Work management method, work management program and work management system

Abstract

To provide a work management method, a work management program and a work management system capable of assessing work time required for a work vehicle to perform a task on a plurality of agricultural fields.SOLUTION: An acquisition processing section 212 acquires work history information when a work vehicle 10 performed a task on each of a plurality of agricultural fields and movement history information when a work vehicle 10 moved on roads connected to the plurality of agricultural fields. An output processing section 213 outputs the work time required for the work vehicle 10 to perform the task on the plurality of agricultural fields based on the work history information and the movement history information.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] In recent years, advances in automation technology for agricultural machinery have led to the introduction of work vehicles that perform work while automatically traveling within a field. For example, the work vehicles are equipped with a positioning unit that uses a positioning system to acquire position information for the work vehicle, and perform automatic traveling along a target route set in advance in the field. Conventionally, there is known a system that calculates the estimated work time required for the work vehicle to perform work in the field and displays the calculated estimated work time on an operation terminal (user terminal) (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6807794 Summary of the Invention [Problem to be solved by the invention]

[0004] However, there are cases where a work vehicle works continuously in multiple fields. For example, after finishing work in one field, the work vehicle travels along a farm road or the like to move to the next field and continues work in that field. When a work vehicle works continuously in multiple fields like this, it is difficult with conventional technology to grasp the required time for work when there are multiple fields to be worked on.

[0005] An object of the present invention is to provide a work management method, a work management program, and a work management system that are capable of determining the time required for work when a work vehicle is made to work in a plurality of fields. [Means for solving the problem]

[0006] The work management method of the present invention is a method which performs the following steps: acquire work history information when a work vehicle performs work in each of a plurality of work areas, and movement history information when the work vehicle moves along connecting roads that connect the plurality of work areas during the work; and output an estimated time required for the work vehicle to perform work in the plurality of work areas based on the work history information and the movement history information.

[0007] The work management program of the present invention is a program that causes one or more processors to execute the following operations: acquiring work history information when a work vehicle performs work in each of a plurality of work areas and movement history information when the work vehicle moves along connecting roads that connect the plurality of work areas; and outputting an estimated time required for the work vehicle to perform work in the plurality of work areas based on the work history information and the movement history information.

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

[0009] According to the present invention, it is possible to provide a work management method, a work management program, and a work management system that are capable of determining the time required for work when a work vehicle is made to work in multiple fields. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram showing a configuration of an automatic driving system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention. [Diagram 3] FIG. 3 is a diagram showing an example of a target route according to the embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing an example of a target route set in a farm field according to the embodiment of the present invention. [Diagram 5] FIG. 5 is a diagram showing an example of a menu screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 6] FIG. 6 is a diagram showing an example of a field selection screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 7] FIG. 7 is a diagram showing an example of a work plan screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 8A] FIG. 8A is a diagram showing an example of a work plan selection screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 8B] FIG. 8B is a diagram showing an example of a work plan selection screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 9] FIG. 9 is a diagram showing an example of a work screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing an example of a field selection screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 11] FIG. 11 is a diagram showing an example of a work history screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 12] FIG. 12 is a flowchart showing an example of a procedure of an automatic driving process executed by the automatic driving system according to the embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing an example of a work plan screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 14] FIG. 14 is a diagram showing an example of a work screen displayed on the operation terminal according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The following embodiment is an example of the present invention, and is not intended to limit the technical scope of the present invention.

[0012] As shown in Fig. 1, an automated driving system 1 according to an embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. The work vehicle 10 and the operation terminal 20 can communicate with each other via a communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate with each other via a mobile phone network, a packet network, or a wireless LAN.

[0013] In this embodiment, the working vehicle 10 is a tractor. In other embodiments, the working vehicle 10 may be a rice transplanter, a combine harvester, a construction machine, a snowplow, or the like. The working vehicle 10 is configured to automatically travel (autonomously travel) in a field, which is a work area, according to a preset target route. The working vehicle 10 can perform a predetermined task while automatically traveling in the field according to a target route. The working vehicle 10 is also configured to automatically travel along a preset travel route on a road (connecting road) connecting a plurality of fields. The working vehicle 10 automatically travels along a preset target route and travel route on roads in and outside the field, based on the position information of the current position of the working vehicle 10 calculated by the positioning unit 16.

[0014] For example, as shown in FIG. 3, when the work vehicle 10 starts automatic travel at a predetermined position P1 (travel start position), it automatically travels along a road R0 according to a preset travel route Ra to move to a field F1, and in the field F1, it performs a predetermined task while automatically traveling along a preset target route R1 (work route) (see FIG. 4). Then, when the work in the field F1 is completed, the work vehicle 10 automatically travels along a road R0 according to a preset travel route Rb to move to a field F6, and in the field F6, it performs a predetermined task while automatically traveling along a preset target route R1 (see FIG. 4). Then, when the work in the field F6 is completed, the work vehicle 10 automatically travels along a road R0 according to a preset travel route Rc to move to a field F12, and in the field F12, it performs a predetermined task while automatically traveling along a preset target route R1 (see FIG. 4). Subsequently, when the work in the field F12 is completed, the work vehicle 10 automatically travels along the road R0 according to a preset travel route Rd, returns to a predetermined position P1 (travel end position), and ends the automatic travel.

[0015] FIG. 4 shows an example of a target route R1 set in a field F (one example of the fields F1 to F12 shown in FIG. 3). For example, the target route R1 includes a plurality of parallel straight routes r1 and a turning route r2 connecting adjacent straight routes r1. The work vehicle 10 performs a predetermined work while automatically traveling along the straight routes r1 and the turning route r2 from a work start position S to a work end position G. The target route R1 is generated for each field F according to the work content, etc. The target route R1 is also generated in response to an operation of a user (worker, operator, etc.) on the operation terminal 20.

[0016] The travel route set for the road R0 is generated in response to a user's operation (such as a teaching operation) on the operation terminal 20. The road R0 (connecting road of the present invention) may be a road exclusively for work vehicles, such as a farm road, forest road, public road, private road, or motorway, or may be a road that general vehicles (such as passenger cars) can use.

[0017] However, with conventional technology, it is difficult to grasp the time required for work when the work vehicle 10 is made to work continuously in multiple fields F. In contrast, the automated driving system 1 according to this embodiment makes it possible to grasp the time required for work when the work vehicle 10 is made to work in multiple fields F, as will be described below.

[0018] [Work vehicle 10] 1 and 2, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a traveling device 13, a work implement 14, a communication unit 15, a positioning unit 16, etc. The vehicle control device 11 is electrically connected to the memory unit 12, the traveling device 13, the work implement 14, the positioning unit 16, etc. Note that the vehicle control device 11 and the positioning unit 16 may be capable of wireless communication.

[0019] The communication unit 15 is a communication interface for connecting the work vehicle 10 to the communication network N1 by wire or wirelessly and for executing data communication in accordance with a predetermined communication protocol with an external device such as the operation terminal 20 via the communication network N1. The work vehicle 10 is capable of wireless communication with the operation terminal 20 via the communication unit 15.

[0020] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various information. The storage unit 12 stores a control program such as an automatic driving program for causing the vehicle control device 11 to execute an automatic driving process (see FIG. 12) described later. For example, the automatic driving program is non-temporarily recorded in a computer-readable recording medium such as a flash ROM, an EEPROM, a CD, or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program may be downloaded from a server (not shown) to the work vehicle 10 via a communication network N1 and stored in the storage unit 12. The storage unit 12 may also store route data of a target route R1 and a travel route generated in the operation terminal 20.

[0021] The traveling device 13 is a drive unit that causes the work vehicle 10 to travel. As shown in Fig. 2, the traveling device 13 includes an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a handlebar 137, and the like. The front wheels 132 and the rear wheels 133 are provided on the left and right sides of the work vehicle 10, respectively. The traveling device 13 is not limited to a wheel type that includes the front wheels 132 and the rear wheels 133, but may be a crawler type that includes crawlers provided on the left and right sides of the work vehicle 10.

[0022] The engine 131 is a drive source such as a diesel engine or a gasoline engine that is driven by fuel supplied to a fuel tank (not shown). The traveling device 13 may be equipped with an electric motor as a drive source together with or instead of the engine 131. A generator (not shown) is connected to the engine 131, and power is supplied from the generator to electrical components such as the vehicle control device 11 and the battery provided in the work vehicle 10. The battery is charged by the power supplied from the generator. The vehicle control device 11 and electrical components such as the positioning unit 16 provided in the work vehicle 10 can be driven by the power supplied from the battery even after the engine 131 is stopped.

[0023] The driving force of the engine 131 is transmitted to front wheels 132 via a transmission 134 and a front axle 135, and to rear wheels 133 via a transmission 134 and a rear axle 136. The driving force of the engine 131 is also transmitted to the work equipment 14 via a PTO shaft (not shown). When the work vehicle 10 performs autonomous driving, the traveling device 13 performs a traveling operation in accordance with commands from the vehicle control device 11.

[0024] The working implements 14 are, for example, cultivators, mowers, plows, fertilizer applicators, seed sowers, spreaders, etc., and are detachable from the work vehicle 10. This allows the work vehicle 10 to perform various types of work using each of the working implements 14. In this embodiment, an example will be described in which the working implements 14 are cultivators and the work vehicle 10 performs tilling work in multiple fields.

[0025] When traveling on road R0 (see FIG. 3), the work vehicle 10 may travel with the work implement 14 attached or with the work implement 14 removed. For example, when the work vehicle 10 performs tilling work in each of the fields F1, F6, and F12, after the tilling work in the field F1 is completed, the work vehicle 10 travels on road R0 with the work implement 14 attached to it, moves to field F6, performs tilling work in the field F6, and after the tilling work in the field F6 is completed, travels on road R0 with the work implement 14 attached to it, moves to field F12, and performs tilling work in the field F12. Note that, if the work vehicle 10 has a function for lifting and lowering the work implement 14, it travels on road R0 with the work implement 14 raised.

[0026] Also, for example, when different work is to be performed in each of the fields F1 and F6, after the work in the field F1 is completed, the work vehicle 10 travels along the road R0 to the field F6 with the work implement 14 detached, and then attaches a different work implement 14 and performs work in the field F6.

[0027] The handle 137 is an operating section that is operated by an operator or the vehicle control device 11. For example, in the traveling device 13, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like in response to operation of the handle 137 by the vehicle control device 11, and the traveling direction of the work vehicle 10 is changed. When the operator performs a teaching operation, the operator operates the handle 137 to manually travel the work vehicle 10.

[0028] In addition to the handlebars 137, the traveling device 13 is equipped with a shift lever, accelerator, brake, etc. (not shown) that are operated by the vehicle control device 11. In the traveling device 13, the gear of the transmission 134 is switched to a forward gear, a reverse gear, etc. in response to operation of the shift lever by the vehicle control device 11, and the traveling mode of the work vehicle 10 is switched to forward, reverse, etc. The vehicle control device 11 also operates the accelerator to control the rotation speed of the engine 131. The vehicle control device 11 also operates the brake to brake the rotation of the front wheels 132 and the rear wheels 133 using an electromagnetic brake.

[0029] The positioning unit 16 is a communication device including a positioning control unit 161, a memory unit 162, a communication unit 163, and a positioning antenna 164. For example, as shown in FIG. 2, the positioning unit 16 is provided on the upper part of a cabin 18 in which a worker boards. The installation location of the positioning unit 16 is not limited to the cabin 18. The positioning control unit 161, the memory unit 162, the communication unit 163, and the positioning antenna 164 of the positioning unit 16 may be disposed in different positions in the work vehicle 10. As described above, the battery is connected to the positioning unit 16, and the positioning unit 16 can operate even when the engine 131 is stopped. The positioning unit 16 may be substituted with, for example, a mobile phone terminal, a smartphone, a tablet terminal, or a quantum compass.

[0030] The positioning control unit 161 is a computer system including one or more processors and storage memories such as a non-volatile memory and a RAM. The storage unit 162 is a non-volatile memory that stores a program for causing the positioning control unit 161 to execute the positioning process, and data such as positioning information and movement information. For example, the program is non-temporarily recorded in a computer-readable recording medium such as a flash ROM, an EEPROM, a CD, or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 162. The program may be downloaded from a server (not shown) to the positioning unit 16 via the communication network N1 and stored in the storage unit 162.

[0031] The communication unit 163 is a communication interface that connects the positioning unit 16 to the communication network N1 via a wired or wireless connection, and performs data communication in accordance with a predetermined communication protocol with external devices such as a base station (not shown) via the communication network N1.

[0032] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0033] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signal received by the positioning antenna 164 from a satellite. For example, when the work vehicle 10 automatically travels in a field, on a road, or the like, when the positioning antenna 164 receives radio waves (e.g., transmission time, orbit information) transmitted from each of a plurality of satellites, the positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. The positioning control unit 161 may also perform positioning using a real-time kinematic method (RTK-GNSS positioning method (RTK method)) that calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 performs automatic travel using positioning information by the RTK method. The current position of the work vehicle 10 may be the same as the positioning position (e.g., the position of the positioning antenna 164), or may be a position shifted from the positioning position. The positioning control unit 161 may calculate (measure) the current position of the work vehicle 10 using a quantum compass.

[0034] The vehicle control device 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various types of arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information, and is used as a temporary storage memory (work area) for various types of processing executed by the CPU. The vehicle control device 11 controls the work vehicle 10 by executing, with the CPU, various control programs that are stored in advance in the ROM or the storage unit 12.

[0035] The vehicle control device 11 controls the operation of the work vehicle 10 in response to various user operations on the work vehicle 10. In addition, the vehicle control device 11 executes an automatic driving process for the work vehicle 10 based on the current position of the work vehicle 10 calculated by the positioning unit 16 and a target route R1 and a travel route that are set in advance.

[0036] As shown in Fig. 1, the vehicle control device 11 includes various processing units such as a driving processing unit 111. The vehicle control device 11 functions as the various processing units by executing various processes according to the automatic driving program with the CPU. Some or all of the processing units may be configured with electronic circuits. The automatic driving program may be a program for causing a plurality of processors to function as the processing units.

[0037] The driving processing unit 111 controls the driving of the work vehicle 10. Specifically, the driving processing unit 111 starts automatic driving of the work vehicle 10 when it receives a driving start instruction from the operation terminal 20. For example, when the worker presses a start button (see FIG. 8B) on the operation screen of the operation terminal 20, the operation terminal 20 outputs a driving start instruction to the work vehicle 10. When the driving processing unit 111 receives the driving start instruction from the operation terminal 20, it starts automatic driving of the work vehicle 10. As a result, the work vehicle 10, for example, begins automatic driving from a predetermined position P1, automatically drives along road R0 according to movement route Ra to move to field F1, performs predetermined work in field F1 while automatically driving along target route R1, automatically drives along road R0 according to movement route Rb to move to field F6, performs predetermined work in field F6 while automatically driving along target route R1, automatically drives along road R0 according to movement route Rc to move to field F12, performs predetermined work in field F12 while automatically driving along target route R1, and automatically drives along road R0 to the predetermined position P1 according to movement route Rd.

[0038] The travel processing unit 111 may receive a work start instruction from a worker for each field and perform automatic travel and work in the field.

[0039] The travel processing unit 111 acquires route data corresponding to the target route R1 and the travel route for each farm field from the operation terminal 20, and causes the work vehicle 10 to automatically travel according to the target route R1 and the travel route.

[0040] Furthermore, the driving processing unit 111 stops the automatic driving of the work vehicle 10 when it receives a driving stop instruction from the operation terminal 20. For example, when the worker presses the stop button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a driving stop instruction to the work vehicle 10.

[0041] Furthermore, the driving processing unit 111 stops the automatic driving of the work vehicle 10 when the work vehicle 10 detects an obstacle. For example, when an obstacle detection device (not shown) mounted on the work vehicle 10 detects an obstacle within a range of 3 m to 8 m ahead of the work vehicle 10, the driving processing unit 111 decelerates the driving of the work vehicle 10. Furthermore, when the obstacle detection device detects an obstacle within a range of up to 3 m ahead of the work vehicle 10, the driving processing unit 111 stops the work vehicle 10.

[0042] [Operation terminal 20] 1, the operation terminal 20 is an information processing device including an operation control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. The operation terminal 20 may be configured as a mobile terminal such as a tablet terminal or a smartphone.

[0043] The communication unit 24 is a communication interface that connects the operation terminal 20 to the communication network N1 via a wired or wireless connection, and performs data communication in accordance with a predetermined communication protocol with external devices such as one or more work vehicles 10 via the communication network N1.

[0044] The operation display unit 23 is a user interface that includes a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, a mouse, or a keyboard that accepts operations. An operator can operate the operation unit to register various information (such as work vehicle information, farm field information, and work information, which will be described later) on the operation screen displayed on the display unit.

[0045] In addition, the operator performs an operation (teaching operation) on the operation unit to set a travel route for automatically traveling on a road R0 (connecting road) that connects the fields.

[0046] Also, the worker can operate the operation unit to give instructions to the work vehicle 10 to start traveling, stop traveling, etc. Furthermore, from a location away from the work vehicle 10, the worker can grasp the traveling status, work status, and other progress of the work vehicle 10 that automatically travels along the target route R1 and the travel route in the fields and on roads, by using the traveling trajectory displayed on the operation terminal 20.

[0047] The storage unit 22 is a non-volatile storage unit such as an HDD or SSD that stores various information. The storage unit 22 stores control programs such as an automatic driving program for causing the operation control unit 21 to execute an automatic driving process (see FIG. 12) described later. For example, the automatic driving program is non-temporarily recorded in a computer-readable recording medium such as a flash ROM, an EEPROM, a CD, or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 22. The automatic driving program may be downloaded from a server (not shown) to the operation terminal 20 via a communication network N1 and stored in the storage unit 22.

[0048] Further, a dedicated application for automatically driving the work vehicle 10 is installed in the memory unit 22. The operation control unit 21 starts up the dedicated application to perform processing for setting various information related to the work vehicle 10, processing for generating a target route R1 and a travel route for the work vehicle 10, and issuing automatic driving instructions to the work vehicle 10.

[0049] The storage unit 22 also stores data such as work vehicle information, which is information relating to the work vehicle 10, and target route information, which is information relating to the target route.

[0050] The work vehicle information includes information such as the vehicle number and model for each work vehicle 10. The vehicle number is identification information for the work vehicle 10. The model is the model of the work vehicle 10.

[0051] The memory unit 22 may store the work vehicle information for one work vehicle 10, or may store the work vehicle information for multiple work vehicles 10. For example, if a specific worker owns multiple work vehicles 10, the work vehicle information for each work vehicle 10 is stored in the memory unit 22.

[0052] The target route information includes information such as route name, field name, address, field area, and work time for each target route. The route name is the route name of the target route generated in the operation terminal 20. The field name is the name of the field to be worked on for which the target route is set. The address is the address of the field, and the field area is the area of ​​the field. The work time is the estimated time (such as the estimated required time) required for work vehicle 10 to work in the field.

[0053] When the target route is a route (travel route) corresponding to road R0, the target route information includes information such as route name, address, travel distance, and travel time. The route name is the name of the road, and the address is the address of the road. The travel distance is the distance traveled by the work vehicle 10 on road R0, for example, the distance traveled on road R0 from field F1 to field F6. The travel time is the time it takes for the work vehicle 10 to travel on road R0, for example, the predicted time required to travel from field F1 to field F6 (predicted travel time).

[0054] The storage unit 22 may store the target route information related to one target route, or may store the target route information related to multiple target routes. For example, when a specific worker generates multiple target routes for one or multiple fields owned by the worker, the target route information related to each target route is stored in the storage unit 22. One target route may be set for one field, or multiple target routes may be set. Also, one movement route may be set for a pair of fields (two fields in which work is performed consecutively), or multiple movement routes may be set. In this embodiment, the storage unit 22 stores target route information corresponding to each target route R1 (see FIG. 4) for traveling through the fields F1, F6, and F12, and target route information corresponding to movement routes Ra, Rb, Rc, and Rd (see FIG. 3) for traveling on the road R0.

[0055] As another embodiment, some or all of the information such as the work vehicle information and the target route information may be stored in a server accessible from the operation terminal 20. The worker may perform an operation to register the work vehicle information and the target route information in the server (e.g., a personal computer, a cloud server, etc.). In this case, the operation control unit 21 may acquire the information from the server and execute each process such as the automatic driving process (see FIG. 12) described later.

[0056] The operation control unit 21 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various information, and is used as a temporary storage memory for various processes executed by the CPU. The operation control unit 21 controls the operation terminal 20 by executing various control programs stored in advance in the ROM or the storage unit 22 by the CPU.

[0057] As shown in Fig. 1, the operation control unit 21 includes various processing units such as a setting processing unit 211, an acquisition processing unit 212, and an output processing unit 213. The operation control unit 21 functions as the various processing units by executing various processes according to the control program with the CPU. Some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing a plurality of processors to function as the processing units.

[0058] The setting processing unit 211 sets various setting information for causing the work vehicle 10 to perform automatic traveling. Specifically, the setting processing unit 211 sets information relating to the work vehicle 10 (hereinafter referred to as work vehicle information). The setting processing unit 211 sets information such as the type (model) of the work vehicle 10, the position where the positioning antenna 164 is attached on the work vehicle 10, the type of the work implement 14, the size and shape of the work implement 14, the position of the work implement 14 relative to the work vehicle 10, the vehicle speed and engine speed of the work vehicle 10 during work, and the vehicle speed and engine speed of the work vehicle 10 while turning, by having the worker perform an operation to register the information on the operation terminal 20.

[0059] For example, the setting processing unit 211 causes the operation display unit 23 to display the menu screen D1 shown in Fig. 5. The worker selects "Work machine registration" on the menu screen D1 to register work machine information related to the work machine 14.

[0060] The setting processing unit 211 also sets information relating to the field (hereinafter referred to as field information). The setting processing unit 211 sets information such as the position and shape of the field, the work start position S where work begins and the work end position G where work ends (see FIG. 4), and the work direction by performing an operation to register the information on the operation terminal 20. Note that the work direction means the direction in which the work vehicle 10 travels while working with the work implement 14 in the work area excluding the headland and non-work area from the field. For example, the worker registers the field information by selecting "Field registration" on the menu screen D1.

[0061] Information on the position and shape of the field can be automatically acquired, for example, by an operator getting on board the work vehicle 10 and driving it around the perimeter of the field, and recording the transition of the position information of the positioning antenna 164 at that time. The position and shape of the field can also be acquired based on a polygon obtained by an operator operating the operation terminal 20 while a map is displayed on the map and specifying multiple points on the map. The area specified by the acquired position and shape of the field is the area in which the work vehicle 10 can be driven (travel area).

[0062] Furthermore, the setting processing unit 211 sets information relating to how the work is to be performed specifically (hereinafter referred to as work information). The setting processing unit 211 is configured to be able to set, as work information, the presence or absence of cooperative work between an unmanned work vehicle 10 and a manned work vehicle 10, the skip number which is the number of work routes to skip when the work vehicle 10 turns on the headland, the width of the headland, and the width of the non-cultivated land, etc. For example, the worker selects "Route generation" on the menu screen D1 to register the work information.

[0063] Furthermore, the setting processing unit 211 generates a target route (target route in a farm field, travel route on a road) which is a route along which the work vehicle 10 will automatically travel, based on each of the setting information. The setting processing unit 211 generates and stores a target route for the work vehicle 10, based on each of the setting information that has been set in advance. For example, the worker selects "Create route" on the menu screen D1 to instruct the generation of the target route.

[0064] Here, the setting processing unit 211 sets a work plan in the route generation process. For example, when the work vehicle 10 is to work in multiple fields consecutively, the setting processing unit 211 creates and displays a work plan including information such as the work order (movement order) of the multiple fields, the time required for the work, and the travel distance based on the setting operation of the worker. The worker checks the created work plan and starts the work.

[0065] Specifically, when the worker selects "Create route" on the menu screen D1, the setting processing unit 211 displays the field selection screen D2 shown in FIG. 6. The field selection screen D2 displays map information including a plurality of fields and a list of information on the plurality of fields registered in the "Field registration" (field list E1). Each piece of field information in the field list E1 may include the field name, address, field area, registration date, and the like. The setting processing unit 211 accepts a field selection operation from the worker on the field selection screen D2. For example, when the worker causes the work vehicle 10 to work (e.g., tillage) on the fields F1, F6, and F12 in succession in this order, the worker selects the fields F1, F6, and F12 in this order on the field list E1. In this manner, the worker selects a plurality of fields in the order in which they will be worked on. Note that the worker may be able to set and change the order of work after selecting a plurality of fields.

[0066] Furthermore, the setting processing unit 211 may, as shown in FIG. 6, display the field selected by the operator in an identifiable manner (by displaying it in a thick frame, filling it in, lighting it up, blinking it, etc.) in both the field list E1 and the map information.

[0067] When the worker selects multiple fields on the field selection screen D2 and presses the OK button, the setting processing unit 211 displays the work plan screen D3 shown in FIG. 7. The work plan screen D3 displays the travel routes connecting the selected fields in the map information. Specifically, the setting processing unit 211 generates travel routes connecting each of the multiple selected fields according to the work order of the multiple selected fields (see FIG. 3), and displays the generated travel routes on the map. In addition, the setting processing unit 211 calculates an expected travel time required for the work vehicle 10 to travel the travel route for each travel route, and displays the calculated expected travel time in association with the travel route on the map. In addition, the setting processing unit 211 displays the travel order of each travel route in an identifiable manner, as shown in FIG. 7.

[0068] The setting processing unit 211 also generates a target route R1 (see FIG. 3) for each selected field. Here, the setting processing unit 211 generates the target route R1 for each of the fields F1, F6, and F12 based on the setting information that has been set in advance. Although not shown in the figure, the setting processing unit 211 displays the generated target route R1 for each field on the operation terminal 20. When the worker selects a field on the map of the work plan screen D3 shown in FIG. 7, the setting processing unit 211 may also display the target route R1 corresponding to the selected field.

[0069] Furthermore, the setting processing unit 211 calculates the estimated work time required for the work vehicle 10 to work in each selected field, and displays the calculated estimated work time on the map in association with the field. Furthermore, the setting processing unit 211 displays the work order of the fields in an identifiable manner, as shown in FIG. 7. In the example shown in FIG. 7, the estimated work time of work A in the field F1 to be worked first is shown to be 60 minutes, the estimated work time of work B in the field F6 to be worked next is shown to be 80 minutes, and the estimated work time of work C in the field F12 to be worked last is shown to be 60 minutes. In this embodiment, the works A, B, and C are, for example, tilling works. The works A, B, and C may be different works.

[0070] In this way, the setting processing unit 211 displays on the map a series of work plans starting travel from the predetermined position P1, working the fields F1, F6, and F12 in order, and returning to the predetermined position P1. Note that the predetermined position P1 is an example of the travel start position and travel end position in the work plan. Here, the setting processing unit 211 calculates the expected travel time and the expected work time based on past work information (history information).

[0071] Specifically, the acquisition processing unit 212 acquires work history information when the work vehicle 10 performs work in each of a plurality of fields, and movement history information when the work vehicle 10 moves between the fields (road R0). The work history information and the movement history information are stored in the memory unit 22 every time the work vehicle 10 performs work. The memory unit 22 stores the work time (actual work time) for each field. The memory unit 22 also accumulates a plurality of past work times for the same field. Similarly, the memory unit 22 stores the movement time (actual movement time) for each movement route set on the road R0. The memory unit 22 also accumulates a plurality of past movement times for the same movement route. The work time is stored in association with each work content. The acquisition processing unit 212 acquires from the memory unit 22 the work history information associated with a plurality of fields selected by the worker, and the movement history information associated with the road R0 (movement route) connecting the fields.

[0072] For example, the setting processing unit 211 calculates an average time of multiple past work times in a field, and sets the average time as the estimated work time for the field. For example, the setting processing unit 211 calculates an average time of multiple work times (here, the work time for work A) included in multiple past work results for field F1, and sets the average time as the estimated work time for field F1 ("60 minutes"). Also, for example, the setting processing unit 211 calculates an average time of multiple travel times included in multiple past travel results for travel route Rb (see FIG. 3) connecting field F1 and field F6, and sets the average time as the estimated travel time for travel route Rb ("10 minutes").

[0073] In this way, the setting processing unit 211 calculates and outputs (displays) the estimated work time for each field and the estimated travel time for each travel route based on the work history information and the travel history information.

[0074] Furthermore, the setting processing unit 211 outputs the estimated time required (total required time) for the work vehicle 10 to perform work in multiple fields based on the work history information and the movement history information. Specifically, the setting processing unit 211 displays the overall estimated required time (total required time) corresponding to the work plan. In the example shown in Fig. 7, the setting processing unit 211 displays the total required time ("4 hours and 15 minutes") obtained by adding up the estimated work times for each of the fields F1, F6, and F12 and the estimated movement times for each of the movement routes Ra, Rb, Rc, and Rd in the work plan display field E2.

[0075] The setting processing unit 211 also displays the total work time (estimated total work time) required for the work vehicle 10 to work on a plurality of fields, and the total travel time (estimated total travel time) required for the work vehicle 10 to travel along a road (travel route). In the example shown in Fig. 7, the setting processing unit 211 displays in the work plan display field E2 the total work time ("3 hours 20 minutes") obtained by adding up the estimated work times for the fields F1, F6, and F12, and the total travel time ("55 minutes") obtained by adding up the estimated travel times for the travel routes Ra, Rb, Rc, and Rd. The estimated required time (total required time) includes the total work time (estimated total work time) and the total travel time (estimated total travel time).

[0076] In addition, in the work plan display field E2, the setting processing unit 211 may display the travel distance (total travel distance or travel distance of the travel route), the number of fields to be worked on (number of sheets), the total work area, the names of the fields to be worked on, etc.

[0077] When the worker checks the work plan on the work plan screen D3 and presses the register button, the setting processing unit 211 assigns identification information (such as a number, for example, "work plan 4") to the generated work plan and registers it in the memory unit 22. The work plan includes information such as the total required time, the total work time, the total travel time, the estimated work time for each field, the estimated travel time for each travel route, the target route R1 for each field, and each travel route (see FIG. 7). In this way, when the setting processing unit 211 receives an operation to select multiple fields from the worker, it creates a work plan including the estimated work time for each field and the estimated travel time for each travel route, and displays it on the operation terminal 20.

[0078] The setting processing unit 211 displays a work plan list E3 that lists registered work plans on the work plan selection screen D4 shown in Fig. 8A. Each work plan on the work plan list E3 includes the name of the work plan, the date of registration, and the like. The setting processing unit 211 accepts a work plan selection operation from the worker on the work plan selection screen D4. For example, when the worker selects "Work plan 4" on the work plan selection screen D4, the setting processing unit 211 displays detailed information about work plan 4 on the work plan selection screen D4 as shown in Fig. 8B.

[0079] When the worker starts work according to "Work Plan 4", he presses the start button on the work plan selection screen D4. When the worker presses the start button, the output processing unit 213 outputs route data of the target route and the movement route according to work plan 4 to the work vehicle 10. Here, the output processing unit 213 outputs route data to the work vehicle 10, including a target route R1 corresponding to each of the fields F1, F6, and F12, a movement route Ra connecting the predetermined position P1 and the field F1, a movement route Rb connecting the field F1 and the field F6, a movement route Rc connecting the field F6 and the field F12, and a movement route Rd connecting the field F12 and the predetermined position P1.

[0080] The work vehicle 10 is configured such that route data of the target route and travel route generated in the operation terminal 20 is transferred to the work vehicle 10 and stored in the memory unit 12, and the work vehicle 10 is capable of autonomously traveling according to the target route and travel route while detecting the current position of the work vehicle 10 by the positioning antenna 164. The current position of the work vehicle 10 normally coincides with the position of the positioning antenna 164.

[0081] Furthermore, the work vehicle 10 is configured to be able to automatically travel within the field if, when starting work within the field, the current position is within a predetermined distance from a work start position S (see FIG. 3) within the field.

[0082] For example, when the current position of the work vehicle 10 in the field is less than a predetermined distance from the work start position S, the travel processing unit 111 of the work vehicle 10 starts automatic travel of the work vehicle 10 according to the target route R1.

[0083] For example, the driving processing unit 111 automatically drives the work vehicle 10 from a predetermined position P1 to a field F1 according to a movement route Ra. When the work vehicle 10 reaches the field F1, the driving processing unit 111 automatically drives the work vehicle 10 in the field F1 from a work start position S to a work end position G according to a target route R1. When the work vehicle 10 reaches the work end position G, the driving processing unit 111 automatically drives the work vehicle 10 from the field F1 to the field F6 according to a movement route Rb. Similarly, the driving processing unit 111 automatically drives the work vehicle 10 in the field F6 from a work start position S to a work end position G according to a target route R1, and when the work vehicle 10 reaches the work end position G, the driving processing unit 111 automatically drives the work vehicle 10 from the field F6 to the field F12 according to a movement route Rc. In addition, the driving processing unit 111 automatically drives the work vehicle 10 from the work start position S to the work end position G in the field F12 according to the target route R1, and when the work vehicle 10 reaches the work end position G, automatically drives the work vehicle 10 from the field F12 to a predetermined position P1 according to the movement route Rd.

[0084] When the work vehicle 10 starts automatic traveling, the operation control unit 21 displays the traveling status, the progress of the work, and the like on the operation display unit 23 of the operation terminal 20. For example, when the work vehicle 10 starts automatic traveling, the operation control unit 21 displays the work screen D5 shown in FIG. 9, and displays map information and work information E4 on the work screen D5. The operation control unit 21 also displays the traveling status of the work vehicle 10, such as the traveling trajectory and the current position, on the map. The operation control unit 21 also displays information such as the identification information of the work plan (here, "work plan 4"), the name of the field currently being worked on, the time when the work started (start time), the scheduled time when the work was to be completed (scheduled completion time), the progress rate, and the scheduled deviation time in the work information E4. The scheduled completion time is a time calculated from the total required time (see FIG. 8B) included in the work plan 4, and is, for example, a time obtained by adding the total required time to the start time. The progress rate is calculated based on information such as the time elapsed from the start time, the scheduled end time, the current position of the work vehicle 10, the total work area, the worked area, and the unworked area. The schedule deviation time is the time that indicates the difference between the scheduled end time and the time that the work is expected to actually be completed, and is calculated, for example, based on the scheduled end time and the progress rate. The example shown in Fig. 9 indicates that the work is currently 10 minutes behind schedule, and that if work continues at this pace, the work will be completed at "15:40", 10 minutes later than the scheduled end time ("15:30").

[0085] In this way, when the work vehicle 10 is working according to the work plan, the operation control unit 21 outputs (displays) progress information (the progress rate, the deviation time from the plan, etc.) indicating the progress status with respect to the total required time. Furthermore, the operation control unit 21 updates the progress rate and the deviation time from the plan in real time according to the traveling status and work status of the work vehicle 10. This allows the worker to grasp the progress rate and the deviation time from the plan in real time on the operation terminal 20 while the work vehicle 10 is working.

[0086] Here, the operation control unit 21 may issue warning information when a delay of a predetermined time occurs from the scheduled end time, i.e., when the scheduled deviation time exceeds a predetermined time. That is, the operation control unit 21 issues predetermined information when a delay time of work from the work plan exceeds a predetermined time. For example, the operation control unit 21 may output a warning sound (alert sound) from the operation terminal 20, or may output a warning sound from the work vehicle 10.

[0087] In another embodiment, when the expected deviation time exceeds a predetermined time, the driving processing unit 111 of the work vehicle 10 may change the driving state of the work vehicle 10. For example, the driving processing unit 111 may increase the driving speed in unworked areas (e.g., headland areas in a field, roads connecting fields, etc.) or change the travel route. In other words, the driving processing unit 111 may control the driving of the work vehicle 10 based on the progress status. Note that it is desirable to permit the process of changing the driving state on the condition of an instruction from the worker.

[0088] In another embodiment of the process for creating the work plan described above, the setting processing unit 211 may display work history information of a field selected by the worker. For example, as shown in FIG. 10, the setting processing unit 211 displays a work history button K1 on the field selection screen D2. When the worker presses the work history button K1, the setting processing unit 211 displays the work history screen D6 shown in FIG. 11 and displays the work history information E5 on the work history screen D6. For example, when the worker selects a field F6 and presses the work history button K1, the setting processing unit 211 displays the work history information E5 corresponding to the field F6 on the work history screen D6. The work history information E5 includes information such as the work content, work date, required time, and weather (weather, temperature, humidity, etc.) of past work. In addition, the setting processing unit 211 calculates and displays the average time (average required time) required for each past work. The average required time corresponds to the estimated work time (for example, "80 minutes" for field F6) included in the work plan (see FIG. 8B). The setting processing unit 211 also displays the average required time for each work content in the work history information E5. When the worker presses the back button K2 on the work history screen D6, the setting processing unit 211 redisplays the field selection screen D2 in FIG. 9. The worker can check past work information when selecting a field to work on.

[0089] The operation terminal 20 may be able to access a website (agricultural support site) of an agricultural support service provided by a server (not shown) via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal for the server by executing a browser program by the operation control unit 21. The server includes the above-mentioned processing units and executes each process.

[0090] [Automatic driving processing] Hereinafter, an example of the automatic driving process executed by the automatic driving system 1 will be described with reference to FIG.

[0091] The present invention can be understood as an invention of an automatic driving method that executes one or more steps included in the automatic driving process. One or more steps included in the automatic driving process described here may be omitted as appropriate. The steps in the automatic driving process may be executed in a different order as long as the same action and effect is achieved. Furthermore, although an example is described here in which the operation control unit 21 executes each step in the automatic driving process, another embodiment can also be an automatic driving method in which one or more processors execute each step in the automatic driving process in a distributed manner.

[0092] Furthermore, the work management method of the present invention is included in the automatic driving method, and the work management program of the present invention is included in the automatic driving program.

[0093] In step S1, the operation control unit 21 of the operation terminal 20 determines whether or not a field selection operation has been received from the operator. If the operation control unit 21 receives the field selection operation (S1: Yes), the operation control unit 21 shifts the process to step S2. The operation control unit 21 waits until the field selection operation is received (S1: No).

[0094] In step S2, the operation control unit 21 determines whether multiple fields have been selected. If multiple fields have been selected (S2: Yes), the operation control unit 21 shifts the process to step S3. On the other hand, if one field has been selected (S2: No), the operation control unit 21 shifts the process to step S21.

[0095] In step S3, the operation control unit 21 generates a target route R1 corresponding to each of the multiple fields and a movement route connecting each of the multiple fields. For example, when the worker selects the fields F1, F6, and F12 in this order on the field selection screen D2 (field list E1) shown in Fig. 6 and presses the OK button, the operation control unit 21 generates the target route R1 in the field F1, the target route R1 in the field F6, the target route R1 in the field F12, a movement route Ra connecting the predetermined position P1 and the field F1, a movement route Rb connecting the field F1 and the field F6, a movement route Rc connecting the field F6 and the field F12, and a movement route Rd connecting the field F12 and the predetermined position P1 (see Fig. 7).

[0096] As another embodiment, when an operator selects an arbitrary field on the field selection screen D2 shown in Fig. 10 and presses the work history button K1, the operation control unit 21 may display a work history screen D6 shown in Fig. 11 and display work history information E5 corresponding to the selected field. This allows the operator to check past work records when selecting a field.

[0097] Next, in step S4, the operation control unit 21 calculates the total work time (estimated total work time) required for the work vehicle 10 to work on the multiple fields, and the total travel time (estimated total travel time) required for the work vehicle 10 to move along the travel route. Specifically, the operation control unit 21 calculates the average time of multiple past work times in one field as the estimated work time for that one field, and calculates the total work time (estimated total work time) by adding up the estimated work times for each of the multiple fields. For example, the operation control unit 21 calculates the total work time ("3 hours and 20 minutes") by adding up the estimated work times for each of fields F1, F6, and F12.

[0098] In addition, the operation control unit 21 calculates an average time of multiple travel times included in multiple past travel records for the travel route as a predicted travel time, and calculates a total travel time (predicted total travel time) by adding up each predicted travel time. For example, the operation control unit 21 calculates a total travel time ("55 minutes") by adding up the predicted travel times of each of the travel routes Ra, Rb, Rc, and Rd.

[0099] Furthermore, the operation control unit 21 calculates a total required time (estimated required time) by adding up the total work time and the total travel time. For example, the operation control unit 21 calculates a total required time ("4 hours and 15 minutes") by adding up the estimated work times for each of the fields F1, F6, and F12 and the estimated travel times for each of the travel routes Ra, Rb, Rc, and Rd. After step S4, the operation control unit 21 transitions the process to step S5.

[0100] On the other hand, if the operator selects one field (S2: No), the operation control unit 21 generates a target route R1 for the selected field in step S21. In the following step S22, the operation control unit 21 calculates an expected work time for the field. After step S22, the operation control unit 21 shifts the process to step S5.

[0101] Next, in step S5, the operation control unit 21 outputs a work plan. Specifically, the operation control unit 21 creates a work plan including information such as the time required for the work, the travel distance, the work area, and the field name, and displays it on the work plan screen D3. If a plurality of fields are selected, the operation control unit 21 further displays information on the work order of the plurality of fields, the travel order between the fields, and the estimated work time for each field on the work plan screen D3, as shown in FIG. 7, for example. Specifically, the operation control unit 21 displays information such as the field name, work content, estimated work time, and work order in association with each field on the map of the work plan screen D3, and displays information such as the estimated travel time and travel order in association with each travel route.

[0102] The operation control unit 21 also displays in the work plan display field E2 the total required time, total work time, total travel time, travel distance, number of fields to be worked on (number of sheets), total work area, names of fields to be worked on, etc. The information displayed on the map and the information displayed in the work plan display field E2 are each an example of a work plan of the present invention. When one field is selected, the work plan includes information corresponding to that field.

[0103] When the worker performs a registration operation (pressing the registration button in FIG. 7) after the work plan is output (displayed), the operation control unit 21 registers the work plan in the storage unit 22.

[0104] Next, in step S6, the operation control unit 21 determines whether or not an operation to instruct the operator to start traveling has been received from the operator. When the operation control unit 21 receives an operation to instruct the operator to start traveling from the operator (S6: Yes), the operation control unit 21 shifts the process to step S7. For example, when the operator selects "Work plan 4" on the work plan selection screen D4 shown in Fig. 8A and presses the start button on the work plan selection screen D4 shown in Fig. 8B, the operation control unit 21 receives the operation to instruct the operator to start traveling.

[0105] If the operation control unit 21 does not receive a travel start instruction from the worker, the operation control unit 21 transitions the process to step S1 (S6: No). The operation control unit 21 repeatedly executes the work plan creation process until a travel start instruction is received from the worker.

[0106] In step S7, the operation control unit 21 outputs route data to the work vehicle 10. Here, the operation control unit 21 outputs route data of the target route and the movement route according to "Work Plan 4" to the work vehicle 10. Specifically, the operation control unit 21 outputs route data to the work vehicle 10, including a target route R1 corresponding to each of the fields F1, F6, and F12, a movement route Ra connecting the predetermined position P1 and the field F1, a movement route Rb connecting the field F1 and the field F6, a movement route Rc connecting the field F6 and the field F12, and a movement route Rd connecting the field F12 and the predetermined position P1.

[0107] When the work vehicle 10 acquires the route data, it starts automatic travel (see FIG. 3). Specifically, the travel processing unit 111 of the work vehicle 10 automatically travels the work vehicle 10 from the predetermined position P1 to the field F1 according to the movement route Ra, and when the work vehicle 10 reaches the field F1, the travel processing unit 111 automatically travels the work vehicle 10 in the field F1 from the work start position S to the work end position G according to the target route R1. When the work vehicle 10 reaches the work end position G, the travel processing unit 111 automatically travels the work vehicle 10 from the field F1 to the field F6 according to the movement route Rb, and automatically travels the work vehicle 10 in the field F6 from the work start position S to the work end position G according to the target route R1. When the work vehicle 10 reaches the work end position G, the driving processing unit 111 automatically drives the work vehicle 10 from the field F6 to the field F12 according to the movement route Rc, and in the field F12, automatically drives the work vehicle 10 from the work start position S to the work end position G according to the target route R1. When the work vehicle 10 reaches the work end position G, the driving processing unit 111 automatically drives the work vehicle 10 from the field F12 to a predetermined position P1 according to the movement route Rd.

[0108] Next, in step S8, the operation control unit 21 displays the progress status on the operation terminal 20 (operation display unit 23). Specifically, when the work vehicle 10 starts automatic traveling, the operation control unit 21 displays the traveling status, the progress status of the work, and the like on the operation terminal 20. For example, when the work vehicle 10 starts automatic traveling, the operation control unit 21 displays the work screen D5 shown in FIG. 9, and displays the traveling status of the work vehicle 10, such as the traveling trajectory and the current position, on the map of the work screen D5. In addition, the operation control unit 21 displays information such as the identification information of the work plan ("Work Plan 4"), the name of the field currently being worked on, the time when the work started (start time), the scheduled time when the work was to be completed (scheduled completion time), the progress rate, and the scheduled deviation time in the work information E4 of the work screen D5.

[0109] Next, in step S9, the operation control unit 21 determines whether the work vehicle 10 has reached the travel end position. Here, the travel end position is set to a predetermined position P1 (see FIG. 3). When the work vehicle 10 reaches the travel end position (predetermined position P1) (S9: Yes), the operation control unit 21 ends the process. The operation control unit 21 continues the display process of step S8 until the work vehicle 10 reaches the travel end position (S9: No). For example, while the work vehicle 10 is performing automatic travel, the operation control unit 21 updates the progress rate and the scheduled deviation time in real time according to the travel status and work status of the work vehicle 10. Also, in step S8, for example, when the scheduled deviation time exceeds a predetermined time, the operation control unit 21 may cause the operation terminal 20 or the work vehicle 10 to output a warning sound.

[0110] The operation control unit 21 executes the automatic driving process (work management process) in the above manner. Furthermore, the operation control unit 21 stores work history information in the memory unit 22 each time work is completed. For example, the operation control unit 21 adds information related to the current work, such as the work content, work date, and required time, to the work history information E5 (see FIG. 11), and updates the average required time. In this manner, the operation control unit 21 accumulates and updates the work history information each time the work vehicle 10 performs work.

[0111] As described above, the autonomous driving system 1 of this embodiment acquires work history information when the work vehicle 10 performs work in each of a plurality of fields (work areas) and movement history information when the work vehicle 10 moves along roads (connecting roads) connecting the plurality of fields during the work, and outputs the total required time (estimated required time) that the work vehicle 10 will need to perform work in the plurality of fields based on the work history information and the movement history information.

[0112] According to the above configuration, it is possible to present to the worker not only the estimated work time for one field, but also the total required time (estimated required time) that combines the estimated work time for each of multiple fields and the estimated travel time for moving between the fields, thereby enabling the worker to grasp the required time for work that includes multiple fields to be worked on.

[0113] The automatic driving system 1 may also display on the operation terminal 20 the total work time (estimated total work time) required for the work vehicle 10 to work on the multiple fields and the total travel time (estimated total travel time) required for the work vehicle 10 to travel on the road (travel route). This allows the worker to individually grasp the time required to work on the multiple fields and the time required to travel between the fields. The total work time (estimated total work time) and the total travel time (estimated total travel time) are each an example of the estimated required time of the present invention. That is, the automatic driving system 1 of the present invention can output at least one of the total work time (estimated total work time) and the total travel time (estimated total travel time). For example, the automatic driving system 1 may output either one of the total work time (estimated total work time) and the total travel time (estimated total travel time) or both, depending on the display setting operation by the worker.

[0114] [Other embodiments] The present invention is not limited to the above-described embodiment, and may be embodied as follows.

[0115] For example, when the work vehicle 10 performs a set work (work by the work machine 14) (plowing work, mowing work, harvesting work, spraying work, etc.) set by an operator in a farm field, the work vehicle 10 may perform work other than the set work, such as supplying materials and fuel, unloading harvested crops, and adjusting and replacing the work machine 14. In this way, the work history information includes the work time actually required by the work vehicle 10 for the set work (set work time) and the time required for work other than the set work (non-set work time). Therefore, the operation control unit 21 may calculate the estimated set work time and the estimated non-set work time based on the work history information, and display the estimated set work time and the estimated non-set work time on the operation terminal 20 with distinction. For example, as shown in FIG. 13, the operation control unit 21 displays detailed information E21 including the estimated set work time (corresponding to "actual work time" in FIG. 13) and the estimated non-set work time (corresponding to "non-work time" in FIG. 13).

[0116] Furthermore, a worker may temporarily suspend the automatic travel and work of the work vehicle 10 to take a break. That is, the work history information may include the time required for resting during past work (rest time). Therefore, the operation control unit 21 may calculate an expected rest time based on the work history information, and display the expected rest time on the operation terminal 20. The time required for supplying materials, fuel, etc., the time required for unloading the harvested crops, the time required for adjusting and replacing the work machine 14, and the rest time are examples of non-set work times according to the present invention.

[0117] Here, the predicted set work time is a definite time that is definitely required for the work vehicle 10 to perform the set work, whereas the predicted non-set work time and the predicted rest time are times that may fluctuate each time (variable time). Therefore, the operation control unit 21 may receive an operation from the worker to select whether to display both the predicted set work time and the variable time on the operation terminal 20, or to display only the predicted set work time out of the predicted set work time and the variable time on the operation terminal 20.

[0118] Also, for example, when the work vehicle 10 travels along a travel route on a road, the work vehicle 10 may stop when an obstacle is detected, or may stop so as not to impede the travel of other work vehicles 10. In this way, the travel history information includes the actual travel time and the stop time that the work vehicle 10 actually took to travel. Therefore, the operation control unit 21 may calculate the expected actual travel time and the expected stop time based on the travel history information, and display the expected actual travel time and the expected stop time on the operation terminal 20 separately. For example, as shown in FIG. 13, the operation control unit 21 displays detailed information E22 including the expected actual travel time (corresponding to "actual travel time" in FIG. 13) and the expected stop time (corresponding to "stop time" in FIG. 13).

[0119] Here, the predicted actual travel time is a definite time that is definitely required for the work vehicle 10 to move along a road, whereas the predicted stop time is a time (variable time) that may change each time. Therefore, the operation control unit 21 may receive an operation from the worker to select whether to display both the predicted actual travel time and the stop time on the operation terminal 20, or to display only the predicted actual travel time out of the predicted actual travel time and the stop time on the operation terminal 20.

[0120] According to the above configuration, when creating a work plan, the worker can grasp the actually required work time, travel time, and other required times. In another embodiment, the operation control unit 21 may create the work plan excluding the variable time and the expected stop time. The operation control unit 21 may also receive an operation from the worker to select whether to create the work plan excluding the variable time and the expected stop time, or to create the work plan including the variable time and the expected stop time.

[0121] As another embodiment of the present invention, the operation control unit 21 may be capable of accepting an operation for setting a desired required time for a work plan from a worker. For example, when creating a work plan, the worker sets a desired required time for the work vehicle 10 to execute the work plan. For example, when executing "Work Plan 4," if the predicted total required time is "4 hours and 15 minutes," the worker sets "4 hours" as the desired total required time (desired required time). When the worker sets the desired required time, the operation control unit 21 causes the desired required time to be displayed on the work screen D5 (see FIG. 14).

[0122] Furthermore, when the operation control unit 21 receives a setting operation of a desired required time for a work plan from a worker, and the work vehicle 10 is working according to the work plan, it outputs progress information indicating the progress status with respect to the desired required time. The operation control unit 21 sets the time obtained by adding the desired required time to the start time as the scheduled end time, and calculates the progress rate and the scheduled deviation time based on the elapsed time from the start time and the scheduled end time. The operation control unit 21 displays information on the set required time, the scheduled end time, the progress rate, and the scheduled deviation time, as shown in FIG. 14, for example. This allows the worker to grasp the progress rate and the scheduled deviation time with respect to the time (desired required time) set by the worker on the operation terminal 20 in real time while the work vehicle 10 is working.

[0123] When the expected deviation time exceeds a predetermined time, the driving processing unit 111 of the work vehicle 10 may change the driving state (vehicle speed, travel route, etc.) of the work vehicle 10. In addition, the operation control unit 21 may receive an operation to set or change the desired required time from the operator after the work vehicle 10 starts automatic driving.

[0124] The operation terminal 20 according to this embodiment may be mounted on the work vehicle 10, or may be located outside the work vehicle 10. Furthermore, each processing unit of the operation terminal 20 may be included in the vehicle control device 11 of the work vehicle 10. That is, in the above-described embodiment, the operation terminal 20 corresponds to the work management system according to the present invention, but the work management system according to the present invention may be configured by the work vehicle 10 alone. Furthermore, the work management system according to the present invention may be configured to include the work vehicle 10 and the operation terminal 20. Furthermore, each processing unit of the operation terminal 20 may be included in a server capable of communicating with the work vehicle 10.

[0125] [Notes on the invention] The following will provide an overview of the invention extracted from the above-described embodiments. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0126] <Appendix 1> Acquiring work history information when a work vehicle performs work in each of a plurality of work areas and movement history information when the work vehicle moves along a connecting road that connects the plurality of work areas during the work; outputting an estimated required time for the work vehicle to perform work in the plurality of work areas based on the work history information and the movement history information; A work management method to carry out the above.

[0127] <Appendix 2> displaying, on an operation terminal, an estimated total work time required for the work vehicle to work in the plurality of work areas and an estimated total travel time required for the work vehicle to travel along the connecting road as the estimated required times; Attachment 1 describes a work management method.

[0128] <Appendix 3> displaying the estimated work time for each of the work areas and the estimated travel time for each of the connection paths on an operation terminal as the estimated required time; 3. The work management method according to claim 1 or 2.

[0129] <Appendix 4> the predicted work time includes a set work time required for the work vehicle to perform a set work set for the work area, and a non-set work time required for the work vehicle to perform a work different from the set work, displaying the set work time and the non-set work time on the operation terminal in a distinguished manner; The work management method described in Appendix 3.

[0130] <Appendix 5> receiving an operation from a user to select whether to display both the set work time and the non-set work time on the operation terminal, or to display only the set work time of the set work time and the non-set work time on the operation terminal; A work management method as described in Appendix 4.

[0131] <Appendix 6> the predicted travel time includes an actual travel time required for the work vehicle to travel along the connecting road and a stop time for the work vehicle to stop on the connecting road, displaying the actual travel time and the stop time on the operation terminal in a distinguished manner; 6. A work management method according to any one of appendix 3 to 5.

[0132] <Appendix 7> receiving an operation from a user to select whether to display both the actual travel time and the stop time on the operation terminal, or to display only the actual travel time of the actual travel time and the stop time on the operation terminal; A work management method as described in Appendix 6.

[0133] <Appendix 8> when an operation of selecting the plurality of work areas is received from a user, a work plan including the estimated work time for each of the work areas and the estimated travel time for each of the connection paths is created and displayed on the operation terminal; 8. A work management method according to any one of claims 3 to 7.

[0134] <Appendix 9> outputting progress information indicating a progress status with respect to the estimated required time when the work vehicle is performing the work according to the work plan; A work management method as described in Appendix 8.

[0135] <Appendix 10> when a setting operation of a desired required time for the work plan is received from a user, and when the work vehicle is performing work according to the work plan, outputting progress information indicating a progress status with respect to the desired required time. 10. The work management method according to claim 8 or 9.

[0136] <Appendix 11> When a delay time of the work with respect to the work plan exceeds a predetermined time, a predetermined information is notified. 11. The work management method according to claim 9 or 10.

[0137] <Appendix 12> Controlling the travel of the work vehicle based on the progress status. 12. A work management method according to any one of claims 9 to 11. [Explanation of symbols]

[0138] 1:Autonomous driving system 10: Work vehicle 11: Vehicle control device 20: Operation terminal 21: Operation control section 111: Driving processing unit 211: Setting processing section 212: Acquisition processing unit 213: Output processing section D1: Menu screen D2: Field selection screen D3: Work plan screen D4: Work plan selection screen D5: Work screen D6: Work history screen F: Field (work area) P1 :Predetermined position R0: Road (connecting road) R1: Target route Ra: Travel route Rb: Movement path Rc: Travel route Rd: Travel route

Claims

1. Acquiring work history information when a work vehicle performs work in each of a plurality of work areas and movement history information when the work vehicle moves along a connecting road that connects the plurality of work areas during the work; outputting an estimated required time for the work vehicle to perform work in the plurality of work areas based on the work history information and the movement history information; A work management method to carry out the above.

2. displaying, on an operation terminal, an estimated total work time required for the work vehicle to work in the plurality of work areas and an estimated total travel time required for the work vehicle to travel along the connecting road as the estimated required times; The work management method according to claim 1 .

3. displaying the estimated work time for each of the work areas and the estimated travel time for each of the connection paths on an operation terminal as the estimated required time; The work management method according to claim 1 .

4. the predicted work time includes a set work time required for the work vehicle to perform a set work set for the work area, and a non-set work time required for the work vehicle to perform a work different from the set work, displaying the set work time and the non-set work time on the operation terminal in a distinguished manner; The work management method according to claim 3.

5. receiving an operation from a user to select whether to display both the set work time and the non-set work time on the operation terminal, or to display only the set work time of the set work time and the non-set work time on the operation terminal; The work management method according to claim 4.

6. the predicted travel time includes an actual travel time required for the work vehicle to travel along the connecting road and a stop time for the work vehicle to stop on the connecting road, displaying the actual travel time and the stop time on the operation terminal in a distinguished manner; The work management method according to claim 3.

7. receiving an operation from a user to select whether to display both the actual travel time and the stop time on the operation terminal, or to display only the actual travel time of the actual travel time and the stop time on the operation terminal; The work management method according to claim 6.

8. when an operation of selecting the plurality of work areas is received from a user, a work plan including the estimated work time for each of the work areas and the estimated travel time for each of the connection paths is created and displayed on the operation terminal; The work management method according to claim 3.

9. outputting progress information indicating a progress status with respect to the estimated required time when the work vehicle is performing work according to the work plan; The work management method according to claim 8.

10. when a setting operation of a desired required time for the work plan is received from a user, and when the work vehicle is performing work according to the work plan, outputting progress information indicating a progress status with respect to the desired required time. The work management method according to claim 8.

11. When a delay time of the work with respect to the work plan exceeds a predetermined time, a predetermined information is notified. The work management method according to claim 9 or 10.

12. controlling the travel of the work vehicle based on the progress status; The work management method according to claim 9 or 10.

13. Acquiring work history information when a work vehicle performs work in each of a plurality of work areas and movement history information when the work vehicle moves on a connecting road that connects the plurality of work areas; outputting an estimated required time for the work vehicle to perform work in the plurality of work areas based on the work history information and the movement history information; A work management program for executing the above on one or more processors.

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

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