing the departure / merging trajectory 85. At this time, the external terminal 6 may display on the screen a classified operation trajectory 87, the entirety of which is classified as the movement trajectory 81, the turning trajectory 82, the work trajectory 83, and the departure / merging trajectory 85. FIG. 7 is a diagram showing an example of a classified operation trajectory 87 according to an embodiment. In the example of FIG. 7, of the classified operation trajectories 87, the movement trajectory 81 is shown by a thin solid line, the turning trajectory 82 is shown by a thin dashed line, the work trajectory 83 is shown by a thick solid line, and the departure / merging trajectories 85A and 85B are shown by dashed lines.

[0049] (Variation 1) The output unit 515 may further output work status information indicating the work status of the work vehicle 2 that performed work on the work trajectory 83. In this case, in step S6, the output unit 515 outputs the travel distance and travel time of the work vehicle 2 on the work trajectory 83 as work status information on the work trajectory 83. Furthermore, the output unit 515 may output the travel distance and travel time of the work vehicle 2 on the non-work trajectory as work status information on the non-work trajectory.

[0050] Also, in this case, in step S5, the calculation unit 513 calculates the travel distance and travel time of the work vehicle 2 on the work trajectory 83 as work status information of the work trajectory 83 based on the position of the work vehicle 2 measured at each positioning point 70 classified as the work trajectory 83 and the time when the measurement was performed. Furthermore, the calculation unit 513 calculates the travel distance and travel time of the work vehicle 2 on the non-work trajectory as work status information on the non-work trajectory based on the position measured at each positioning point 70 classified as the non-work trajectory and the time when the measurement was performed. Note that the work status information of the non-work trajectory may be calculated and output for each of the movement trajectory 81, the turning trajectory 82, and the departure / merging trajectory 85.

[0051] (Variation 2) The output unit 515 may further output operation evaluation information representing an index for evaluating the operation state of the work vehicle 2 that performed the work on the work trajectory 83. The operation information includes, for example, the planting amount, the fertilization amount, the harvest amount, and the like at each of the positioning points 70. Here, the planting amount is the amount of seedlings planted in the planting work performed by the work vehicle using a planting machine or a planting work machine towed by a tractor. The fertilization amount is the amount of fertilizer spread in the fertilization work performed by the work vehicle using a fertilizer applicator or a fertilizer work machine towed by a tractor. The harvest amount is the harvest amount acquired by the yield sensor during the harvesting work performed by the work vehicle using a harvester or a harvesting work machine towed by a tractor. In this case, in step S6, the output unit 515 outputs the operation information on the work trajectory 83 by the work vehicle 2 as operation evaluation information of the work vehicle 2 on the work trajectory 83. Furthermore, the output unit 515 may output the operation information on the non-work trajectory as operation evaluation information of the work vehicle 2 on the non-work trajectory.

[0052] In this case, in step S1 or before, the in-vehicle terminal 3 of the work vehicle 2 further acquires operation information of the work vehicle 2 when measuring the position of each positioning point and acquiring positioning information. Then, the input unit 511 of the operation trajectory classification device 5 acquires the operation information in addition to the positioning information from the in-vehicle terminal 3.

[0053] Furthermore, in this case, in step S5, the calculation unit 513 calculates the sum of values ​​represented by the operation information acquired at each positioning point 70 classified as the work trajectory 83 as operation evaluation information of the work trajectory 83. Furthermore, the calculation unit 513 may calculate the sum of values ​​represented by the operation information acquired at each positioning point 70 classified as the non-work trajectory as operation evaluation information of the non-work trajectory. Note that the operation evaluation information of the non-work trajectory may be calculated and output for each of the movement trajectory 81, the turning trajectory 82, and the departure / merging trajectory 85.

[0054] As described above, according to one embodiment, it is possible to easily determine the work trajectory 83 along which the work vehicle 2 performed work, from among the operation trajectory 80 along which the work vehicle 2 moved. Furthermore, according to the above-described modified example, it is possible to determine operation evaluation information on the work trajectory 83.

[0055] (Second embodiment) In the above-described first embodiment, the speed of the work vehicle 2 is used as the parameter used to classify the operating trajectory 80. In the present embodiment, it will be explained that the movement direction of the work vehicle 2 can also be used as this parameter.

[0056] In other words, the inventors have confirmed that, among the operating trajectories 80, the distribution of the movement directions of the work vehicle 2 on the work trajectory 83 tends to concentrate in a specific direction and can be distinguished from the distribution of the movement directions of the work vehicle 2 on the turning trajectory 82 and the departure / merging trajectory 85. This tendency was particularly noticeable when the area in which the work vehicle 2 performs work is, for example, linear and the respective work areas are parallel to each other. Therefore, in this embodiment, the movement direction at each of the positioning points 70 is calculated in step S4, and the operating trajectory 80 is classified based on the distribution of the movement directions in the subsequent step S5.

[0057] The configuration of the operation trajectory classification system 1 according to this embodiment is similar to the configuration in the first embodiment shown in Fig. 1. The configuration of the operation trajectory classification program 521 according to this embodiment is obtained by adding the following changes to steps S4 and S5 to the configuration in the first embodiment shown in Fig. 3. The changes to steps S4 and S5 will be described below.

[0058] In step S4, the calculation unit 513 approximately calculates the movement direction at each of the positioning points 70 as, for example, the direction of a straight line from the positioning point 70 of interest to the positioning point 70 whose position is measured next to the positioning point 70 of interest. The movement direction of the work vehicle 2 calculated for each positioning point 70 is stored in the storage device 52.

[0059] In step S5, the classification of the operation trajectory 80 based on the distribution of the movement direction is performed, for example, as follows. First, the calculation unit 513 calculates the movement direction of the work vehicle 2 at each positioning point 70, and calculates which of a plurality of ranges obtained by equally dividing the orientation at a predetermined angle, the calculated movement direction is included in. The orientation is a value that expresses the direction of interest as an angle based on a predetermined direction (such as north). Here, when the movement direction of the work area in the work trajectory 83 is concentrated in a first orientation and a second orientation opposite to the first direction, the number of data points 70 whose corresponding movement direction is included in the first range including the first orientation and the number of data points 70 whose corresponding movement direction is included in the second range including the second orientation form two maximum values ​​in the distribution of the number of data in each range. Therefore, the classification unit 514 detects two maximum values ​​based on the number of data in each range, and classifies a set of positioning points 70 included in two ranges in which the orientation of the corresponding movement direction has these two maximum values, as a work trajectory 83. The classification unit 514 may further classify a set of positioning points 70 in which the corresponding movement direction is included in other ranges, as a non-work trajectory.

[0060] FIG. 8 is a graph showing an example of the distribution of movement directions according to an embodiment. In this graph, the horizontal axis shows the orientation of the movement direction arranged for each predetermined range, and the vertical axis shows the number of data. Here, the number of data is the total number of positioning points 70 whose corresponding orientation of the movement direction is included in each range of the horizontal axis among the positioning points 70 included in the positioning information. In the example of FIG. 8, two maximum values ​​are formed in a first range including the first orientation D1 and a second range including the second orientation D2. At this time, the classification unit 514 classifies a set of positioning points 70 whose corresponding movement direction is included in the first range or the second range as a work trajectory 83.

[0061] As described above, according to this embodiment, the work trajectory 83 along which the work vehicle 2 performed work, out of the operation trajectory 80, can be classified based on the movement direction of the work vehicle 2.

[0062] Although the invention made by the inventor has been specifically described based on the embodiment, the present invention is not limited to the embodiment, and it goes without saying that various modifications can be made without departing from the gist of the invention. Furthermore, the respective features described in the embodiment can be freely combined within the scope of technical compatibility.

[0063] In the above-mentioned embodiments, the case where the work vehicle 2 performs fertilization work has been described, but the embodiments are not limited to this example. As a modified example, the embodiments are also applicable to the case where the work vehicle 2 performs planting work or harvesting work. When the work vehicle 2 performs planting work, the work vehicle 2 may move from the leaving and merging point 84 to the supply point 86 along the leaving and merging trajectory 85 as necessary to supply seedlings, and then move back along the same leaving and merging trajectory 85 to the leaving and merging point 84 to resume the planting work. Here, it is preferable that the leaving and merging trajectory 85 is arranged so as to avoid an area where the planting work has already been completed. Also, when the work vehicle 2 performs harvesting work, the work vehicle 2 may move from the leaving and merging point 84 to the supply point 86 along the leaving and merging trajectory 85 as necessary to discharge the harvested product, and then move forward along the subsequent leaving and merging trajectory 85 to return to the leaving and merging point 84 to resume the harvesting work.

[0064] In the first embodiment described above, the vehicle speed thresholds T1, T2, and T3 are determined based on the minimum value of the vehicle speed, but the present embodiment is not limited to this example. As a modified example, the vehicle speed thresholds T1, T2, and T3 may be manually determined in advance by the user.

[0065] In the above-described second embodiment, the movement direction of the work vehicle 2 at each positioning point 70 is approximately calculated as the direction of a straight line from the positioning point 70 of interest to the positioning point 70 whose position was measured next to the positioning point 70 of interest. This calculation method is merely an example and does not limit the present embodiment. As an example of another calculation method, the movement direction of the work vehicle 2 at each positioning point 70 may be approximately calculated as the direction of a straight line (strictly speaking, a line segment) from the positioning point 70 whose position was measured just before the positioning point 70 of interest to the positioning point 70 whose position was measured next to the positioning point 70 of interest.

[0066] In the above first embodiment, the operation trajectory 80 is classified with a focus on the speed of the work vehicle 2. In the above second embodiment, the operation trajectory 80 is classified with a focus on the movement direction of the work vehicle 2. The first and second embodiments may be combined to classify the operation trajectory 80 using both the vehicle speed and movement direction of the work vehicle 2. [Explanation of symbols]

[0067] 1. Operation trajectory classification system 2. Work vehicles 3. Vehicle-mounted terminal 4. Network 5. Operation trajectory classification device 50 Bus 51 Arithmetic unit 511 Input section 512 Generation part 513 Calculation Department 514 Classification Department 515 Output section 52 Storage device 520 Recording media 521 Operation trajectory classification program 53 Input / Output Devices 54 Communication Equipment 6 External Terminal 70A, 70B, 70C, 70D, 70E, 70F, 70G Positioning points 71A, 71B, 71C, 71D, 71E, 71F trajectory 72A, 72B, 72C, 72D, 72E, 72F Estimated trajectory 80 Operational Track 81 Movement trajectory (3rd trajectory) 82 Turning trajectory (second trajectory) 83 Work trajectory (first trajectory) 84A, 84B departure junction 85A, 85B departure and merging trajectory (third trajectory) 86 Supply Point 87 Classified Operation Tracks 9. Field 90 areas D1, D2 direction T1 threshold T2 Threshold (1st Speed) T3 Threshold (2nd Speed) V0, V1, V2, V3 speed

Claims

1. Preparing positioning information at a plurality of positioning points obtained by measuring the position of a work vehicle moving inside a farm field while performing work at a plurality of times; generating operation trajectory information representing an operation trajectory along which the work vehicle has moved based on the positioning information; Calculating a predetermined parameter representing a state of the work vehicle at each of the plurality of positioning points based on the positioning information; Based on the parameters, classifying, from among the operating trajectories, a departure / merging trajectory in which the harvesting vehicle as the work vehicle leaves a harvesting position to move to a discharge position in order to discharge the harvest, and returns from the discharge position to the harvesting position; outputting the operation trajectory information so that the departure / merging trajectory is identifiable; Includes Operation trajectory classification method.

2. Preparing positioning information at a plurality of positioning points obtained by measuring the position of a work vehicle moving inside a farm field while performing work at a plurality of times; generating operation trajectory information representing an operation trajectory along which the work vehicle has moved based on the positioning information; Calculating a predetermined parameter representing a state of the work vehicle at each of the plurality of positioning points based on the positioning information; Based on the parameters, classifying, from among the operating trajectories, a departure / merging trajectory in which the work vehicle leaves a work position to move to a supply point in order to supply materials required for work, and returns from the supply point to the work position; outputting the operation trajectory information so that the departure / merging trajectory is identifiable; Includes Operation trajectory classification method.

3. The operation trajectory classification method according to claim 1 or 2, The calculating step comprises: Calculating, as the parameter, a vehicle speed between two adjacent measurement points among the plurality of measurement points. Includes Operation trajectory classification method.

4. In the operation trajectory classification method according to claim 3, The classification includes: classifying a first trajectory along which the work vehicle moves at a speed faster than a predetermined first speed as a work trajectory along which the work vehicle performs the work; classifying a second trajectory along which the work vehicle moves at a speed slower than the first speed as a turning trajectory along which the work vehicle does not perform the work; Also includes Operation trajectory classification method.

5. The operation trajectory classification method according to claim 4, The classification includes: A third trajectory along which the work vehicle moves at a speed faster than a predetermined second speed, which is faster than the first speed, is classified as a movement trajectory along which the work vehicle does not perform the work. Also includes Operation trajectory classification method.

6. The operation trajectory classification method according to claim 1 or 2, The calculating step comprises: Calculating, as the parameter, a direction of a line segment connecting two of the plurality of positioning points that are adjacent in measurement order. Includes Operation trajectory classification method.

7. In the operation trajectory classification method according to any one of claims 1 to 6, acquiring operation information representing an operation state of the work vehicle when measuring the position; creating operation evaluation information representing an index for evaluating the operation state of the work vehicle on the work trajectory based on the operation information; outputting the operation evaluation information; Also includes Operation trajectory classification method.

8. an input unit that prepares positioning information at a plurality of positioning points obtained by measuring the position of a work vehicle that moves within a farm field while performing work at a plurality of times; A generation unit that generates operation trajectory information representing an operation trajectory along which the work vehicle has moved based on the positioning information; a calculation unit that calculates a predetermined parameter that represents a state of the work vehicle at each of the plurality of positioning points based on the positioning information; a classification unit that classifies, based on the parameters, a departure / merging trajectory of the operation trajectory from a harvesting position to a discharge position of the harvested product discharged by the harvesting vehicle as the work vehicle, and from the discharge position to the return to the harvesting position; an output unit that outputs the operation trajectory information so that the departure / merging trajectory can be identified; Equipped Operation trajectory classification system.

9. an input unit that prepares positioning information at a plurality of positioning points obtained by measuring the position of a work vehicle that moves within a farm field while performing work at a plurality of times; A generation unit that generates operation trajectory information representing an operation trajectory along which the work vehicle has moved based on the positioning information; a calculation unit that calculates a predetermined parameter that represents a state of the work vehicle at each of the plurality of positioning points based on the positioning information; a classification unit that classifies, from among the operating trajectories based on the parameters, a departure / merging trajectory from a work position to a supply point in order for the work vehicle to supply materials required for the work, and from the supply point to the return to the work position; an output unit that outputs the operation trajectory information so that the departure / merging trajectory can be identified; Equipped Operation trajectory classification system.

10. An operation trajectory classification program for implementing a predetermined process by executing the program, The process comprises: Preparing positioning information at a plurality of positioning points obtained by measuring the position of a work vehicle moving inside a farm field while performing work at a plurality of times; generating operation trajectory information representing an operation trajectory along which the work vehicle has moved based on the positioning information; Calculating a predetermined parameter representing a state of the work vehicle at each of the plurality of positioning points based on the positioning information; Based on the parameters, classifying, from among the operating trajectories, a departure / merging trajectory in which the harvesting vehicle as the work vehicle leaves a harvesting position to move to a discharge position in order to discharge the harvest, and returns from the discharge position to the harvesting position; outputting the operation trajectory information so that the departure / merging trajectory is identifiable; Includes Operation trajectory classification program.

11. An operation trajectory classification program for implementing a predetermined process by executing the program, The process comprises: Preparing positioning information at a plurality of positioning points obtained by measuring the position of a work vehicle moving inside a farm field while performing work at a plurality of times; generating operation trajectory information representing an operation trajectory along which the work vehicle has moved based on the positioning information; Calculating a predetermined parameter representing a state of the work vehicle at each of the plurality of positioning points based on the positioning information; Based on the parameters, classifying, from among the operating trajectories, a departure / merging trajectory in which the work vehicle leaves a work position to move to a supply point in order to supply materials required for work, and returns from the supply point to the work position; outputting the operation trajectory information so that the departure / merging trajectory is identifiable; Includes Operation trajectory classification program.

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