Management system

Abstract

To provide a management system that enables automatic collation of two farm field shapes of a specific farm field on a display screen of a monitor and can improve workability.SOLUTION: A management system according to an embodiment includes an agricultural machine, a control device and a monitor. The agricultural machine performs work in a farm field. The control device acquires first map information including a specific farm field and second map information including the specific farm field of farming management software, and collates the specific farm fields in the first map information and the second map information with each other. The monitor is capable of displaying both the first map information and second map information. The control device registers a gravity center position of the specific farm field in the first map information as a first gravity center position, registers a gravity center position of the specific farm field in the second map information as a second gravity center position, and collates the specific farm fields in the first map information and the second map information with each other such that the first gravity center position and the second gravity center position match each other on a display screen of the monitor.SELECTED DRAWING: Figure 2

Description

[Technical field]

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

[0002] Conventionally, there is known a technology that compares the field identification information in which an agricultural machine is located with the position information of a specific field, and displays the field position information of the specific field contained in the field identification information displayed on a monitor, as well as displaying information such as the field shape of the specific field (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2010-104292 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the conventional technology described above, although the field identification information is compared with the location information of a specific field, the shape information of each field (hereinafter also simply referred to as "field shape") is not compared on the map information (hereinafter also simply referred to as "map") displayed on a monitor, so it is not possible to compare fields by meshing them, for example.

[0005] In addition, for example, agricultural management software operated by an ICT (Information and Communication Technology) vendor or the like is used to compare a map received from a GIS (Geographic Information System) with a map held by the agricultural management software to manage work in a specific field. When using agricultural management software, it is possible to compare two field shapes on a map displayed on a monitor, but this must be done manually by the worker, which can be cumbersome.

[0006] The present invention has been made in consideration of the above, and aims to provide a management system that makes it possible to automatically compare two field shapes of a specific field on a monitor display screen, thereby improving workability. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems and achieve the object, a management system (1) according to an embodiment of the present invention is a management system for managing an agricultural machine (10) that performs work in a field (F) and a specific field (FI) that is a target of work by the agricultural machine (10). D1 ) and acquires first map information (D1) including the specific field (FI D2 ) of the first map information (D1) and the second map information (D2) including the specific field (FI D1 ,FI D2 The present invention includes a control device (100) for comparing the first map information (D1) and the second map information (D2) and a monitor (30) capable of displaying the first map information (D1) and the second map information (D2), and the control device (100) is D1 ) of the second map information (D2) is registered as a first center of gravity position (G1). D2 ) is registered as a second center of gravity position (G2), and the specific farm field (FI) of each of the first map information (D1) and the second map information (D2) is displayed on a display screen (31) of the monitor (30) so that the first center of gravity position (G1) and the second center of gravity position (G2) coincide with each other. D1 ,FI D2 ) is matched. Effect of the Invention

[0008] According to the management system according to the embodiment, it is possible to automatically compare two field shapes of a specific field on the display screen of a monitor, thereby improving workability. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing an overview of a management system according to an embodiment. [Diagram 2] FIG. 2 is an explanatory diagram (part 1) of the collation process in the control device of the management system according to the embodiment. [Diagram 3] FIG. 3 is an explanatory diagram (part 2) of the collation process in the control device of the management system according to the embodiment. [Figure 4] FIG. 4 is an explanatory diagram (part 3) of the collation process in the control device of the management system according to the embodiment. [Diagram 5] FIG. 5 is an explanatory diagram (part 4) of the collation process in the control device of the management system according to the embodiment. [Figure 6] FIG. 6 is an explanatory diagram of a configuration for acquiring map information in the control device. [Figure 7] FIG. 7 is an explanatory diagram (part 1) of the automatic pull-up lag control of the combine harvester in the control device. [Figure 8] FIG. 8 is an explanatory diagram (part 2) of the automatic pull-up lag control of the combine harvester in the control device. [Figure 9] FIG. 9 is a flowchart showing an example of a processing procedure for automatic pull-up lag control of a combine harvester in the control device. [Figure 10] FIG. 10 is an explanatory diagram (part 1) of area mapping using mesh beacons. [Figure 11] FIG. 11 is an explanatory diagram (part 2) of area mapping using mesh beacons. [Figure 12] FIG. 12 is an explanatory diagram (part 3) of area mapping using mesh beacons. [Figure 13] FIG. 13 is an explanatory diagram (part 4) of area mapping using mesh beacons. [Figure 14] FIG. 14 is an explanatory diagram (part 5) of area mapping using mesh beacons. [Figure 15] FIG. 15 is an explanatory diagram (part 6) of area mapping using mesh beacons. [Figure 16]FIG. 16 is an explanatory diagram (part 7) of area mapping using mesh beacons. [Figure 17] FIG. 17 is an explanatory diagram (part 8) of area mapping using mesh beacons. [Figure 18] FIG. 18 is an explanatory diagram (part 9) of area mapping using mesh beacons. [Figure 19] FIG. 19 is an explanatory diagram (part 1) of automatic driving control using a farm field sensor. [Figure 20] FIG. 20 is an explanatory diagram (part 2) of automatic driving control using a field sensor. [Figure 21] FIG. 21 is an explanatory diagram (part 1) of a configuration for acquiring information on the slope of a farm field. [Figure 22] FIG. 22 is an explanatory diagram (part 2) of the configuration for acquiring information on the slope of a farm field. [Diagram 23] FIG. 23 is an explanatory diagram (part 3) of the configuration for acquiring information on the slope of a farm field. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of a management system disclosed in the present application will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the embodiment described below.

[0011] <Overview of the management system> First, an overview of a management system 1 according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing an overview of a management system 1 according to an embodiment.

[0012] The management system 1 of the embodiment uses agricultural management software operated by an ICT vendor or the like to compare map information received from the GIS with map information held by the agricultural management software, and performs work management in a specific field FI within the field F that is the target of work by the agricultural machinery 10.

[0013] 1, the agricultural machine 10 is an agricultural tractor that travels within a field F (FI) and performs work such as plowing and plowing in the field F (FI). Note that, hereinafter, the agricultural machine 10 such as a tractor may be referred to as a "machine body."

[0014] 1, the management system 1 includes the above-mentioned tractor (hereinafter referred to as "tractor 10"), which is an agricultural machine 10, a monitor 30, and a control device 100. The tractor 10 includes a receiver 11 that receives radio waves from a plurality of navigation satellites 20, for example, as a positioning device that measures the vehicle's own position. The tractor 10 can be manually driven by a driver (operator), or automatically driven by the control device 100, which will be described later.

[0015] The monitor 30 is provided, for example, near the driver's seat of the tractor 10. The monitor 30 is capable of displaying on its display screen 31 first map information D1 (see FIG. 2) and second map information D2, which will be described later.

[0016] The control device 100 is capable of controlling each part of the tractor 10 through electronic control, and is equipped with a processing unit (not shown) having a CPU (Central Processing Unit) and the like, as well as a memory unit (not shown) consisting of a hard disk in which various programs and data are stored, a ROM (Read Only Memory), a RAM (Random Access Memory), and the like.

[0017] The control device 100 is, for example, an ECU (Electronic Control Unit) mounted on the tractor 10. The control device 100 may be configured by an ECU, or may be provided in an information terminal 40 such as a tablet terminal (see, for example, FIG. 6).

[0018] The control device 100 is connected to the monitor 30 via a CAN communication line 110. The control device 100 is also connected to various actuators 12, various sensors 13, and various operation switches 14 of the tractor 10. The control device 100 controls the various actuators 12, various sensors 13, and various operation switches 14.

[0019] The control device 100 also acquires first map information D1 and second map information D2. The first map information D1 is, for example, map information received from a GIS. The first map information D1 is information on a specific farm field FI that is the target of work by the tractor 10 (hereinafter, referred to as "specific farm field FI"). D1 ").

[0020] The second map information D2 is map information included in the farm management software. Like the first map information D1, the second map information D2 is information on a specific farm field FI that is the work target of the tractor 10 (hereinafter, “specific farm field FI”). D2 ").

[0021] The control device 100 detects a specific farm field FI in the first map information D1. D1 and a specific field FI in the second map information D2 D2 Compare with.

[0022] <Verification process in the control device> Next, the collation process in the control device 100 will be described with reference to Figures 2 to 5. Figures 2 to 5 are explanatory diagrams of the collation process in the control device 100 of the management system 1 according to the embodiment.

[0023] The control device 100 (see FIG. 1) detects a specific farm field FI in the first map information D1. D1 and a specific field FI in the second map information D2 D2 When comparing the two, a comparison process is performed according to a predetermined procedure.

[0024] The control device 100 detects a specific farm field FI in the first map information D1. D1 and a specific field FI in the second map information D2D2 When the map information D2 is compared with the specific field FI D2 Then, the control device 100 determines the specific farm field FI in the second map information D2. D2 The work information is transmitted to the farm management software. The farm management software updates the information of the specific farm field FI based on the received work information.

[0025] The work information includes at least the working width of the tractor 10 (see FIG. 1). The work information can also be input by the worker (or manager) from an information terminal or the like. The control device 100 then D1 ,FI D2 It is possible to link the position information of the tractor 10 when performing work with the information on the work width included in the work information and store it as work path information. In this case, the work information also includes the work path information.

[0026] As shown in FIG. 2, the control device 100 detects a specific farm field FI in the first map information D1. D1 The position of the center of gravity of the vehicle is registered as a first position of the center of gravity G1. When the first position of the center of gravity G1 is registered, the first position of the center of gravity G1 is displayed in the first map information D1 on the display screen 31 of the monitor 30.

[0027] In addition, the control device 100 detects a specific farm field FI in the second map information D2. D2 The position of the center of gravity of the vehicle is registered as the second position of the center of gravity G2. When the second position of the center of gravity G2 is registered, the second position of the center of gravity G2 is displayed in the second map information D2 on the display screen 31 of the monitor 30.

[0028] The first center of gravity G1 in the first map information D1 and the second center of gravity G2 in the second map information D2 are each a specific field FI D1 ,FI D2 This is the intersection point of the diagonals in

[0029] Then, the control device 100 displays on the display screen 31 of the monitor 30 a specific farm field FI in the first map information D1. D1and a specific field FI in the second map information D2 D2 In this case, the control device 100 compares the specific farm field FI in the first map information D1 so that the first center of gravity position G1 and the second center of gravity position G2 match. D1 and a specific field FI in the second map information D2 D2 Compare with.

[0030] According to such a comparison process, a specific farm field FI is displayed on the display screen 31 of the monitor 30. D1 ,FI D2 This makes it possible to automatically compare the two field shapes, thereby improving workability.

[0031] As shown in FIGS. 1 and 2, the second map information D2 is displayed mainly on the display screen 31 of the monitor 30.

[0032] The control device 100 detects a specific farm field FI in the second map information D2. D2 When a positional deviation occurs in the specific field FI in the first map information D1, D1 The positional deviation is corrected based on the above.

[0033] A specific farm field FI in the second map information D2 D2 In the case where a positional deviation occurs in the specific farm field FI in the first map information D1, as shown in FIG. D1 and a specific field FI in the second map information D2 D2 After comparing the first map information D1 with the specific field FI D1 and the area of ​​a specific field FI in the second map information D2 D1 Compare with the area of ​​.

[0034] Then, the control device 100 selects a specific farm field FI in the first map information D1. D1 and the area of ​​a specific field FI in the second map information D2 D1 In other words, the match rate between the two specific field FIs D1 ,FI D2When the overlapping area SM is equal to or smaller than a predetermined value (for example, 95 percent), the specific field FI in the second map information D2 is D2 is rotated in a predetermined direction (for example, counterclockwise to the left) by a predetermined angle (for example, 1 degree) around the second center of gravity position G2.

[0035] The control device 100 detects a specific farm field FI in the second map information D2. D2 When the second center of gravity G2 is rotated around the center of gravity G2, the two specific fields FI are aligned at the rotation angle α with the highest matching rate. D1 ,FI D2 Match.

[0036] The control device 100 detects a specific farm field FI in the first map information D1. D1 may be rotated by a predetermined angle around the first center-of-gravity position G1. That is, the control device 100 rotates at least one of the first map information D1 and the second map information D2 by a predetermined angle around the respective center-of-gravity positions (the first center-of-gravity position G1 and the second center-of-gravity position G2).

[0037] According to such a comparison process, a specific farm field FI is displayed on the display screen 31 of the monitor 30. D1 ,FI D2 Even if there is a discrepancy when comparing the two field shapes, the two field shapes can be compared automatically.

[0038] As shown in FIG. 4, the control device 100 detects a specific farm field FI in the first map information D1. D1 and the adjacent field FN(FN D1 ) is registered as a third center-of-gravity position G3. When the third center-of-gravity position G3 is registered, the third center-of-gravity position G3 is displayed in the first map information D1 on the display screen 31 of the monitor 30.

[0039] In addition, the control device 100 detects a specific farm field FI in the second map information D2. D2 and the adjacent field FN(FN D1) is registered as a fourth center-of-gravity position G4. When the fourth center-of-gravity position G4 is registered, the fourth center-of-gravity position G4 is displayed in the second map information D2 on the display screen 31 of the monitor 30.

[0040] The third center of gravity G3 in the first map information D1 and the fourth center of gravity G4 in the second map information D2 are located in the adjacent farm fields FN D1 ,FN D2 This is the intersection point of the diagonals in

[0041] A specific farm field FI in the second map information D2 D2 In the case where a positional deviation occurs in the specific farm field FI in the first map information D1, as shown in FIG. D1 and a specific field FI in the second map information D2 D2 After comparing the first map information D1 with the adjacent field FN D1 and the adjacent field FN in the second map information D2 D1 In this case, the control device 100 compares the third center position G3 and the fourth center position G4 of the adjacent field FN in the first map information D1. D1 and the adjacent field FN in the second map information D2 D1 Compare with.

[0042] According to such a comparison process, a specific farm field FI is displayed on the display screen 31 of the monitor 30. D1 ,FI D2 Even if there is a discrepancy when comparing the shapes of the two fields, the two field shapes can be automatically compared. D1 ,FN D2 Since the matching is performed using the center positions of two fields F (a specific field FI and an adjacent field FN) including the center position of the specific field FI (the third center position G3 and the fourth center position G4), the matching has a higher match rate.

[0043] Furthermore, when the coincidence rate between the third center position G3 and the fourth center position G4 is equal to or less than a predetermined value (for example, 95 percent), the control device 100 determines whether the specific field FI in the first map information D1 is a center position G3. D1and a specific farm field FI in the second map information D2 D2 The outer shape of the object is compared with that of the object.

[0044] Furthermore, the control device 100 selects a specific farm field FI in the first map information D1. D1 and a specific farm field FI in the second map information D2 D2 If the outer circumferential shape of the adjacent field FN in the first map information D1 does not match the outer circumferential shape of the adjacent field FN in the first map information D2, D1 and the adjacent field FN in the second map information D2 D2 In this case, the control device 100 again compares the third center position G3 and the fourth center position G4 of the adjacent field FN in the first map information D1. D1 and the adjacent field FN in the second map information D2 D2 Compare with.

[0045] At the same time, the control device 100 detects a specific farm field FI in the first map information D1. D1 and a specific farm field FI in the second map information D2 D2 If the outer circumferential shape of the specific field FI in the first map information D1 does not match the outer circumferential shape of the specific field FI in the first map information D1, D1 and a specific farm field FI in the second map information D2 D2 The outer peripheral shape of the target object is compared again.

[0046] As shown in FIG. 5, both the first map information D1 and the second map information D2 are for a specific farm field FI D1 ,FI D2 The outer shape of the field FI D1 ,FI D2 For example, a specific field FI D1 ,FI D2 If the outer periphery of the work route information in the work information is a rectangle, the work route information can be specified from four points, for example, the minimum and maximum values ​​in the latitude and longitude directions.

[0047] In addition, specific field FI D1 ,FI D2The control device 100 acquires position information such as the corners P1 to P8 of the specific field FI as field information. D1 ,FI D2 The corners P1 to P8 are compared with the work path information in the work information, and the inside of the outer periphery shape surrounded by the corners P1 to P8 is determined as a specific field FI to be worked on. D1 ,FI D2 Recognize as such.

[0048] According to such a comparison process, a specific farm field FI is displayed on the display screen 31 of the monitor 30. D1 ,FI D2 Even if there is a discrepancy when comparing the two field shapes, the two field shapes can be automatically compared. D1 ,FI D2 Since the outer peripheral shape of the object is also used for matching, the matching rate is higher.

[0049] <An example of map information acquisition> An example of map information acquisition in the control device 100 will be described with reference to Fig. 6. Fig. 6 is an explanatory diagram of a configuration for acquiring map information in the control device 100. In the example shown in Fig. 6, the agricultural machine 10 is a vegetable transplanter 10A that performs work of planting crop (vegetable) seedlings in a farm field F.

[0050] As shown in Fig. 6, a vegetable transplanter 10A, which is one type of agricultural machine 10, plants vegetable seedlings at a predetermined planting depth while traveling within a farm field F by an operator operating an operation unit (operation handle) provided at the rear of the machine body. The vegetable transplanter 10A includes a control device 100 similar to those described above, and a planting depth detection unit 120. The control device 100 is provided in an information terminal 40, such as a tablet terminal, for example.

[0051] The planting depth detection unit 120 includes a hydraulic rod 121, a rod angle sensor 122, and a ridge surface detection plate 123. The hydraulic rod 121 is connected to the ridge surface detection plate 123. The rod angle sensor 122 detects the angle of the hydraulic rod 121. The ridge surface detection plate 123 works in conjunction with the hydraulic rod 121 to detect the height of the ridge surface.

[0052] The planting depth detection unit 120 detects the angle of the hydraulic rod 121 using a rod angle sensor 122, and detects the height of the ridge surface using a ridge surface detection plate 123. In the vegetable transplanter 10A, the planting depth of the seedlings is determined by the height of the ridge surface. Therefore, the planting depth detection unit 120 can detect the planting depth of the seedlings by detecting the height of the ridge surface. When the planting depth detection unit 120 detects the planting depth of the seedlings, it transmits the detected planting depth of the seedlings to the control device 100.

[0053] When the control device 100 receives the planting depth of the seedlings from the planting depth detection unit 120, it performs mapping processing on the received planting depth of the seedlings (planting depth data). After performing mapping processing, the control device 100 acquires the mapped data as map information (mapping data). The control device 100 acquires the vertical direction of the map information in the ridge formation direction (the direction of travel of the machine body), and acquires the horizontal direction of the map information for each row of ridges.

[0054] The control device 100 sets the acquisition distance for the vertical direction of the map information in proportion to the working speed of the machine. The control device 100 sets the acquisition distance for the vertical direction of the map information as an average value including the values ​​before and after in order to correct the deviation between the detected position by the planting depth detection unit 120 and the actual planting position.

[0055] The control device 100 aligns the planting depth data acquired from the planting depth detection unit 120 with the appropriate planting depth set in advance. If the aligned numerical value is outside the standard, the control device 100 automatically corrects the planting depth.

[0056] The control device 100 can also use the planting depth data obtained from the planting depth detection unit 120 to, for example, affect the amount of irrigation water or the amount of fertilizer applied in subsequent steps of the planting work.

[0057] <Mapping of combine harvester sensor information> The following describes the process of generating a map of sensor information of the combine harvester in the control device 100 when the agricultural machine 10 is a combine harvester. In this example, the agricultural machine 10 is a combine harvester that performs rice harvesting and threshing operations while traveling within a farm field F.

[0058] A combine harvester, which is a type of agricultural machine 10, harvests rice while traveling within a farm field F, threshes the rice, and sorts and stores the threshed rice. The combine harvester can be operated manually by a driver (operator) or automatically by a control device 100.

[0059] The combine harvester is equipped with a fullness sensor. The fullness sensor detects when the grain tank in the combine harvester that stores rice is full. The control device 100 registers on a map the position in the field F where the fullness sensor detects fullness. In this case, the rice cart can be placed at the position where the rice is full. The rice cart receives the rice from the combine harvester and transports it to a location where a dryer and other equipment are installed.

[0060] In addition, if the position where the rice cart will become full is a position that cannot be approached, the control device 100 may notify the worker even if the rice cart is not full, and urge the worker to unload the rice.

[0061] The combine is also equipped with a threshing load sensor. The threshing load sensor detects overload during threshing in the combine. The control device 100 registers the location where the threshing load sensor detects an overload on a map. In this case, the control device 100 automatically slows down the working speed of the combine at a location where the threshing load sensor has a history of detecting an overload.

[0062] The combine harvester is also equipped with a jam sensor. The jam sensor detects jams in the reaping section or threshing section, etc. The control device 100 records and maps the work speeds at a predetermined distance (several tens of meters) in front of the position where the jam sensor detects the jam. In this case, the control device 100 also registers the threshing depth position on the map at the same time. The control device 100 also registers the presence or absence of an alarm from the threshing load sensor on the map at the same time. The control device 100 also registers the cutting height position on the map at the same time. The control device 100 also registers the rice raising speed change mode on the map at the same time.

[0063] <Automatic lift lag control for combine harvesters> With reference to Figs. 7 to 8, automatic pull-up lug control of the combine harvester 10B in the control device 100 when the agricultural machine 10 is a combine harvester 10B will be described. Figs. 7 and 8 are explanatory diagrams of the automatic pull-up lug control of the combine harvester 10B in the control device 100. Fig. 9 is a flowchart showing an example of a processing procedure for automatic pull-up lug control of the combine harvester 10B in the control device. In the example shown in Figs. 7 to 9, the agricultural machine 10 is a combine harvester 10B that performs rice harvesting and threshing operations while traveling in a field F.

[0064] The combine harvester 10B, which is one type of agricultural machine 10, harvests rice, threshes the rice, and sorts and stores the threshed rice while traveling within the field F, as described above. The combine harvester 10B can be operated manually by a driver (operator) or automatically by a control device 100.

[0065] As shown in Fig. 7, the combine harvester 10B includes a raising lug 131, a lug guide 132, and a sensor 133. The raising lug 131 raises the rice when harvesting the rice, and moves from below to above. The lug guide 132 supports the raising lug 131, and the lug guide 132 moves the raising lug 131 up and down as it circulates. The sensor 133 detects whether the lug guide 132 is operating or not operating (inoperative).

[0066] The sensor 133 is provided between a lifting case (not shown) and a lifting cover (not shown) which house the lug guide 132. By providing the sensor 133 as described above between the lifting case and the lifting cover, the operation or non-operation of the lug guide 132 can be easily changed without using tools.

[0067] 7 and 8, the combine harvester 10B is equipped with a sensor 140. The sensor 140 is provided at the front of the machine body. The sensor 140 is, for example, an infrared sensor, and detects the height of the crop PL in front of the machine body. The sensor 140 also detects the type of crop PL in front of the machine body. Note that the sensor 140 is not limited to an infrared sensor, and may be, for example, an ultrasonic sensor or a camera that captures an image in front of the machine body.

[0068] When the control device 100 determines that the height of the crop PL detected by the sensor 140 is equal to or less than a predetermined height, it controls the lug guide 132 to be deactivated. In other words, when the height of the crop PL detected by the sensor 140 is equal to or less than a predetermined height, the control device 100 automatically deactivates the lug guide 132.

[0069] 9, in the automatic pull-up lug control of the combine harvester 10B, the control device 100 acquires the distance to the crop PL in front of the machine body based on the detection result of the sensor 140 (step S101). Next, the control device 100 converts the distance to the crop PL into position coordinates (step S102). Next, the control device 100 determines whether the crop PL is equal to or lower than a predetermined height (step S103).

[0070] If the control device 100 determines in the process of step S103 that the crop PL is equal to or lower than a predetermined height (step S103: Yes), it deactivates the lug guide 132 (step S104). If the control device 100 deactivates the lug guide 132, it ends the automatic pull-up lug control of the combine harvester 10B. Note that if the control device 100 determines in the process of step S103 that the crop PL is not equal to or lower than a predetermined height (is less than the predetermined height) (step S103: No), it ends the automatic pull-up lug control of the combine harvester 10B.

[0071] Furthermore, for example, when the combine harvester 10B is performing wheat harvesting work and it is determined based on the detection result of the sensor 140 that there are many weeds, the control device 100 controls the lug guide 132 to be inoperative. That is, when there are many weeds during wheat harvesting work, the control device 100 automatically deactivates the lug guide 132.

[0072] The combine harvester 10B may be equipped with an IMU (Inertial Measurement Unit). In this case, when a predetermined angle is detected by the IMU, the control device 100 determines that the combine harvester 10B is entering the field F or exiting the field F. When the control device 10B determines that the combine harvester 10B is entering the field F or exiting the field F, the control device 10B controls the lug guide 132 to be inoperative. In other words, when the combine harvester 10B is entering the field F or exiting the field F, the control device 100 automatically deactivates the lug guide 132.

[0073] In this manner, by performing automatic raising lug control in the control device 100, the lug guide 132 of the automatically operated combine harvester 10B can be automatically controlled to be inoperative.

[0074] <Area mapping using mesh beacons> Area mapping using mesh beacons 50 will be described with reference to Figures 10 to 18. Figures 10 to 18 are explanatory diagrams of area mapping using mesh beacons 50. In the example shown in Figures 10 to 18, the agricultural machine 10 is a lawnmower 10C that performs work of cutting grass (mowing grass) while traveling within a field F.

[0075] The lawnmower 10C, which is one type of agricultural machine 10, cuts grass while traveling in a farm field F. The lawnmower 10C can be automatically driven by a control device 100 in addition to being manually driven by a driver (operator).

[0076] As shown in FIG. 10, stakes 51 having mesh beacons 50 are installed on the periphery of the field F including its corners (in the case of the substantially rectangular field F shown in FIG. 10, the four corners of the field F). The stakes 51 are installed on the periphery of the field F, for example, by sticking them into the ground. The mesh beacon is compatible with a mesh network using Bluetooth (registered trademark), and is, for example, a terminal that transmits a BLT (Bluetooth Low Energy) signal several times within a specified area for a specified period of time (for example, one second).

[0077] The stake 51 having the mesh beacon 50 is installed as a main stake 50a at one of the corners (four corners) of the field F. The stakes 51 having the mesh beacon 50 are also installed as sub-stakes 50b at the remaining corners and on the outer periphery of the field F.

[0078] When the lawnmower 10C is mowing grass within an area surrounded by the mesh beacon 50, an information terminal 40, such as a tablet terminal carried by the worker, detects a BLE signal, allowing the control device 100 to obtain the location information of the lawnmower 10C.

[0079] In this way, by surrounding the field F with mesh beacons 50, the lawnmower 10C can perform mowing work while traveling automatically. This allows the lawnmower 10C to operate automatically even when, for example, there are obstacles nearby that impede GPS communication, such as trees, or in poor weather conditions. Also, because the operation is simple, just placing stakes 51 on the periphery of the field F and operating the information terminal 40, even an operator who is not good at setting areas can intuitively set the area for mowing work.

[0080] 11, the range in which the lawnmower 10C can travel is preferably set a predetermined distance (gap) inside the outer periphery of the field F. This makes it possible to prevent the automatically traveling lawnmower 10C from coming into contact with posts 51.

[0081] 12, the mesh beacon 50 is provided on the upper part of a stake 51. This enables good communication that is not blocked by crops PL in the field F. The length (height) H1 of the stake 51 is preferably about 1 meter.

[0082] 13, the stake 51 is provided so that its upper portion can be extended to a predetermined length (height) H2. The extendable length (height) H2 is preferably about 60 centimeters (0.6 meters). This makes it possible to adjust the height of the mesh beacon 50 provided at the upper portion of the stake 51, enabling good communication even when the crops PL in the field F are tall.

[0083] As shown in Fig. 14, the mesh beacons 50 can transmit and receive distance information and direction information to each other. The distance information and direction information are collected in the mesh beacon 50 of the main stake 51a. This allows information outside the communication area of ​​the main stake 51a to be mapped via the mesh network.

[0084] 15, if the lawnmower 10C is equipped with an IMU (inertial measurement unit), the lawnmower 10C can perform mowing work while determining its own position via the mesh beacon 50 and the IMU. In this case, the lawnmower 10C's own position is estimated by the mesh beacon 50 and the IMU when it is within an area where the mesh beacon 50 can communicate, and by the IMU when it is outside the area where the mesh beacon 50 can communicate.

[0085] As shown in Figures 16 and 17, mapping data using mesh beacons 50 can be viewed, for example, on a display screen 31 of a monitor 30 of an information terminal 40, such as a tablet terminal, carried by the worker. In this case, as shown in Figure 16, the position of lawnmower 10C within field F can be confirmed in real time. In addition, as shown in Figure 17, it can also be confirmed whether lawnmower 10C is operating normally.

[0086] As shown in FIG. 18, when there are multiple possible patterns for the shape of the field F depending on the position of the mesh beacon 50, for example, the system may be configured to have the worker select the shape of the field F before starting mowing work.

[0087] <Safety stop control> Furthermore, the control device 100 performs a safe stop control for safely stopping the agricultural machine 10 based on the steering operation of the agricultural machine (for example, a tractor) 10 and the behavior difference of the machine body.

[0088] In this case, in order to detect the operator's intention to operate the steering wheel, the agricultural machine 10 is provided with a steering rotation angle sensor, a clutch pedal pressure sensor, a brake pedal pressure sensor, a gear shift position detection means, an engine speed sensor, etc. By providing these sensors, the operator's expected attitude value with respect to the machine body can be recognized from the steering operation amount, the pedal pressure amount and the gear shift position.

[0089] Furthermore, in order to detect the behavior of the machine, the agricultural machine 10 is equipped with an acceleration sensor, a gyro sensor, a vehicle speed sensor, and the like. By providing these sensors, the attitude of the machine can be recognized from the rotation angle (pitch angle, yaw angle, roll angle), acceleration, and vehicle speed of the machine. Furthermore, by calculating attitude information (quaternion, Euler angle) of the machine from an estimated vehicle speed that can be calculated from the shift position and engine speed, it is possible to infer the behavior expected from the operation by the operator. Furthermore, it becomes possible to predict the risk of an accident or the like due to behavior that differs from the operator's expectations.

[0090] <Automatic driving control using field sensors> The automatic driving control using the farm land sensor 61 will be described with reference to Figures 19 and 20. Figures 19 and 20 are explanatory diagrams of the automatic driving control using the farm land sensor 61.

[0091] 19 and 20, the position of the agricultural machine 10 is estimated using a field sensor 61, and the agricultural machine 10 can be automatically driven based on the estimated position of the agricultural machine 10. In this case, the field sensor 61 is a sensor capable of long-distance wireless communication. The field sensor 61 is installed at an arbitrary position outside the field F. It is preferable that the number of field sensors 61 is three or more.

[0092] The agricultural machine 10 is also equipped with a long-distance wireless communication device 62. The position of the agricultural machine 10 in the field F can be estimated with high accuracy by three-point positioning between the field sensor 60 and the long-distance wireless communication device 62 mounted on the agricultural machine 10. Note that, due to the constraints of three-point positioning, a minimum of three field sensors 61 are required, but by using four or more sensors, the position of the agricultural machine 10 in the field F can be estimated with higher accuracy.

[0093] In this case, three-point positioning is performed based on the radio wave strength of the long-distance wireless signal from the field sensor 61, the time difference between radio wave transmission and reception, and the position information of the field sensor 61. Note that the field sensor 61 does not necessarily have to be installed in the field F that is the target of work as long as it is within a range where wireless communication is possible, and a field sensor 61 installed in a field F close to the field F that is the target of work can be used.

[0094] Furthermore, by adding, for example, a Global Navigation Satellite System (GNSS) positioning system and an IMU sensor to the three-point positioning using the field sensor 61 and the long-distance wireless communication device 62 of the agricultural machine 10, it is possible to construct an even more accurate high-precision position estimation system.

[0095] <Configuration for acquiring field slope information> The configuration for acquiring inclination information about the field F will be described with reference to Figures 21 to 23. Figures 21 to 23 are explanatory diagrams of the configuration for acquiring inclination information about the field F.

[0096] As shown in Fig. 21, the agricultural machine (for example, a tractor) 10 includes a sensor unit 70 for acquiring inclination information of the field F on which work is to be performed. The sensor unit 70 includes a GNSS positioning sensor 71 and an IMU sensor 72. In this way, by providing the sensor unit 70 consisting of the GNSS positioning sensor 71 and the IMU sensor 72, agricultural work can be performed utilizing inclination information of the field F, such as maintaining the parallelism of the agricultural machine 10 and maintaining the work speed. In addition, the inclination information and altitude information of the field F can be calculated from the rotation angles (pitch angle, yaw angle, roll angle) of the agricultural machine 10 and altitude information of the GNSS.

[0097] As shown in Fig. 22, in the configuration for acquiring inclination information of the field F, a field mesh FM is formed based on the inclination information and altitude information of the field F. In the field mesh FM, W ,VR W and aircraft clearance width RL W ,RR W Based on the predetermined field mesh width FM W and field mesh length FM L is set.

[0098] As shown in FIG. 23, in the field mesh FM, the center point P O and each side P of the rectangular frame that forms the field FM mesh A and each vertex P BIn the above steps, the slope information and altitude information of the field F are calculated.

[0099] Furthermore, the control device 100 (see FIG. 1, for example) stores an integrated set of slope information and altitude information of the field F and shape information of the field F (field shape) from the field information. Such information can be used for agricultural work. For example, when used in teaching mode, the first step of a work process in the field F is performed, and in the first step, slope information of the field F is obtained by straight-line assist, manual driving, and work, a travel route is created from the obtained field shape and slope information of the field F, and from the next step, automatic driving is performed based on an automatic driving route using the slope information.

[0100] Furthermore, the control device 100 creates a travel route for the agricultural machine 10 in three dimensions, and integrates measures to suppress the increase / decrease in the work speed due to the inclination of the field F into the travel route. This makes it possible to improve the work accuracy in an undulating field F (for example, a field or pasture). In this case, the control device 100 predicts the increase and decrease in speed of the agricultural machine 10 due to the inclination of the field F, and performs speed change control to maintain the vehicle speed constant. This makes it possible to maintain the travel speed (vehicle speed) of the agricultural machine 10 constant without being affected by the inclination of the field F, thereby improving the work accuracy.

[0101] The control device 100 is also capable of performing highly accurate path tracking using a three-dimensional travel path. This makes it possible to improve the accuracy of work in an undulating field F (for example, a field or pasture) and shorten the work time. Furthermore, by aligning the inclination of the agricultural machine 10 with the inclination of the field F, the agricultural machine 10 can be maintained at an appropriate angle relative to the field F.

[0102] According to the embodiment described above, the following management system 1 is realized.

[0103] (1) An agricultural machine 10 performing work in a field F and a specific field FI (FI D1 ) and acquires first map information D1 including a specific field FI (FID2 ) and a specific field FI in each of the first map information D1 and the second map information D2 is acquired. D1 ,FI D2 The control device 100 is provided with a monitor 30 capable of displaying the first map information D1 and the second map information D2, and the control device 100 is provided with a specific field FI in the first map information D1. D1 The center of gravity of the specific field FI in the second map information D2 is registered as the first center of gravity G1. D2 The center of gravity of each of the first map information D1 and the second map information D2 is registered as a second center of gravity position G2, and the first center of gravity position G1 and the second center of gravity position G2 of each of the first map information D1 and the second map information D2 are displayed on the display screen 31 of the monitor 30 so that the first center of gravity position G1 and the second center of gravity position G2 match each other. D1 ,FI D2 1. Verification of management system.

[0104] According to such a management system 1, a specific farm field FI is displayed on the display screen 31 of the monitor 30. D1 ,FI D2 This makes it possible to automatically compare the two field shapes, thereby improving workability.

[0105] (2) In the above (1), the control device 100 calculates the specific field FI in each of the first map information D1 and the second map information D2. D1 ,FI D2 After comparing the first map information D1 and the second map information D2, a specific field FI D1 ,FI D2 The areas of the specific fields FI in the first map information D1 and the second map information D2 are compared. D1 ,FI D2 If the matching rate of the areas is equal to or less than a predetermined value, at least one of the first map information D1 and the second map information D2 is rotated by a predetermined angle around the respective center positions (first center position G1, second center position G2) and compared at the rotation angle with the highest matching rate.

[0106] According to such a management system 1, in addition to the effect of (1) above, a specific farm field FI is displayed on the display screen 31 of the monitor 30. D1 ,FI D2 Even if there is a discrepancy when comparing the two field shapes, the two field shapes can be compared automatically.

[0107] (3) In the above (2) or (3), the control device 100 selects a specific farm field FI in the first map information D1. D1 and the adjacent field FN(FN D1 ) is registered as a third center of gravity G3, and the specific field FI D2 and the adjacent field FN(FN D2 ) is registered as a fourth center of gravity position G4, and the specific farm field FI D1 ,FI D2 After comparing the third center position G3 and the fourth center position G4, the adjacent fields FN in the first map information D1 and the second map information D2 are compared. D1 ,FN D2 1. Verification of management system.

[0108] According to such a management system 1, in addition to the above-mentioned effects (2) or (3), it is possible to display the specific farm field FI on the display screen 31 of the monitor 30. D1 ,FI D2 Even if there is a discrepancy when comparing the shapes of the two fields, the two field shapes can be automatically compared. D1 ,FN D2 Since the matching is performed using the center positions of two fields F (a specific field FI and an adjacent field FN) including the center position of the specific field FI (the third center position G3 and the fourth center position G4), the matching has a higher match rate.

[0109] (4) In the above (3), when the matching rate between the third center position G3 and the fourth center position G4 is equal to or less than a predetermined value, the control device 100 performs the following steps to match the specific farm fields FI in the first map information D1 and the second map information D2. D1 ,FI D2If the outer circumferential shapes of the first map information D1 and the second map information D2 do not match, the neighboring fields FN in the first map information D1 and the neighboring fields FN in the second map information D2 are compared so that the third center of gravity position G3 and the fourth center of gravity position G4 match. D1 ,FN D2 The management system 1 compares the first map information D1 and the second map information D2 again while comparing the outer circumferential shapes of the first map information D1 and the second map information D2 again.

[0110] According to such a management system 1, in addition to the effect of (3) above, it is possible to display the specific farm field FI on the display screen 31 of the monitor 30. D1 ,FI D2 Even if there is a discrepancy when comparing the two field shapes, the two field shapes can be automatically compared. D1 ,FI D2 Since the outer peripheral shape of the object is also used for matching, the matching rate is higher.

[0111] Further advantages and modifications may readily occur to those skilled in the art. Thus, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof. [Explanation of symbols]

[0112] 1 Management System 10. Agricultural machinery 30 Monitor 31 Display screen 100 Control device D1 1st map information D2 2nd map information F Field FI D1 Specific field FI D2 Specific field FN D1 Adjacent fields FN D2Adjacent field G1 First center of gravity position G2 Second center of gravity position G3 Third center of gravity position G4 Fourth center of gravity position

Claims

1. Agricultural machinery that works in a field; a control device that acquires first map information including a specific field that is to be operated by the agricultural machine, acquires second map information including the specific field that is owned by farm management software, and compares the specific field in the first map information and the second map information; a monitor capable of displaying the first map information and the second map information; Equipped with The control device includes: registering a center of gravity of the specific field in the first map information as a first center of gravity position; registering a center of gravity of the specific field in the second map information as a second center of gravity position; The specific fields of the first map information and the second map information are collated so that the first center of gravity position and the second center of gravity position match on the display screen of the monitor.

1. A management system comprising:

2. The control device includes: After comparing the specific field in the first map information and the specific field in the second map information, comparing the area of ​​the specific field in the first map information and the area of ​​the specific field in the second map information; When a matching rate of the area of ​​the specific field in the first map information and the second map information is equal to or less than a predetermined value, at least one of the first map information and the second map information is rotated by a predetermined angle around the center of gravity of each of the first map information and the second map information, and the information is compared at the rotation angle with the highest matching rate. The management system according to claim 1 .

3. The control device includes: registering a center position of a field adjacent to the specific field in the first map information as a third center position; registering a center position of the adjacent field adjacent to the specific field in the second map information as a fourth center position; After comparing the specific field in each of the first map information and the second map information, the adjacent field in each of the first map information and the second map information is compared so that the third center position and the fourth center position match.

3. The management system according to claim 1 or 2.

4. The control device includes: When a matching rate between the third center position and the fourth center position is equal to or less than a predetermined value, a perimeter shape of the specific field is compared between the first map information and the second map information; further, when the respective peripheral shapes of the first map information and the second map information do not match, the respective peripheral shapes of the first map information and the second map information are again compared while comparing the respective adjacent fields of the first map information and the second map information again so that the third center position and the fourth center position match. The management system according to claim 3 .

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