Depth-related processing system, analysis device, and depth-related processing method

Abstract

The system will be able to generate a work depth map that represents the work depth at multiple locations within the field. [Solution] The system includes a work depth acquisition unit 114 that acquires work depth data based on a predetermined estimation model that includes hitch height detection data and vehicle attitude detection data as input data and the work depth of the implement as output data, using log data that includes hitch height detection data and vehicle attitude detection data, and a depth map generation unit 115 that generates a work depth map showing the work depth at multiple locations in the field where the implement traveled, based on the acquired work depth data and vehicle position detection data included in the log data. By acquiring work depth data based on a predetermined estimation model using the respective detection data regarding hitch height and vehicle attitude that affect the work depth of the implement, a work depth map representing the work depth itself can be obtained.

Description

Technical Field

[0001] The present invention relates to a working depth related processing system, an analysis device, and a working depth related processing method, and is particularly suitable for use in a system that performs processing related to the working depth of a working machine that is towed by a working vehicle to perform a predetermined agricultural operation.

Background Art

[0002] Conventionally, a working vehicle configured to perform a given operation while traveling in a field is known. The working vehicle is configured such that a working machine is connected to the rear of the vehicle body and a given operation is performed by the working machine. When performing agricultural operations such as tillage and sowing, working machines specialized for each operation are used. At this time, it is important to appropriately set the working depth of the rotary claws and the furrow forming part in the soil. This is because the working depth (tillage depth) during tillage affects the root development of agricultural crops, and the working depth (sowing depth) during sowing affects the seedling establishment, and both are important factors for the growth of agricultural crops.

[0003] Generally, when performing tillage or sowing operations, the height of the working machine is set before the start of the operation, and the operation of the entire field is performed with the same setting until the end. However, even if the height of the working machine is kept constant, the working depth varies depending on the soil conditions in the field. Therefore, it has been difficult to perform the operation with an appropriate working depth over the entire area of the field. <关于这个问题,有一种农业支援系统是通过作业车辆配备的位置检测装置检测作业车辆的位置,并通过作业车辆牵引的作业机配备的振动检测装置检测作业机的振动,基于检测到的位置和振动值生成表示田间各位置振动的振动图(例如,参照专利文献1)。

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

[0006] According to the technology described in Patent Document 1, after performing work with a work implement, the worker can check the vibration at each point in the field where work was performed, and it is possible to take countermeasures for the next work based on the vibration state. However, although the vibration of the work implement is thought to be related to the work depth to some extent, it is not a value that indicates the work depth itself. Therefore, it has been difficult to appropriately adjust the work depth of the field based on the vibration map that has been created.

[0007] This invention was made to solve these problems and aims to generate a work depth map that represents the work depth itself at multiple locations within a field. [Means for solving the problem]

[0008] To solve the above-mentioned problems, the present invention uses log data including detection data of the height of the hitch connecting the work vehicle and the work implement and detection data of the attitude of the work vehicle to acquire work depth data based on a predetermined estimation model that includes hitch height data and work vehicle attitude data as input data and work depth data of the work implement as output data. Based on the acquired work depth data and detection data of the travel position of the work vehicle included in the log data, a work depth map is generated that shows the work depth at multiple locations in the field where the work vehicle traveled. [Effects of the Invention]

[0009] According to the present invention configured as described above, working depth data is acquired based on a predetermined estimation model using detection data related to the hitch height and the attitude of the work vehicle, which affect the working depth of the implement. A map showing the working depth at multiple locations in the field is then generated using this working depth data and detection data of the work vehicle's travel position. This makes it possible to generate a working depth map that represents the working depth itself at multiple locations in the field. [Brief explanation of the drawing]

[0010] [Figure 1] This figure shows an example of the overall configuration of the work depth-related processing system according to this embodiment. [Figure 2] This is a schematic plan view showing an example of the external configuration of a work vehicle, work equipment, and hitch. [Figure 3] This is a block diagram showing an example of the functional configuration of the analysis unit according to this embodiment. [Figure 4] This is a block diagram showing an example of the functional configuration of a control request device according to this embodiment. [Figure 5] This figure schematically shows an example of a working depth map generated by the depth map generation unit of this embodiment. [Figure 6] This figure schematically shows an example of a growth and yield map generated by the growth and yield map generation unit of this embodiment. [Figure 7] This figure illustrates an example of the processing performed by the optimal depth detection unit according to this embodiment. [Figure 8] This flowchart shows an example of the operation of the analysis device according to this embodiment. [Figure 9] This flowchart shows an example of the operation of the control request device according to this embodiment. [Figure 10] This is a diagram illustrating a modified example of this embodiment. [Modes for carrying out the invention]

[0011] An embodiment of the present invention will be described below with reference to the drawings. Figure 1 is a diagram showing an example of the overall configuration of the work depth-related processing system according to this embodiment. As shown in Figure 1, the work depth-related processing system of this embodiment consists of configurations 1 to 7 provided in the work vehicle 10 and configurations 11 to 12 provided in the analysis device 40. Details of these configurations 1 to 7 and 11 to 12 will be described later.

[0012] Figure 2 is a schematic plan view showing an example of the external configuration of a work vehicle 10, work implement 20, and hitch 30 to which the work depth-related processing system according to this embodiment is applied. As shown in Figure 2, the work implement 20 is connected to the rear of the work vehicle 10 via the hitch 30. The work implement 20 is equipped with multiple rotating tines 21, and by inserting the rotating tines 21 into the soil and driving the work vehicle 10, agricultural work such as tilling and sowing can be performed.

[0013] The work machine 20 illustrated in Figure 2 is connected to the work vehicle 10 by a hitch 30 with three-point links 31a to 31c. The three-point links 31a to 31c consist of lower links 31a and 31b on the left and right lower sides and a top link 31c in the middle upper part. The top link 31c is connected to a connecting mechanism 23 that is erected upward in the center of the connecting frame 22. The three-point links 31a to 31c are rotatable in the vertical direction with the connection point with the work vehicle 10 as the pivot point.

[0014] The work implement 20 is driven to move up and down relative to the work vehicle 10 by lower links 31a and 31b, which function as lifting links, and a lifting cylinder (not shown). The lifting cylinder is a hydraulic or electric cylinder that swings the lower links 31a and 31b up and down by extending and retracting, and the hitch 30 and work implement 20 are raised and lowered relative to the work vehicle 10 by the extension and retraction of the lifting cylinder according to the control device 7 (see Figure 1) to the work implement lifting device 1 (see Figure 1). Although an example of a three-point linkage mechanism is shown here, it is not limited to this.

[0015] Next, configurations 1 to 7 of the work vehicle 10 will be described. As shown in FIG. 1, the work vehicle 10 includes a work implement lifting device 1, a hitch sensor 2, an attitude sensor 3, a GNSS (Global Navigation Satellite System) sensor 4, a log recording device 5, a control request device 6, and a control device 7. These are connected by a communication bus 8 using CAN (Controller Area Network). Note that the GNSS sensor 4 does not necessarily need to be connected to the log recording device 5 via the communication bus 8. For example, it is sufficient if the detection data can be transmitted from the GNSS sensor 4 to the log recording device 5 by some method, such as the GNSS sensor 4 and the log recording device 5 being directly connected.

[0016] Although details will be described later, the log recording device 5 sequentially inputs the respective data detected by the hitch sensor 2, the attitude sensor 3, and the GNSS sensor 4, and records them as log data in a storage medium. The control request device 6 sequentially inputs the respective data detected by the hitch sensor 2 and the attitude sensor 3, calculates the control amount of the hitch 30 based on these data, and requests the control device 7 to execute control. The control device 7 that receives this request supplies a control command to the work implement lifting device 1 and controls the lifting and lowering of the hitch 30. The control device 7 is constituted by, for example, an ECU (Electronic Control Unit), and executes various electronic controls of the work vehicle 10, the work implement 20, and the hitch 30.

[0017] The hitch sensor 2 is a sensor that detects the height of the hitch 30. The height of the hitch 30 detected by the hitch sensor 2 is the height from the lowest descent position of the hitch 30 that can be mechanically lifted and lowered (the position when the hitch 30 is lowered to the limit). For example, when the hitch 30 is at the lowest descent position, the height is 0%, when the hitch 30 is at the highest ascent position, the height is 100%, and the height of the hitch 30 is defined as percentage information.

[0018] The hitch height data detected by the hitch sensor 2 is supplied to the log recorder 5 and the control request device 6 via the communication bus 8. For example, while the work vehicle 10 is driving the work implement 20 and performing farming operations while traveling in the field, the hitch sensor 2 sequentially detects hitch height data at regular time intervals, and the detected hitch height data is sequentially supplied to the log recorder 5 and the control request device 6.

[0019] The attitude sensor 3 is a sensor that detects the attitude of the work vehicle 10. For example, the attitude sensor 3 is configured to include a three-axis acceleration sensor and an arithmetic unit. The three-axis acceleration sensor detects the acceleration for three axes: an axis extending in the longitudinal direction of the vehicle body of the work vehicle 10 (hereinafter referred to as the longitudinal axis), an axis extending in the vertical direction of the vehicle body (hereinafter referred to as the vertical axis), and an axis extending in the lateral direction of the vehicle body (hereinafter referred to as the lateral axis). The arithmetic unit calculates the roll angle, yaw angle, and pitch angle of the work vehicle 10 based on the detected values of the accelerations of the three axes, and calculates the angle in the vector direction specified by these angles as the vehicle attitude angle. The vehicle attitude angle calculated in this way is the vehicle attitude data detected by the attitude sensor 3.

[0020] The vehicle attitude data detected by the attitude sensor 3 is supplied to the log recorder 5 and the control request device 6 via the communication bus 8. For example, while the work vehicle 10 is driving the work implement 20 and performing farming operations while traveling in the field, the attitude sensor 3 sequentially detects vehicle attitude data at regular time intervals, and the detected vehicle attitude data is sequentially supplied to the log recorder 5 and the control request device 6. [[ID=!0]]

[0021] Note that the attitude sensor 3 may be configured to use an imaging device instead of the three-axis acceleration sensor. In this case, the imaging device, for example, takes pictures of the front of the work vehicle 10 at regular time intervals. The arithmetic unit analyzes the captured images sequentially acquired for the front of the vehicle to detect the roll angle, yaw angle, and pitch angle of the work vehicle 10, and calculates the angle in the vector direction specified by these angles as the vehicle attitude angle. The calculation of the vehicle attitude data based on the captured images can be performed using a known algorithm.

[0022] The GNSS sensor 4 is a sensor that detects the current position of the moving work vehicle 10. The GNSS sensor 4 is configured, for example, with a GPS (Global Positioning System) receiver, and receives radio waves transmitted from multiple GPS satellites with a GPS antenna, and performs 3D positioning processing or 2D positioning processing to detect the current position of the work vehicle 10.

[0023] Vehicle position data detected by the GNSS sensor 4 is supplied to the log recording device 5 via the communication bus 8. For example, while the work vehicle 10 is performing agricultural work by driving the implement 20 and traveling around the field, the GNSS sensor 4 sequentially detects vehicle position data at regular time intervals, and the detected vehicle position data is sequentially supplied to the log recording device 5. If the work vehicle 10 has an automatic driving function, the vehicle position data detected by the GNSS sensor 4 is also sequentially supplied to the control device 7 and used for automatic driving control.

[0024] The logging device 5 records the detection data supplied at regular time intervals from the hitch sensor 2, attitude sensor 3, and GNSS sensor 4 as log data on a storage medium while the work vehicle 10 is driving the work implement 20 and performing agricultural work in the field. The logging device 5 records the hitch height data, vehicle attitude data, and vehicle position data detected at the same time in association with each other. The log data recorded by the logging device 5 is used for data analysis by the analysis device 40.

[0025] The supply of log data from the log recording device 5 to the analysis device 40 can be carried out by any means. For example, a wireless communication module may be provided in both the work vehicle 10 and the analysis device 40, and the log data recorded in the log recording device 5 may be transmitted to the analysis device 40 via wireless communication. Alternatively, the log data recorded in the log recording device 5 may be stored in a removable storage medium, and the log data may be input to the analysis device 40 from the removable storage medium.

[0026] The control request device 6 calculates a control amount for controlling the raising and lowering of the hitch 30 based on the detection data supplied at regular time intervals from the hitch sensor 2 and attitude sensor 3 while the work vehicle 10 is driving the work implement 20 and performing agricultural work in the field, and the data stored in the analysis result storage unit 12 by the analysis unit 11 of the analysis device 40 (details will be described later). The calculated control amount is then transmitted to the control device 7 via the communication bus 8 to request the execution of the raising and lowering control of the hitch 30. The specific details of how the control request device 6 calculates the hitch control amount will be described later with reference to Figure 4. Note that the supply of analysis data from the analysis device 40 to the control request device 6 can also be performed using any means, such as a wireless communication module or a removable storage medium.

[0027] Next, the configuration of the analysis device 40 will be described. The analysis device 40 is composed of a general-purpose computer, such as a personal computer or a workstation. The analysis device 40 includes an analysis unit 11 as its functional configuration, and an analysis result storage unit 12 as its storage medium.

[0028] Figure 3 is a block diagram showing an example of the functional configuration of the analysis unit 11 of the analysis device 40. As shown in Figure 3, the analysis unit 11 has the following functional configuration: a log data acquisition unit 111, a measured data acquisition unit 112, a function generation unit 113, a work depth acquisition unit 114, a depth map generation unit 115, a growth / yield map generation unit 116, and an optimal depth detection unit 117.

[0029] These functional blocks 111 to 117 of the analysis unit 11 perform the processes described below through the cooperation of hardware and software. For example, the processing of the analysis unit 11 is performed by the operation of programs stored in storage media such as RAM, ROM, hard disk, or semiconductor memory, under the control of a processor configured by a microcomputer equipped with a CPU, RAM, ROM, etc.

[0030] The log data acquisition unit 111 acquires log data stored in the log recording device 5 of the work vehicle 10 by any of the above-described means and stores it in a storage medium. This storage medium may be the analysis result storage unit 12 or another storage area. That is, the log data acquisition unit 111 acquires log data including hitch height data detected by the hitch sensor 2, vehicle attitude data detected by the attitude sensor 3, and vehicle position data detected by the GNSS sensor 4. The height of the hitch 30 and the attitude of the work vehicle 10 can be factors that affect the working depth of the work machine 20.

[0031] The measurement data acquisition unit 112 acquires measurement data regarding the working depth of the implement 20 and measurement data regarding the physical quantities of the implement 20, and stores them in a storage medium. This storage medium may be the analysis result storage unit 12 or another storage area. The measurement data for working depth is data indicating the working depth measured at an arbitrary sample position among multiple positions in the field indicated by the vehicle position data included in the log data acquired by the log data acquisition unit 111. The working depth is the depth to which the rotating claw 21 penetrates from the soil surface of the field into the soil, and is measured using a dedicated measuring instrument.

[0032] The physical quantity data of the work implement 20 is, for example, data representing the mechanical dimensions of the work implement 20. Mechanical dimensions can be defined as the volume, for example, the length in the longitudinal axis direction, the length in the vertical axis direction, and the length in the left-right axis direction of the work implement 20. Weight data representing the weight of the work implement 20 may also be used as the physical quantity data of the work implement 20. The mechanical dimensions or weight of the work implement 20 can be factors that affect the working depth of the work implement 20.

[0033] The measured data acquisition unit 112 can acquire the above measured data by any means. For example, measured data stored on a removable storage medium may be input. Alternatively, an operator may input measured data to the analysis device 40 using an input device such as a keyboard or mouse connected to the analysis device 40.

[0034] The function generation unit 113 generates a predetermined function (hereinafter referred to as the estimation function) for estimating the working depth of the work implement 20 from the height of the hitch 30, the attitude of the work vehicle 10, and the physical quantities of the work implement 20, based on the hitch height data and vehicle attitude data included in the log data acquired by the log data acquisition unit 111, and the measured data (measured data of the working depth of the work implement 20 and measured data of physical quantities) acquired by the measured data acquisition unit 112. The estimation function is an example of an estimation model for estimating the working depth. The function generation unit 113 stores the generated estimation function data in the analysis result storage unit 12.

[0035] The estimation function generated by the function generation unit 113 is a function in which the height of the hitch 30, the attitude of the work vehicle 10, and the physical quantities of the work implement 20 are explanatory variables, and the working depth of the work implement 20 is the dependent variable, and can be expressed as, for example, equation (1) below. Note that a linear function is given as an example here, but it is not limited to this. Working depth = α + α1 × [Hitch height] + α2 × [Vehicle posture] + α3 × [Physical quantity] ... (1)

[0036] The function generation unit 113 generates the estimation function shown in equation (1) by performing a multiple regression analysis using the measured data of the explanatory variables and the measured data of the dependent variable in equation (1) above. The measured data of the dependent variable is the measured data of the working depth at the sample position acquired by the measured data acquisition unit 112. Of the measured data of the explanatory variables, the hitch height data and vehicle attitude data are included in the log data acquired by the log data acquisition unit 111 and are data corresponding to the sample position mentioned above. Of the measured data of the explanatory variables, the physical quantity data of the work equipment 20 is acquired by the measured data acquisition unit 112.

[0037] The work depth acquisition unit 114 acquires work depth data based on the estimation function of equation (1) generated by the function generation unit 113, using hitch height data and vehicle attitude data included in the log data and physical quantity data of the implement 20 acquired by the actual measurement data acquisition unit 112. As described above, when generating the estimation function, the function generation unit 113 uses only the hitch height data and vehicle attitude data from the log data that correspond to the sample positions where the work depth was actually measured. In contrast, the work depth acquisition unit 114 uses log data of hitch height data and vehicle attitude data corresponding to multiple positions throughout the entire field where the work vehicle 10 traveled.

[0038] Multiple locations across the entire field refer to, for example, the individual vehicle locations within the field detected at regular time intervals by the GNSS sensor 4 while the work vehicle 10 is in motion. Log data of all vehicle locations detected by the GNSS sensor 4 may be used, or log data of a selection of vehicle locations may be used. For example, log data of vehicle locations with a gap of n positions from all vehicle locations detected by the GNSS sensor 4 may be used.

[0039] The work depth acquisition unit 114 inputs hitch height data and vehicle attitude data at multiple locations throughout the field, along with physical quantity data of the implement 20, as explanatory variables into the estimation function of equation (1), thereby acquiring work depth data at multiple locations throughout the field as the objective variable. Although the entire field is used here, if the implement 20 is used to operate only a portion of the field, the work depth data for that portion is acquired using the log data of that portion.

[0040] The depth map generation unit 115 generates a work depth map showing the work depth at multiple locations within the field where the work vehicle 10 traveled, based on the work depth data for the entire field acquired by the work depth acquisition unit 114 and the vehicle position data for the entire field included in the log data acquired by the log data acquisition unit 111. The multiple locations within the field are the multiple locations where work depth data was acquired by the work depth acquisition unit 114. The depth map generation unit 115 stores the generated work depth map data in the analysis result storage unit 12.

[0041] Figure 5 schematically shows an example of a work depth map generated by the depth map generation unit 115. Figure 5 shows an example of a work depth map generated using log data recorded when a work vehicle 10 travels back and forth in a rectangular field and performs work with the work implement 20. The work depth map in Figure 5 is illustrated by arranging multiple rectangular areas along the positions in the field where the work vehicle 10 traveled, and recording the work depth value acquired by the work depth acquisition unit 114 for each of these multiple rectangular areas, but it is not limited to this format. Furthermore, it is not necessarily required to generate a visualized layout map as in Figure 5; any data that can identify the work depth value for multiple locations in the field is sufficient.

[0042] The growth / yield map generation unit 116 generates growth / yield maps (e.g., germination rate map, plant height map, yield map, etc.) that show the growth status of crops at multiple locations within the field (e.g., germination rate, plant height, and other growth statuses that can be quantified) or actual yield values. The multiple locations within the field include the multiple locations from which work depth data has been acquired by the work depth acquisition unit 114, i.e., the locations corresponding to the multiple locations that show individual work depths in the work depth map. However, it is not necessary for the multiple locations within the field where growth status or actual yield values ​​are shown in the growth / yield map to perfectly coincide with the multiple locations within the field where work depths are shown in the work depth map. Furthermore, the size of the location (area) where one actual value related to growth status or yield (hereinafter referred to as "growth / yield actual value") is shown may be larger than the size of the location where one work depth is shown (rectangular area in Figure 5). In other words, a region where one growth / yield performance value is shown (hereinafter referred to as the growth / yield display unit region) may contain multiple rectangular regions in Figure 5 where one work depth is shown (hereinafter referred to as the depth display unit region).

[0043] The growth and yield map generation unit 116 acquires data showing actual growth and yield values ​​by any means and generates a map showing the actual growth and yield values ​​for each of the multiple locations in the field (i.e., each of the multiple growth and yield display unit areas). As any means of acquiring data showing actual growth and yield values, for example, it is possible to use means of inputting actual data stored on a removable storage medium, or means of an operator inputting actual data into the analysis device 40 using an input device such as a keyboard or mouse connected to the analysis device 40.

[0044] Figure 6 schematically shows an example of a yield map generated by the growth and yield map generation unit 116. Figure 6 shows an example of a yield map generated by measuring the actual yield of crops harvested in a field where the work depth map shown in Figure 5 was generated. The yield map in Figure 6 shows an example of a color-coded map in which the actual yield values ​​of crops are color-coded for each of the multiple locations in the field, but it is not limited to this format. Furthermore, it is not necessarily required to generate a visualized layout map as in Figure 6; any data that allows identification of the actual yield values ​​for each of the multiple locations in the field is sufficient.

[0045] The optimal depth detection unit 117 detects the optimal working depth at which the growth state or yield of the crop is optimized, based on the working depth map generated by the depth map generation unit 115 and the growth / yield map generated by the growth / yield map generation unit 116. The optimal depth detection unit 117 stores the detected optimal working depth data in the analysis result storage unit 12. At this time, the optimal depth detection unit 117 may also store information in the analysis result storage unit 12 indicating which type of actual value of the crop's growth state or yield was used to detect the optimal working depth.

[0046] The optimal depth detection unit 117 detects, for example, the work depth corresponding to the position where the actual growth and yield value is maximized among multiple positions where the actual growth and yield value is shown in the growth and yield map, from the work depth map, and sets the detected work depth as the optimal work depth. Here, if the size of the growth and yield display unit area in the growth and yield map is larger than the size of the depth display unit area in the work depth map, the work depth value corresponding to one actual growth and yield value is to be used, for example, the average value or representative value of the work depth in multiple depth display unit areas corresponding to one growth and yield display unit area. As a representative value, for example, the work depth of the depth display unit area located in the center among multiple depth display unit areas may be used.

[0047] If there are multiple locations (growth / yield display unit areas) where the growth state or yield is maximized in the growth / yield map, multiple work depths corresponding to these multiple maximum growth / yield locations may be extracted from the work depth map, and the optimal work depth may be calculated by statistical processing of these multiple work depths. As a statistical processing method, for example, a process to calculate the mean or median may be used.

[0048] As another example, the optimal depth detection unit 117 may detect the optimal working depth based on an approximate straight line or approximate curve generated from each coordinate position identified by each combination of growth and yield performance values ​​at multiple locations and the corresponding working depths at multiple locations, as illustrated in Figure 7. In the example in Figure 7, a two-dimensional plane with working depth and crop yield as two axes is assumed, and an approximate straight line or approximate curve is generated based on each coordinate position identified by each combination of yield at multiple locations shown in the yield map and the working depths at multiple locations in the working depth map corresponding to those locations in the yield map. Then, the working depth corresponding to the yield that is largest in the approximate straight line or approximate curve is detected as the optimal working depth.

[0049] Next, the details of the control request device 6 provided in the work vehicle 10 will be described. Figure 4 is a block diagram showing an example of the functional configuration of the control request device 6. As shown in Figure 4, the control request device 6 has a hitch height acquisition unit 61, a vehicle attitude acquisition unit 62, and a hitch height control unit 63 as its functional configuration. The hitch height control unit 63 has a work depth estimation unit 63a, a control amount calculation unit 63b, and a control request unit 63c as its specific functional configuration. The control request device 6 also has a storage unit 64 as a storage medium.

[0050] These functional blocks 61-63 perform the processes described below through the cooperation of hardware and software. For example, the processing of the control request device 6 is performed by the operation of a program stored in a storage medium such as RAM, ROM, hard disk, or semiconductor memory, under the control of a processor configured by a microcomputer equipped with a CPU, RAM, ROM, etc. In addition to the microcomputer, a DSP (Digital Signal Processor) may also be provided.

[0051] The storage unit 64 stores estimated function data, optimal work depth data, and physical quantity data of the work machine 20, which are stored in the analysis result storage unit 12 or other storage area of ​​the analysis device 40. The work depth map stored in the analysis result storage unit 12 is not used for processing by the control request device 6, so it does not need to be stored in the storage unit 64. Here, as a means of storing the data stored in the analysis result storage unit 12 of the analysis device 40 in the storage unit 64 of the control request device 6, any means such as a wireless communication module or removable storage medium, as described above, can be used.

[0052] The hitch height acquisition unit 61 acquires hitch height data detected by the hitch sensor 2 via the communication bus 8. The hitch height acquisition unit 61 sequentially acquires hitch height data supplied from the hitch sensor 2 via the communication bus 8 at regular time intervals while the work vehicle 10 is driving the work implement 20 and performing agricultural work in the field.

[0053] The vehicle attitude acquisition unit 62 acquires vehicle attitude data detected by the attitude sensor 3 via the communication bus 8. The vehicle attitude acquisition unit 62 sequentially acquires vehicle attitude data supplied from the attitude sensor 3 via the communication bus 8 at regular time intervals while the work vehicle 10 is driving the work implement 20 and performing agricultural work in the field.

[0054] The hitch height control unit 63 uses hitch height data sequentially acquired by the hitch height acquisition unit 61, vehicle attitude data sequentially acquired by the vehicle attitude acquisition unit 62, and estimated function data, optimal working depth data, and physical quantity data of the work implement 20 stored in the storage unit 64 to perform processing to control the height of the hitch 30 so that the working depth of the work implement 20 becomes the optimal working depth. Specifically, this processing is performed by the working depth estimation unit 63a, the control amount calculation unit 63b, and the control request unit 63c.

[0055] The work depth estimation unit 63a uses hitch height data sequentially acquired by the hitch height acquisition unit 61, vehicle attitude data sequentially acquired by the vehicle attitude acquisition unit 62, and physical quantity data of the work implement 20 stored in the storage unit 64 to estimate the work depth of the work implement 20 as the objective variable by inputting the values ​​of hitch height, vehicle attitude, and physical quantity as explanatory variables to the estimation function of equation (1) stored in the storage unit 64. The work depth estimation unit 63a estimates the work depth of the work implement 20 using the estimation function of equation (1) each time the hitch height acquisition unit 61 and the vehicle attitude acquisition unit 62 sequentially acquire hitch height data and vehicle position data via the communication bus 8.

[0056] The control amount calculation unit 63b uses the work depth of the work implement 20 estimated by the work depth estimation unit 63a (hereinafter referred to as the estimated work depth) and the optimal work depth data stored in the storage unit 64 to calculate the control amount of the hitch 30 necessary to make the work depth of the work implement 20 the optimal work depth. As an example, it calculates the difference between the estimated work depth and the optimal work depth and determines the control amount of the hitch 30 based on this difference. For example, a table or function expression defining the relationship between the difference value and the control amount may be prepared in advance, and the difference value may be converted to the control amount based on this table or function expression.

[0057] The control request unit 63c supplies the control amount calculated by the control amount calculation unit 63b to the control device 7 via the communication bus 8, requesting the control device 7 to perform lifting and lowering control of the hitch 30. Upon receiving this request, the control device 7 controls the lifting and lowering of the hitch 30 based on the control amount supplied by the control request unit 63c by supplying a control command to the work equipment lifting device 1 via the communication bus 8.

[0058] Through the control of the control request device 6 and the control device 7 as described above, when the work vehicle 10 drives the work implement 20 and performs agricultural work in the field, the raising and lowering of the hitch 30 is sequentially controlled according to the hitch height data and vehicle attitude data sequentially detected by the hitch sensor 2 and attitude sensor 3, and the physical quantity data of the work implement 20 that has been measured in advance. This optimizes the working depth of the work implement 20 to the optimal working depth regardless of where it is working in the field.

[0059] Furthermore, the system may be configured to switch between a log recording mode, in which hitch height data detected by the hitch sensor 2 and vehicle attitude data detected by the attitude sensor 3 are recorded as log data in the log recording device 5, and a hitch control mode, in which hitch height data detected by the hitch sensor 2 and vehicle attitude data detected by the attitude sensor 3 are input to the control request device 6 to control the height of the hitch 30. Alternatively, log data may be recorded to the log recording device 5 even while the height of the hitch 30 is being controlled.

[0060] Figure 8 is a flowchart illustrating an example of the operation of the analysis device 40. It is assumed that before the flowchart in Figure 8 is executed, agricultural work has been completed while driving across the entire field, and the log data from that time has been recorded in the log recording device 5. Furthermore, it is assumed that after the log data is recorded in the log recording device 5, and before the flowchart in Figure 8 is executed, the physical quantities of the implement 20 and the working depth at any sample location within the field have already been measured.

[0061] The log data acquisition unit 111 of the analysis device 40 acquires log data including hitch height data, vehicle attitude data, and vehicle position data, and stores it in a storage medium (step S1). The actual measurement data acquisition unit 112 acquires actual measurement data of the working depth of the work implement 20 and physical quantity data of the work implement 20, and stores it in a storage medium (step S2). Note that the processes of step S1 and step S2 may be performed in reverse order. Furthermore, it is not necessary to perform the processes of step S1 and step S2 consecutively, and they may be performed with any time interval between them.

[0062] Next, the function generation unit 113 generates an estimation function of equation (1) based on the hitch height data and vehicle attitude data included in the log data acquired by the log data acquisition unit 111, and the measured data of the working depth of the work implement 20 and physical quantity data acquired by the measured data acquisition unit 112, and stores the data of the generated estimation function in the analysis result storage unit 12 (step S3). This step S3 process does not necessarily have to be performed consecutively with the processes of steps S1 and S2, and may be performed with any time interval between them.

[0063] Next, the work depth acquisition unit 114 acquires work depth data at multiple locations throughout the field where the work vehicle 10 has traveled, based on the estimated function generated by the function generation unit 113, using the hitch height data and vehicle attitude data included in the log data acquired by the log data acquisition unit 111, and the physical quantity data of the work implement 20 acquired by the actual measurement data acquisition unit 112 (step S4). Then, the depth map generation unit 115 generates a work depth map showing the work depth at multiple locations in the field where the work vehicle 10 has traveled, based on the work depth data acquired by the work depth acquisition unit 114 and the vehicle position data included in the log data, and stores the data of the generated work depth map in the analysis result storage unit 12 (step S5).

[0064] Furthermore, the growth / yield map generation unit 116 generates a growth / yield map showing the actual growth status or yield values ​​of crops at multiple locations within the field (step S6). This step S6 process does not necessarily have to be performed immediately after the process in step S5, and may be performed with any time interval between them. Also, the process in step S6 may be performed before the processes in steps S3 to S5.

[0065] Then, the optimal depth detection unit 117 detects the optimal working depth that optimizes the growth state or yield of the crop, based on the working depth map generated by the depth map generation unit 115 and the growth / yield map generated by the growth / yield map generation unit 116, and stores the detected optimal working depth data in the analysis result storage unit 12 (step S7). With this, the processing shown in the flowchart in Figure 8 is completed.

[0066] Figure 9 is a flowchart illustrating an example of the operation of the control request device 6. The operation shown in the flowchart in Figure 9 is performed, for example, when a worker instructs the control request device 6 to start operation when the work vehicle 10 is traveling in the field and starting work with the work implement 20. The flowchart in Figure 9 also shows an example of operation performed when the hitch height acquisition unit 61 and the vehicle attitude acquisition unit 62 acquire detection data once via the communication bus 8, and this operation is performed repeatedly.

[0067] First, the hitch height acquisition unit 61 and the work depth acquisition unit 114 acquire hitch height data detected by the hitch sensor 2 and vehicle attitude data detected by the attitude sensor 3 via the communication bus 8 (step S11). Next, the work depth estimation unit 63a of the hitch height control unit 63 uses the hitch height data and vehicle attitude data acquired in step S11 and the physical quantity data of the work implement 20 stored in the storage unit 64 to estimate the work depth of the work implement 20 at that travel position based on the estimation function of equation (1) stored in the storage unit 64 (step S12).

[0068] Next, the control amount calculation unit 63b calculates the control amount of the hitch 30 necessary to make the working depth of the work implement 20 the optimal working depth, based on the difference between the working depth estimated by the working depth estimation unit 63a and the optimal working depth stored in the storage unit 64 (step S13). Then, the control request unit 63c supplies the control amount calculated by the control amount calculation unit 63b to the control device 7 via the communication bus 8 and requests the control device 7 to execute the lifting and lowering control of the hitch 30 (step S14). This completes one process as shown in Figure 9.

[0069] As explained in detail above, in this embodiment, based on the estimation function of equation (1), which includes hitch height data, work vehicle 10 attitude data, and implement 20 physical quantity data as input data (explanatory variables) and the work depth data of implement 20 as output data (dependent variable), work depth data is acquired using log data including hitch height detection data and vehicle attitude detection data. Based on the acquired work depth data and the travel position detection data of the work vehicle 10 included in the log data, a work depth map is generated that shows the work depth at multiple locations in the field where the work vehicle 10 traveled.

[0070] In this embodiment, working depth data is acquired based on a predetermined estimation function using detection data related to the height of the hitch 30 and the posture of the work vehicle 10, which affect the working depth of the work implement 20, as well as physical quantity data of the work implement 20, which also affects the working depth of the work implement 20. A map showing the working depth at multiple locations in the field is then generated using this working depth data and detection data of the travel position of the work vehicle 10. This makes it possible to generate a working depth map that represents the working depth itself at multiple locations in the field.

[0071] Furthermore, in this embodiment, the optimal working depth for optimizing crop growth or yield is detected based on the working depth map generated as described above and a separately generated growth / yield map. Therefore, the working depth for optimizing crop growth or yield in a given field can be determined in accordance with hitch height data and vehicle attitude data obtained when actually driving and working in the field, and physical quantity data of the implement 20 that has been measured in advance. This makes it possible to adjust the working depth of the implement 20 to the optimal working depth determined for each field.

[0072] Furthermore, in this embodiment, when the implement 20 is driven and the work vehicle 10 is driving in the field and performing agricultural work, the raising and lowering of the hitch 30 is controlled so that the working depth of the implement 20 becomes the optimal working depth, based on the detection data supplied sequentially from the hitch sensor 2 and the attitude sensor 3, the physical quantity data of the implement 20 that has been measured in advance, and the estimated function and optimal working depth data analyzed by the analysis device 40. This makes it possible to control the height of the hitch 30 so that the working depth of the implement 20 becomes the optimal working depth suitable for each field, based on the estimated function analyzed for each field.

[0073] In the above embodiment, an estimation function may be generated for each predetermined working condition, as illustrated in Figure 10(a). Examples of working conditions include, but are not limited to, work type, crop type, soil classification, and soil moisture. In this case, an appropriate estimation function is generated for each working condition, and an appropriate working depth map is generated for each working condition based on that estimation function. Furthermore, as shown in Figure 10(b), an appropriate optimal working depth can be obtained for each working condition based on the working depth map generated for each working condition.

[0074] Furthermore, the optimal working depth used for processing in the control request device 6 may be set by an experienced worker. In other words, an experienced worker who has empirically learned what working depth optimizes crop yields by performing agricultural work in a specific field under specific working conditions may store their independently determined optimal working depth data in the storage unit 64 and use this optimal working depth data to control the height of the hitch 30.

[0075] Furthermore, the estimated function and optimal work depth stored in the memory unit 64 may be updated as needed. That is, the analysis device 40 may perform data analysis as needed based on the log data recorded as needed in the log recording device 5, and the data in the memory unit 64 may be updated as needed with the estimated function and optimal work depth data obtained as needed.

[0076] In the above embodiment, an example was described in which the working depth acquisition unit 114 of the analysis device 40 and the working depth estimation unit 63a of the control request device 6 acquire working depth data based on the estimation function of equation (1), which includes hitch height data, vehicle attitude data, and physical quantity data of the work implement 20 as input data and outputs working depth data. However, the embodiment is not limited to this. For example, the physical quantity data of the work implement 20 may be omitted.

[0077] Furthermore, in the above embodiment, an example of generating the estimation function of equation (1) by multiple regression analysis was described as an example of an estimation model, but it is not limited to this. For example, the estimation model may be a machine learning model that includes hitch height data, vehicle attitude data, and physical quantity data of the work equipment 20 as input data, and work depth data as output data. In this case, the learning model generation unit is used instead of the function generation unit 113 in Figure 3. Also, the work depth acquisition unit 114 in Figure 3 and the work depth estimation unit 63a in Figure 4 acquire work depth data using the machine learning model generated by the learning model generation unit. The form of the machine learning model can be, for example, a regression model, but is not limited to this. For example, it may be a tree model, a neural network model, a Bayesian model, etc.

[0078] Furthermore, in the above embodiment, an example was described in which a control request device 6 is provided in addition to the control device 7, and the control request device 6 has the configuration shown in Figure 4. However, the control device 7 may also have the configuration shown in Figure 4.

[0079] Furthermore, the above embodiments are merely examples of how the present invention may be implemented, and the technical scope of the invention should not be interpreted as being limited by them. In other words, the present invention can be implemented in various ways without departing from its gist or its main features. [Explanation of Symbols]

[0080] 1. Work equipment lifting device 2 hitch sensors 3. Attitude Sensor 4 GNSS sensors 5. Log recording device 6. Control Request Device 7 Control device 8. Communication Bus (CAN) 10 Work Vehicles 11 Analysis Department 12 Analysis result storage section 20 Work Machines 30 Hitch 40 Analyzer 61 Hitch height acquisition section 62 Vehicle attitude acquisition unit 63 Hitch High Control Unit 63a Working depth estimation unit 63b Control variable calculation unit 63c Control Request Unit 64 Memory section 111 Log data acquisition unit 112 Measurement Data Acquisition Unit 113 Function generation section 114 Working depth acquisition unit 115 Depth Map Generation Unit 116 Growth and Yield Map Generation Unit 117 Optimal depth detection unit

Claims

1. A log data acquisition unit acquires log data including detection data for the height of the hitch connecting the work vehicle and the work machine, detection data for the attitude of the work vehicle, and detection data for the travel position of the work vehicle. A work depth acquisition unit acquires the work depth data using the hitch height data and vehicle attitude data included in the log data, based on a predetermined estimation model that includes the hitch height data and the attitude data of the work vehicle as input data and the work depth data of the work machine as output data. The system includes a depth map generation unit that generates a work depth map showing the work depth at multiple locations within the field where the work vehicle traveled, based on the work depth data acquired by the work depth acquisition unit and the vehicle position data included in the log data. A work depth-related processing system characterized by the following:

2. The work depth-related processing system according to claim 1, characterized in that the work depth acquisition unit includes the hitch height data, the vehicle attitude data, and the physical quantity data of the work implement as input data, and acquires the work depth data based on a predetermined estimation model which uses the work depth data as output data, using the hitch height data and the vehicle attitude data included in the log data and the physical quantity data of the work implement that has been measured in advance.

3. The work depth-related processing system according to claim 1, characterized in that the predetermined estimation model is a predetermined function that includes the height of the hitch and the attitude of the work vehicle as explanatory variables and the work depth of the work machine as the objective variable.

4. The work depth-related processing system according to claim 3, further comprising a function generation unit that generates the predetermined function by performing multiple regression analysis using the measured data of the explanatory variable and the measured data of the objective variable.

5. The work depth-related processing system according to claim 2, characterized in that the predetermined estimation model is a predetermined function that includes the height of the hitch, the attitude of the work vehicle, and the physical quantity of the work machine as explanatory variables, and the work depth of the work machine as the objective variable.

6. The work depth-related processing system according to claim 5, further comprising a function generation unit that generates the predetermined function by performing multiple regression analysis using the measured data of the explanatory variable and the measured data of the objective variable.

7. A growth and yield map generation unit generates a growth and yield map that shows the actual growth status or yield values ​​of crops at multiple locations within the field mentioned above. The system further includes an optimal depth detection unit that detects the optimal working depth at which the growth state or yield of the crop is optimized, based on the working depth map generated by the depth map generation unit and the growth / yield map generated by the growth / yield map generation unit. A work depth-related processing system according to any one of claims 1 to 6.

8. A growth and yield map generation unit generates a growth and yield map that shows the actual growth status or yield values ​​of crops at multiple locations within the field mentioned above. Based on the work depth map generated by the depth map generation unit and the growth / yield map generated by the growth / yield map generation unit, an optimal depth detection unit detects the optimal work depth at which the growth state or yield of the crop is optimized. A hitch height acquisition unit acquires data for detecting the height of the hitch, A vehicle attitude acquisition unit acquires data on the attitude of the above-mentioned work vehicle, The system further includes a hitch height control unit that uses the above-mentioned predetermined function, the hitch height data acquired by the hitch height acquisition unit, and the vehicle attitude data acquired by the vehicle attitude acquisition unit to perform processing to control the height of the hitch so that the working depth of the work implement becomes the optimal working depth detected by the optimal depth detection unit. The work depth-related processing system according to feature 3 or 4.

9. A growth and yield map generation unit generates a growth and yield map that shows the actual growth status or yield values ​​of crops at multiple locations within the field mentioned above. Based on the work depth map generated by the depth map generation unit and the growth / yield map generated by the growth / yield map generation unit, an optimal depth detection unit detects the optimal work depth at which the growth state or yield of the crop is optimized. A hitch height acquisition unit acquires data for detecting the height of the hitch, A vehicle attitude acquisition unit acquires data on the attitude of the above-mentioned work vehicle, The system further includes a hitch height control unit that performs processing to control the height of the hitch so that the working depth of the work implement becomes the optimal working depth detected by the optimal depth detection unit, using the above-mentioned predetermined function, the hitch height data acquired by the hitch height acquisition unit, the vehicle attitude data acquired by the vehicle attitude acquisition unit, and the above-mentioned physical quantity data that have been measured in advance. The work depth-related processing system according to claim 5 or 6.

10. A log data acquisition unit acquires log data including detection data for the height of the hitch connecting the work vehicle and the work machine, detection data for the attitude of the work vehicle, and detection data for the travel position of the work vehicle. A work depth acquisition unit acquires the work depth data using the hitch height data and vehicle attitude data included in the log data, based on a predetermined estimation model that includes the hitch height data and the attitude data of the work vehicle as input data and the work depth data of the work machine as output data. The system includes a depth map generation unit that generates a work depth map showing the work depth at multiple locations within the field where the work vehicle traveled, based on the work depth data acquired by the work depth acquisition unit and the vehicle position data included in the log data. An analytical device characterized by the following features.

11. The analysis device according to claim 10, characterized in that the work depth acquisition unit includes the hitch height data, the vehicle attitude data, and the physical quantity data of the work machine as input data, and acquires the work depth data based on a predetermined estimation model which uses the work depth data as output data, using the hitch height data and the vehicle attitude data included in the log data and the physical quantity data of the work machine which has been measured in advance.

12. A growth and yield map generation unit generates a growth and yield map that shows the actual growth status or yield values ​​of crops at multiple locations within the field mentioned above. The system further includes an optimal depth detection unit that detects the optimal working depth at which the growth state or yield of the crop is optimized, based on the working depth map generated by the depth map generation unit and the growth / yield map generated by the growth / yield map generation unit. The analytical apparatus according to claim 10 or 11, characterized in that it is a analytical apparatus.

13. The log data acquisition unit of the analysis device acquires log data including detection data for the height of the hitch connecting the work vehicle and the work machine, detection data for the attitude of the work vehicle, and detection data for the travel position of the work vehicle. The working depth acquisition unit of the analysis device includes the hitch height data and the attitude data of the work vehicle as input data, and based on a predetermined estimation model that uses the working depth data of the work machine as output data, it acquires the working depth data using the hitch height data and vehicle attitude data included in the log data. The depth map generation unit of the analysis device has the following steps: it generates a work depth map showing the work depth at multiple locations within the field where the work vehicle traveled, based on the work depth data acquired by the work depth acquisition unit and the vehicle position data included in the log data. A method for processing work depth, characterized by the following:

14. The growth and yield map generation unit of the above-mentioned analysis device generates a growth and yield map showing the actual growth status or yield values ​​of crops at multiple locations within the field, The optimal depth detection unit of the above-mentioned analysis device further includes the step of detecting the optimal working depth at which the growth state or yield of the crop is optimized, based on the working depth map generated by the depth map generation unit and the growth / yield map generated by the growth / yield map generation unit. The working depth-related processing method according to feature 13.

15. The above-described predetermined estimation model is a predetermined function that includes the height of the hitch and the attitude of the work vehicle as explanatory variables, and the working depth of the work machine as the dependent variable. The hitch height acquisition unit and vehicle attitude acquisition unit provided in the above-mentioned work vehicle acquire detection data for the height of the hitch and detection data for the attitude of the above-mentioned work vehicle, The hitch height control unit provided in the above-mentioned work vehicle has a step of performing a process to control the height of the hitch using the predetermined function, the hitch height data acquired by the hitch height acquisition unit, and the vehicle attitude data acquired by the vehicle attitude acquisition unit, so that the working depth of the work machine becomes the optimal working depth detected by the optimal depth detection unit. The working depth-related processing method according to feature 14.

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