Work management method, work management system, and work management program

Abstract

To determine information of work distinguished by movement modes of a work device.SOLUTION: A work management method includes determining a corresponding movement mode about at least a portion of operation information included in a plurality of pieces of operation information on the basis of the plurality of pieces of operation information of a work device 30. Also, the work management method includes determining work information about work performed when the work device 30 is in the movement mode on the basis of the plurality of pieces of operation information. Also, the movement mode includes a manual mode for manually controlling movement of the work device 30 and an autonomous mode for autonomously controlling the movement. The movement mode may be determined on the basis of position information representing a position of the work device 30 included in the operation information.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to a work management method, a work management system, and a work management program. [Background technology]

[0002] In recent years, research has been conducted into the use of information and communication technology to manage information about work carried out in farm fields for the purpose of cultivation management.

[0003] For example, Patent Document 1 discloses a technique for storing position information when an agricultural work vehicle works in a field in a database, and determining the movement trajectory of the agricultural work vehicle from the position information stored in the database. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5522785 Summary of the Invention [Problem to be solved by the invention]

[0005] A working device that works in a farm field may have a manual mode in which the device is directly driven by a driver and moves, and an autonomous mode in which the device moves autonomously along a preset route. The inventors have found that a more detailed farming analysis can be performed by comparing information on work performed when moving in the manual mode, such as the movement route, with information on work performed when moving in the autonomous mode. For example, a user, such as a worker or a farm owner, can compare the results of work performed in the manual mode and the autonomous mode, such as the harvest yield. Furthermore, based on the difference between the movement route in the autonomous mode and the movement route in the manual mode, the worker can easily review the settings of the autonomous mode.

[0006] In view of the above circumstances, one of the objects of the present disclosure is to determine information on a task distinguished by a movement mode of a task device, for example, a manual mode, an autonomous mode, etc. Other objects can be understood from the following description and the explanation of the embodiment. [Means for solving the problem]

[0007] The means for solving the problems will be described below using the numbers and symbols used in the description of the embodiment of the invention. These numbers and symbols are added in parentheses for reference purposes to show an example of the correspondence between the description of the claims and the description of the embodiment of the invention. Therefore, the description in parentheses should not be interpreted as limiting the scope of the claims.

[0008] To achieve the above object, a work management method according to one embodiment includes determining a corresponding movement mode for at least some of the operation information included in a plurality of pieces of operation information of the work device (30) based on the plurality of pieces of operation information. The work management method also includes determining work information related to work performed when the work device (30) was in the movement mode based on the plurality of pieces of operation information. The movement modes include a manual mode in which movement of the work device (30) is manually controlled, and an autonomous mode in which movement of the work device (30) is autonomously controlled.

[0009] To achieve the above object, a work management system (1000) according to one embodiment includes a mode determination unit (250) and an information determination unit (260). The mode determination unit (250) determines a corresponding movement mode for at least some of the operation information included in the plurality of pieces of operation information based on a plurality of pieces of operation information of the work device (30). The information determination unit (260) determines work information related to work performed when the work device (30) was in the movement mode based on the plurality of pieces of operation information. The movement modes include a manual mode in which movement of the work device (30) is manually controlled, and an autonomous mode in which movement of the work device (30) is autonomously controlled.

[0010] To achieve the above object, a work management program (410) according to one embodiment causes the arithmetic device (120, 220, 320) to determine a corresponding movement mode for at least some of the operation information included in the plurality of operation information, based on the plurality of operation information of the work device (30). The work management program (410) also causes the arithmetic device (120, 220, 320) to determine work information related to work performed when the work device (30) was in the movement mode, based on the plurality of operation information. The movement mode includes a manual mode in which movement of the work device (30) is manually controlled, and an autonomous mode in which movement of the work device (30) is autonomously controlled. Effect of the Invention

[0011] According to the above aspect, the user can grasp the work information according to the difference in the travel mode. [Brief description of the drawings]

[0012] [Figure 1] 1 is a schematic diagram of a work management system according to one embodiment; [Diagram 2] 11A and 11B are diagrams for explaining a trajectory of a work implement displayed on a terminal according to an embodiment. [Diagram 3] FIG. 2 is a diagram illustrating a configuration of a mounting device according to an embodiment. [Figure 4] FIG. 2 is a diagram illustrating functional blocks executed by the work management system according to an embodiment. [Diagram 5] 1 is a diagram illustrating a configuration of a task management device according to an embodiment. [Figure 6] FIG. 2 is a diagram illustrating a configuration of a terminal according to an embodiment. [Figure 7] 11 is a flowchart showing a process in which a mounting device outputs operation information to a work management device according to an embodiment. [Figure 8] 10 is a flowchart showing a process in which the work management system in one embodiment identifies a movement path of a work apparatus based on a movement mode. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] (Embodiment 1) A work management system 1000 according to the present embodiment of the present invention will be described with reference to the drawings. In this embodiment, as shown in Fig. 1, the work management system 1000 includes a mounting device 100 mounted on a work device 30, a work management device 200, and a terminal 300.

[0014] The working device 30 performs work while moving, for example, in a farm field 500. The working device 30 has a manual mode in which it is moved manually by an operator, and an autonomous mode in which it moves autonomously along a guide route that represents a preset route. Examples of the working device 30 include a tractor, a combine harvester, a drone, and the like.

[0015] The on-board device 100 mounted on the working device 30 measures the current position when the working device 30 moves in autonomous mode. The on-board device 100 compares the measured position with a position shown on a preset guide route, and controls the working device 30 to move along the guide route. Position information showing the measured position is output to the work management device 200.

[0016] Furthermore, when the work device 30 moves in the manual mode, the on-board device 100 measures the current position and outputs the measured position information to the work management device 200. For example, the position measured in the autonomous mode is more accurate than the position measured in the manual mode in order to control the movement of the work device 30.

[0017] The position information is output to the work management device 200 as, for example, operation information. The operation information may include, for example, status information indicating the status of each machine of the work implement 30, such as the ON / OFF status of various clutches. Furthermore, when the work implement 30 is a vehicle that tows a work machine, such as a tractor, the status information may include information such as the PTO (power take-off) rotation speed when transmitting power to the work machine, and the hitch height and lift arm angle that indicate the attitude of the work machine.

[0018] The work management device 200 determines a movement mode of the work device 30 corresponding to the operation information, based on the operation information acquired from the mounted device 100. Furthermore, the work management device 200 determines work information representing information related to the work performed by the work device 30, such as the movement path of the work device 30, the area where the work was performed, the harvest amount, etc., according to the determined movement mode.

[0019] The terminal 300 displays an image showing the work information for the travel mode. For example, as shown in FIG. 2, the terminal 300 displays an image showing a travel route 610 in which a manual route 620 traveled manually by the work device 30 and an autonomous route 630 traveled autonomously by the work device 30 can be distinguished from each other. By checking the travel route 610 displayed on the terminal 300, the worker can grasp the travel mode at each position on the route. For example, in the farm field 500, by comparing the autonomous route 630 traveled in the autonomous mode with the manual route 620 traveled in the manual mode, the user, for example, the worker, can easily review the setting of the autonomous mode. In addition, the user can grasp the work ratio of the autonomous mode in each work environment and evaluate the work efficiency in more detail. The user can improve the work efficiency by actively utilizing the autonomous mode in a work environment with higher work efficiency. In particular, when multiple workers take turns working, the user can use the work ratio of the autonomous mode to evaluate the work efficiency of each worker.

[0020] The terminal 300 may also display an image that distinguishes between an area traveled in the autonomous mode and an area traveled in the manual mode. In this case, the user can easily understand the area worked in the autonomous mode and the area worked in the manual mode. The terminal 300 may also display an image that distinguishes between the state of the crops in the area traveled in the autonomous mode, such as the growth state and the yield, and the state of the crops in the area traveled in the manual mode. In this case, the user can easily compare the state of the crops in each travel mode.

[0021] (Work management system configuration) The configuration of the on-board device 100 included in the work management system 1000 will be described. As shown in FIG. 3, the on-board device 100 includes an input / output device 110, a first positioning device 111, a second positioning device 112, a calculation device 120, a communication device 130, and a storage device 140. The on-board device 100 includes, for example, a computer, a tablet, a mobile phone, and the like. Information for the calculation device 120 to execute processing is input to the input / output device 110. In addition, the input / output device 110 outputs the result of the calculation device 120 executing the processing. The input / output device 110 includes various input devices and output devices, and includes, for example, a button, a touch panel, a microphone, a display, a speaker, a keyboard, a mouse, and the like. The input / output device 110 may be omitted.

[0022] The first positioning device 111 measures the position of the working device 30 mounted thereon by measuring its own position at each time. For example, the first positioning device 111 measures the position of the working device 30 at a predetermined time interval, for example, at 10-second intervals. The first positioning device 111 is, for example, a receiver for a Global Navigation Satellite System (GNSS). For example, as shown in FIG. 1, the first positioning device 111 receives positioning information from multiple artificial satellites 40 and measures the position of the working device 30. For example, the first positioning device 111 is a Single GNSS that measures the position by itself without using correction information from a fixed station 50.

[0023] Similarly to the first positioning device 111, the second positioning device 112 shown in FIG. 3 also measures the position of the working device 30 mounted thereon by measuring its own position at each time. The second positioning device 112 measures the position of the working device 30 when the working device 30 moves in an autonomous mode. For example, the second positioning device 112 measures the position of the working device 30 at a predetermined time interval, for example, at 10-second intervals. The second positioning device 112 is, for example, a receiver of an RTK-GNSS (Real Time Kinematic - Global Navigation Satellite System). For example, as shown in FIG. 1, the second positioning device 112 receives positioning information from a plurality of artificial satellites 40 and correction information from a fixed station 50 to measure the position of the working device 30. For this reason, the position measured by the second positioning device 112 is more accurate than the position measured by the first positioning device 111.

[0024] 3 is electrically connected to the network 20 and communicates with each device via the network 20. The communication device 130, for example, transfers a signal acquired from the work management device 200 to the calculation device 120. The communication device 130 also transfers a signal generated by the calculation device 120 to the work management device 200.

[0025] Furthermore, the communication device 130 is electrically connected to the maintenance device 30 and communicates with the maintenance device 30. For example, the communication device 130 transfers a control signal for controlling the maintenance device 30 from the arithmetic device 120 to the maintenance device 30. Furthermore, the communication device 130 transfers operation information received from the maintenance device 30 to the arithmetic device 120. The communication device 130 includes various interfaces, such as a transceiver used for wireless communication in a wireless LAN (Local Area Network) or a cellular network, a NIC (Network Interface Card), a USB (Universal Serial Bus), and the like.

[0026] The storage device 140 stores various data for outputting operation information of the operation device 30 to the operation management device 200, for example, an information output program 400. The storage device 140 is used as a non-transitory tangible storage medium for storing the information output program 400. The information output program 400 may be provided as a computer program product recorded on a computer-readable storage medium 1, or may be provided as a computer program product downloadable from a server.

[0027] The arithmetic device 120 reads out and executes the information output program 400 from the storage device 140, and performs various data processing for outputting the operation information. For example, the arithmetic device 120 includes a central processing unit (CPU) and the like.

[0028] The arithmetic device 120 reads and executes the information output program 400, thereby realizing a movement control unit 150 and an information output unit 160, as shown in FIG. 4. The movement control unit 150 controls the working device 30 based on the position of the working device 30 measured by the second positioning device 112. For example, the movement control unit 150 moves the working device 30 along a guide route along which the working device 30 is scheduled to move, based on the position of the working device 30. The information output unit 160 outputs operation information of the working device 30 to the work management device 200. For example, the information output unit 160 acquires status information from the working device 30 and outputs the acquired status information as operation information. Furthermore, the information output unit 160 outputs first position information representing the position of the working device 30 measured by the first positioning device 111 as operation information. Furthermore, the information output unit 160 outputs second position information representing the position of the working device 30 measured by the second positioning device 112 as operation information.

[0029] Next, the configuration of the work management device 200 shown in Fig. 1 will be described. As shown in Fig. 5, the work management device 200 includes an input / output device 210, a calculation device 220, a communication device 230, and a storage device 240. The work management device 200 is a computer including, for example, a cloud server. Information for the calculation device 220 to execute processing is input to the input / output device 210. The input / output device 210 outputs a result of the calculation device 220 executing the processing. The input / output device 210 includes various input devices and output devices, including, for example, a keyboard, a mouse, a microphone, a display, a speaker, a touch panel, and the like. The input / output device 210 may be omitted.

[0030] The communication device 230 is electrically connected to the network 20 and communicates with each device via the network 20. The communication device 230, for example, transfers information acquired from the mounted device 100 to the arithmetic device 220. Also, the communication device 230 transfers a signal generated by the arithmetic device 220 to the terminal 300. The communication device 230 includes various interfaces, for example, a network interface card (NIC) and a universal serial bus (USB).

[0031] The storage device 240 stores work information for the movement mode of the work device 30, for example, various data for determining the movement path 610, for example, the work management program 410. The storage device 240 is used as a non-transitory tangible storage medium for storing the work management program 410. The work management program 410 may be provided as a computer program product recorded in a computer-readable storage medium 2, or may be provided as a computer program product downloadable from a server.

[0032] The arithmetic device 220 reads out and executes the task management program 410 from the storage device 240, and performs various data processing to determine task information for the movement mode of the task device 30. For example, the arithmetic device 220 includes a central processing unit (CPU) and the like.

[0033] The arithmetic device 220 reads and executes the task management program 410, thereby realizing a mode determination unit 250, an information determination unit 260, and an output unit 270, as shown in Fig. 4. The mode determination unit 250 determines a movement mode corresponding to at least a portion of the operation information among a plurality of pieces of operation information acquired from the task device 30. The information determination unit 260 determines task information when the task device 30 is in each movement mode, based on the operation information corresponding to the movement mode. The output unit 270 outputs the task information in each movement mode to the terminal 300.

[0034] Next, the configuration of the terminal 300 shown in Fig. 1 will be described. As shown in Fig. 6, the terminal 300 includes an input / output device 310, a calculation device 320, a communication device 330, and a storage device 340. The terminal 300 includes, for example, a computer, a tablet, a mobile phone, and the like. Information for the calculation device 320 to execute processing is input to the input / output device 310. In addition, the input / output device 310 outputs the result of the calculation device 320 executing the processing. The input / output device 310 includes various input devices and output devices, and includes, for example, a keyboard, a mouse, a microphone, a display, a speaker, a touch panel, and the like.

[0035] The communication device 330 is electrically connected to the network 20 and communicates with each device via the network 20. The communication device 330, for example, transfers work information acquired from the work management device 200 to the arithmetic device 320. The communication device 330 includes various interfaces, such as a transceiver used for wireless communication in a wireless local area network (LAN) or a cellular network, a network interface card (NIC), and a universal serial bus (USB).

[0036] The storage device 340 stores various data for displaying work information acquired from the work management device 200, such as a display program 420. The storage device 340 is used as a non-transitory tangible storage medium for storing the display program 420. The display program 420 may be provided as a computer program product recorded in a computer-readable storage medium 3, or may be provided as a computer program product downloadable from a server.

[0037] The arithmetic unit 320 reads out and executes the display program 420 from the storage device 340, and performs various data processing for displaying the work information for the movement mode. For example, the arithmetic unit 320 includes a central processing unit (CPU) and the like.

[0038] The arithmetic device 320 reads and executes the display program 420 to realize a display unit 350 as shown in Fig. 4. The display unit 350 cooperates with the input / output device 310 to display work information for the movement mode.

[0039] (Operation of the work management system) The operation of the work management system 1000 will be described. First, the process in which the mounted device 100 outputs operation information to the work management device 200 will be described. A worker moves to the field 500 with the work device 30, for example a tractor, in order to perform work in the field 500. For example, the worker starts the drive device of the work device 30, for example an engine or a motor. When the drive device of the work device 30 is started, the calculation device 120 of the mounted device 100 mounted on the work device 30 reads and executes the information output program 400. When the information output program 400 is read and executed, the calculation device 120 starts the process shown in FIG. 7, which is part of the work management method.

[0040] In step S110, the movement control unit 150 realized by the calculation device 120 determines whether the movement mode of the working device 30 is the autonomous mode. If the working device 30 is moving in the autonomous mode (YES), the process proceeds to step S130. If the working device 30 is moving in the manual mode (NO), the process proceeds to step S120.

[0041] In step S120, the information output unit 160 acquires first position information representing the position of the working device 30 measured by the first positioning device 111. The accuracy of the position represented by the first position information is lower than the accuracy of the position measured by the second positioning device 112. The acquired first position information is stored in the storage device 140 as operation information in association with the time when the first position information was measured.

[0042] Furthermore, information output section 160 acquires status information from operating device 30 and, similar to the first position information, stores the status information in storage device 140 in association with the time of acquisition, for example, the time when the first position information was measured. Therefore, operation information including the first position information and status information is stored in storage device 140 in association with the time of measurement. In step S120, when the operation information is stored in storage device 140, the process proceeds to step S150.

[0043] When it is determined in step S110 that the movement mode of the working apparatus 30 is the autonomous mode, the movement control unit 150 acquires second position information representing the position of the working apparatus 30 measured by the second positioning device 112 in step S130. The second position information represents a position measured by, for example, RTK-GNSS. The accuracy of the position represented by the second position information is higher than the accuracy of the position represented by the first position information. The acquired second position information is stored in the storage device 140 as operation information in association with the time when the second position information was measured.

[0044] Furthermore, the information output section 160 acquires status information from the operating device 30, and similarly to the second position information, stores the status information in the storage device 140 in association with the time of acquisition, for example, the time when the second position information was measured. Therefore, the operation information including the second position information and the status information is stored in the storage device 140 in association with the time when the second position information and the status information were measured.

[0045] In step S140, the movement control unit 150 controls the working device 30 to move along a preset guidance route. For example, the movement control unit 150 compares the position represented on the guidance route with the position represented in the second position information, and controls the working device 30 to move along the guidance route. For example, the movement control unit 150 compares the position represented on the guidance route with the position represented in the second position information, determines the steering angle of the working device 30, and controls the steering angle of the working device 30 to the determined steering angle.

[0046] In step S150, the information output unit 160 determines whether the driving device of the working device 30 has stopped. If the driving device has not stopped (NO), the process returns to step S110 and is repeated. The process is repeated at a predetermined interval (e.g., 10 second intervals), for example. If the driving device has stopped (YES), the process proceeds to step S160.

[0047] In step S160, the information output unit 160 outputs the multiple pieces of operation information stored in the storage device 140 to the work management device 200. In this way, the operation information when the working device 30 is moving in the manual mode includes the first position information, and the operation information when the working device 30 is moving in the autonomous mode includes the second position information.

[0048] Next, a method in which the work management device 200 determines work information for a travel mode will be described. The arithmetic device 220 of the work management device 200 reads and executes the work management program 410 when it acquires a plurality of pieces of operation information from the on-board device 100. The arithmetic device 220 of the work management device 200 may read and execute the work management program 410 when it receives a request signal to display the work information from the terminal 300. After reading and executing the work management program 410, the arithmetic device 220 starts the processing shown in Fig. 8, which is part of the work management method.

[0049] In step S210, the mode determination unit 250 determines a travel mode corresponding to the operation information based on a plurality of pieces of operation information acquired from the working device 30. For example, the mode determination unit 250 determines a travel mode corresponding to each of the plurality of pieces of operation information. For example, when the position information represented in the operation information is the first position information, the mode determination unit 250 determines that the corresponding travel mode is the manual mode. When the position information represented in the operation information is the second position information, the mode determination unit 250 determines that the corresponding travel mode is the autonomous mode.

[0050] For example, when the accuracy of the position represented in the operation information is the same as the accuracy of the position measured by the first positioning device 111, the mode determination unit 250 determines that the position information represented in the operation information is the first position information. When the accuracy of the position represented in the operation information is the same as the accuracy of the position measured by the second positioning device 112, the mode determination unit 250 determines that the position information represented in the operation information is the second position information. In addition, the mode determination unit 250 may determine that the position information represented in the operation information is the first position information when the accuracy of the position information represented in the operation information is lower than a threshold, and may determine that the position information represented in the operation information is the second position information when the accuracy of the position information represented in the operation information is equal to or higher than the threshold. In addition, the mode determination unit 250 may determine that the position information represented in the operation information is the second position information when the number of digits of the position represented in the operation information, for example, the number of digits after the decimal point, is greater than a threshold.

[0051] For example, in the example shown in FIG. 2, the mode determination unit 250 extracts the measured position 600 with low accuracy from among the measured positions 600 measured by the first positioning device 111 or the second positioning device 112. For example, the mode determination unit 250 determines that the accuracy of the measured position 600 measured before the time when the first positioning position 600-1 was measured is low. In this case, the mode determination unit 250 determines that the operation information representing the measured position 600 corresponds to the manual mode. In addition, when the accuracy of the measured position 600 measured from the time when the second positioning position 600-2 was measured to the time when the third positioning position 600-3 was measured is high, the mode determination unit 250 determines that the operation information representing the measured position 600 corresponds to the autonomous mode. Furthermore, when the accuracy of the positioned position 600 measured after the time when the fourth positioned position 600-4 was measured is low, the mode determination unit 250 determines that the operation information representing the positioned position 600 corresponds to the manual mode.

[0052] In step S220 shown in Fig. 8, the information determination unit 260 determines task information for each travel mode based on operation information corresponding to each travel mode. For example, as shown in Fig. 2, the information determination unit 260 determines task information for the manual mode, for example, a manual route 620 traveled in the manual mode, based on a positioned position 600 measured before the time when the first positioned position 600-1 was measured. For example, the information determination unit 260 determines a manual route 620, for example, a first manual route 620-1, by connecting the corresponding positioned positions 600 with a line, for example, a straight line segment, in the order of the time when they were measured.

[0053] Furthermore, the information determination unit 260 determines task information for the autonomous mode, for example, an autonomous route 630 traveled in the autonomous mode, based on the positioned positions 600 measured from the time the second positioned position 600-2 was measured to the time the third positioned position 600-3 was measured. For example, the information determination unit 260 determines the autonomous route 630 by connecting the corresponding positioned positions 600 with a line, for example, a straight line segment, in the order of the times they were measured.

[0054] Furthermore, the information determination unit 260 determines operation information for the manual mode, for example, a manual route 620 traveled in the manual mode, based on the positioned positions 600 measured after the time when the fourth positioned position 600-4 was measured. For example, the information determination unit 260 determines a manual route 620, for example, a second manual route 620-2, by connecting the corresponding positioned positions 600 in the order of the times when they were measured with a line, for example, a straight line segment.

[0055] The information determination unit 260 determines a boundary point 640, for example, a first boundary point 640-1, which represents a boundary position between the manual route 620, for example, a first manual route 620-1, and the autonomous route 630. For example, the boundary point 640 is determined based on the positioned positions 600, for example, the first positioned position 600-1 and the second positioned position 600-2, whose measured times are adjacent to each other on the manual route 620 and the autonomous route 630. For example, the information determination unit 260 determines the boundary point 640 on a line, for example, a straight line segment, connecting the first positioned position 600-1 measured last on the first manual route 620-1 and the second positioned position 600-2 measured first on the autonomous route 630. For example, the information determination unit 260 determines the midpoint of the line connecting the first positioned position 600-1 and the second positioned position 600-2 as the boundary point 640. Similarly, the information determination unit 260 determines a boundary point 640 between the second manual route 620-2 and the autonomous route 630, for example, a second boundary point 640-2.

[0056] Here, the information determination unit 260 determines the line connecting the first positioned position 600-1 and the second positioned position 600-2 as the movement path 610 traveled by the working device 30. Therefore, the information determination unit 260 determines a manual path 620 with a boundary point 640 as a boundary and an autonomous path 630 as work information for the movement mode. For example, the first manual path 620-1 represents the path traveled by the working device 30 before it reaches the first boundary point 640-1. The autonomous path 630 represents the path traveled by the working device 30 from the first boundary point 640-1 to the second boundary point 640-2. The second manual path 620-2 represents the path traveled by the working device 30 after it reaches the second boundary point 640-2.

[0057] 8, the output unit 270 outputs the work information for each movement mode to the terminal 300. For example, the work information indicates an image that distinguishes between a manual path 620 along which the working device 30 has manually moved and an autonomous path 630 along which the working device 30 has autonomously moved, as shown in FIG.

[0058] In step S240 shown in FIG. 8, the display unit 350 of the terminal 300 displays the work information acquired from the work management apparatus 200 on the input / output device 310.

[0059] In this way, the work management system 1000 provides work information according to the movement mode of the work implement 30 to a user, for example, a worker or an owner of the field 500.

[0060] (Modification) The above-described embodiments and modifications are merely examples, and the configurations described in each embodiment and modification may be arbitrarily modified and / or combined as long as the functions are not impaired. Furthermore, some of the functions described in the embodiments and modifications may be omitted as long as the necessary functions can be realized.

[0061] For example, information representing the travel mode of the working device 30 may be included in the operation information as mode information. For example, the information output unit 160 of the on-board device 100 may include mode information representing the travel mode of the working device 30, for example, the autonomous mode or the manual mode, in the operation information and output it to the work management device 200. In step S210 shown in FIG. 8, the mode determination unit 250 of the work management device 200 determines the travel mode corresponding to the operation information based on the mode information included in the operation information. For example, the mode determination unit 250 determines that the corresponding travel mode is the autonomous mode for operation information including mode information representing the autonomous mode. Also, the mode determination unit 250 determines that the corresponding travel mode is the manual mode for operation information including mode information representing the manual mode.

[0062] Further, the travel mode is not limited to the autonomous mode and the manual mode, and may include three or more modes. For example, the autonomous mode may include a first autonomous mode in which the travel mode of the working device 30 can be switched to the manual mode during movement along the guide route, and a second autonomous mode in which the travel mode cannot be switched during movement. In this case, in step S210 shown in FIG. 8, the mode determination unit 250 determines the travel mode corresponding to the operation information based on the mode information included in the operation information. Furthermore, the mode determination unit 250 may determine the travel mode corresponding to the operation information using any information included in the operation information.

[0063] In step S210 shown in FIG. 8, the mode determination unit 250 of the work management apparatus 200 may determine a movement mode corresponding to at least a portion of the operation information among the plurality of pieces of operation information acquired from the work apparatus 30. For example, the mode determination unit 250 may extract operation information that satisfies a predetermined condition among the plurality of pieces of operation information, for example, operation information when the work apparatus 30 is moving in the farm field 500, and determine a movement mode corresponding to the extracted operation information. In this case, in step S220, the information determination unit 260 determines work information for each movement mode in the extracted operation information. In this way, the work management system 1000 may provide the user with work information corresponding to each movement mode for a portion of the operation information acquired from the mounting device 100.

[0064] 2, the information determination unit 260 determines the boundary point 640 between the manual route 620 and the autonomous route 630 to be the midpoint of the line connecting the positioning positions 600 whose measured times are adjacent to each other, but is not limited to this. For example, the boundary point 640 may be determined to be the positioning position 600 measured first or the positioning position 600 measured later.

[0065] The work information determined by the information determination unit 260 is not limited to the route traveled by the work device 30, and may represent any information related to the work. For example, the information determination unit 260 may determine a work area representing an area in which the work device 30 performed work for the travel mode as work information corresponding to the travel mode. For example, the information determination unit 260 may determine a work area in which the work device 30 performed work when moving in the manual mode and a work area in which the work device 30 performed work when moving in the autonomous mode. For example, the information determination unit 260 extracts operation information when the work device 30 is performing work from among a plurality of pieces of operation information based on the operation information. For example, the information determination unit 260 extracts operation information within the field 500 as operation information when the work device 30 is performing work. The information determination unit 260 determines a convex hull for the positioning position 600 represented by the operation information corresponding to the manual mode from among the extracted operation information, and determines the determined convex hull as the work area corresponding to the manual mode. Furthermore, the information determination section 260 may determine an area obtained by expanding the convex hull by the working width of the working device 30 as the working area.

[0066] In the process shown in FIG. 8, the work management apparatus 200 determines a travel mode for the operation information, and determines the work information based on the operation information corresponding to the determined travel mode. However, the present invention is not limited to this example. For example, the work management apparatus 200 may determine the work information based on the operation information before classifying the work information into a travel mode, and divide the determined work information based on the travel mode. For example, as shown in FIG. 2, the information determination unit 260 determines a travel route 610 traveled by the work device 30 based on a plurality of positioning positions 600. Next, the information determination unit 260 determines a travel mode corresponding to the operation information, and extracts two pieces of operation information whose measured times are adjacent and whose travel modes are different. The information determination unit 260 may determine a boundary point 640 based on the positioning position 600 represented in the extracted operation information.

[0067] The on-board device 100 may be divided into a plurality of devices. For example, the on-board device 100 may be divided into a first on-board device having a first positioning device 111 and a second on-board device having a second positioning device 112. The first positioning device 111 and the second positioning device 112 may have a common part or may be formed integrally. For example, the integrally formed positioning device may function as the second positioning device 112 when receiving correction information from the fixed station 50, and may function as the first positioning device 111 when not receiving correction information. The first positioning device 111 and the second positioning device 112 may measure the position of the working device 30 by any method having the required accuracy. For example, the second positioning device 112 may directly obtain correction information from the fixed station 50 by wireless communication, or may obtain correction information via the network 20, for example, the Internet.

[0068] In the process shown in FIG. 7, an example has been shown in which the first positioning device 111 does not measure the position of the working device 30 when the working device 30 is in the autonomous mode, but the first positioning device 111 may measure the position of the working device 30 even when the working device 30 is in the autonomous mode.

[0069] For example, the processing of the terminal 300 may be executed by the work management apparatus 200. Moreover, the processing of the work management apparatus 200 may be executed by the terminal 300. Moreover, the processing of the terminal 300 may be executed by the mounting device 100. The work management program 410 may include either one or both of an information output program 400 and a display program 420.

[0070] Furthermore, the terminal 300 does not have to be included in the work management system 1000. For example, the output unit 270 of the work management apparatus 200 may output the farm field information to an external terminal and cause the external terminal to display the farm field information.

[0071] Furthermore, the mounting device 100 does not have to be included in the work management system 1000. For example, the work management device 200 may acquire position information of the work device 30 from an external device.

[0072] (Additional Note) The work management method, work management system, and work management program described in each embodiment can be described as follows.

[0073] The work management method according to the first aspect includes: determining a movement mode corresponding to at least a portion of the operation information included in the plurality of operation information of the work device based on the plurality of operation information; determining task information relating to a task performed when the working device was in the travel mode based on the plurality of pieces of operation information; Including, The movement modes include a manual mode in which the movement of the working implement is manually controlled, and an autonomous mode in which the movement of the working implement is autonomously controlled.

[0074] A work management method according to a second aspect is the work management method according to the first aspect, The plurality of pieces of operation information include a first position information representative of a position of the working implement when the working implement is moving in the manual mode; When the working device moves in the autonomous mode, the second position information is compared with a position shown on a predetermined guide route along which the working device is to move, and includes second position information representing the position of the working device; Determining the travel mode includes: determining that the corresponding travel mode is the manual mode for a first operation information item including the first position information item among the plurality of operation information items; determining that the corresponding travel mode is the autonomous mode for second operation information including the second position information among the plurality of operation information; Includes.

[0075] A work management method according to a third aspect is the work management method according to the second aspect, The accuracy of the location represented by the first location information is lower than the accuracy of the location measured by the second location information.

[0076] A work management method according to a fourth aspect is the work management method according to the second or third aspect, Measuring a position of the working implement using a first positioning method when the working implement moves in the manual mode; When the working device moves in the autonomous mode, measuring a position of the working device by a second positioning method different from the first positioning method; Includes.

[0077] A work management method according to a fifth aspect is a work management method according to any one of the first and fourth aspects, The work information indicates a path traveled by the work device.

[0078] A work management method according to a sixth aspect is a work management method according to any one of the first to fifth aspects, Displaying the work information. Further includes:

[0079] A work management system according to a seventh aspect includes: a mode determination unit that determines a corresponding movement mode for at least a portion of operation information included in a plurality of pieces of operation information of a work device based on the plurality of pieces of operation information; an information determination unit that determines work information related to a work performed when the work device is in the travel mode based on the plurality of pieces of operation information; Equipped with The movement modes include a manual mode in which the movement of the working implement is manually controlled, and an autonomous mode in which the movement of the working implement is autonomously controlled.

[0080] A work management program according to an eighth aspect of the present invention includes: determining a movement mode corresponding to at least a portion of the operation information included in the plurality of operation information of the work device based on the plurality of operation information; determining task information relating to a task performed when the working device was in the travel mode based on the plurality of pieces of operation information; and causing a computing device to execute the following: The movement modes include a manual mode in which the movement of the working implement is manually controlled, and an autonomous mode in which the movement of the working implement is autonomously controlled. [Explanation of symbols]

[0081] 1, 2, 3: Storage medium 20: Network 30: Work equipment 40:Artificial satellite 50:Fixed station 100: Onboard equipment 110: Input / Output device 111: First positioning device 112: Second positioning device 120: Arithmetic device 130: Communication equipment 140: Storage device 150: Movement control unit 160: Information output section 200: Work management device 210: Input / Output device 220: Arithmetic device 230:Communication equipment 240: Storage device 250: Mode determination section 260: Information Decision Department 270: Output section 300: Terminal 310: Input / Output device 320: Arithmetic device 330: Communication equipment 340 :Storage device 350:Display section 400: Information output program 410: Work Management Program 420: Display program 500: Field 600: Positioning location 610: Travel route 620: Manual Route 630: Autonomous Route 640: Boundary point 1000: Work management system

Claims

1. determining a movement mode corresponding to at least a portion of the operation information included in the plurality of operation information of the work device based on the plurality of operation information; determining task information relating to a task performed when the working device was in the travel mode based on the plurality of pieces of operation information; Including, The movement modes include a manual mode in which the movement of the working device is manually controlled, and an autonomous mode in which the movement of the working device is autonomously controlled. Work management methods.

2. The plurality of pieces of operation information include first position information representative of a position of the work implement when the work implement is moving in the manual mode; When the working device moves in the autonomous mode, the second position information is compared with a position shown on a predetermined guide route along which the working device is to move, and the second position information represents the position of the working device; Determining the travel mode includes: determining that the corresponding travel mode is the manual mode for a first operation information item including the first position information item among the plurality of operation information items; determining that the corresponding travel mode is the autonomous mode for second operation information including the second position information among the plurality of operation information; The work management method according to claim 1 , further comprising:

3. The work management method according to claim 2 , wherein the accuracy of the position represented by the first position information is lower than the accuracy of the position measured by the second position information.

4. Measuring a position of the working implement using a first positioning method when the working implement moves in the manual mode; When the working device moves in the autonomous mode, measuring a position of the working device by a second positioning method different from the first positioning method; The work management method according to claim 2 or 3, further comprising:

5. The work information indicates a movement path along which the work device has moved. The work management method according to any one of claims 1 to 3.

6. Displaying the work information. The work management method according to claim 1 , further comprising:

7. a mode determination unit that determines a corresponding movement mode for at least a portion of operation information included in a plurality of pieces of operation information of a work device based on the plurality of pieces of operation information; an information determination unit that determines work information related to a work performed when the work device is in the travel mode based on the plurality of pieces of operation information; Equipped with The movement modes include a manual mode in which the movement of the working device is manually controlled, and an autonomous mode in which the movement of the working device is autonomously controlled. Work management system.

8. determining a movement mode corresponding to at least a portion of the operation information included in the plurality of operation information of the work device based on the plurality of operation information; determining task information relating to a task performed when the working device was in the travel mode based on the plurality of pieces of operation information; and causing a computing device to execute the following: The movement modes include a manual mode in which the movement of the working device is manually controlled, and an autonomous mode in which the movement of the working device is autonomously controlled. Work management programs.

Images