Management system for work vehicles

Abstract

Develop a work plan that is appropriate for the shape of the field. [Solution] The system includes a work vehicle 10 that performs work in a field F while automatically driving, field data including shape information of the field F, and work vehicle data including working width information of the work vehicle 10, and a control means 40 that assigns the work vehicle 10 to perform work in a field area corresponding to the area of ​​the field to be worked on based on the field data and the work vehicle data, and if the shape of the field F is not rectangular, the control means 40 includes a rectangular area F3 that has the largest area and a narrow area F S The area is divided into a rectangular area F3 and a non-rectangular area F4, and the first work vehicle 10 is assigned to the rectangular area F3, and the working width W of the first work vehicle is assigned to the non-rectangular area F4. W Wider working width than W W A small second work vehicle, vehicle number 10, is assigned.

Description

[Technical Field]

[0001] This invention relates to a management system for work vehicles. [Background technology]

[0002] Conventionally, there are known work vehicle management systems that store the work capabilities of multiple work vehicles, such as their working width, and multiple potential work sites (fields), and extract a preferred field from the potential work sites based on the work capabilities of the work vehicles, and transmit the location information of the field to be worked on to the work vehicle (see, for example, Patent Document 1).

[0003] Furthermore, in such work vehicle management systems, if multiple work vehicles have completed their work, map information (location information of the field where work is being performed) is sent preferentially to the work vehicle with the largest work capacity. [Prior art documents] [Patent Documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 11-203523 [Overview of the project] [Problems that the invention aims to solve]

[0005] However, while conventional work vehicle management systems, as described above, can improve work efficiency by prioritizing work vehicles with high work capacity, these vehicles are also large, and depending on the shape of the field, uncultivated areas (known as residual tillage) may occur. Specifically, if there are narrow areas in the field where large work vehicles cannot operate, residual tillage may occur.

[0006] In other words, the conventional work vehicle management systems described above had room for improvement in terms of formulating work plans that were suitable for the shape of the field.

[0007] The present invention has been made in view of the above, and aims to provide a work vehicle management system that can formulate a work plan suitable for the shape of the field. [Means for solving the problem]

[0008] To solve the above-mentioned problems and achieve the objective, the work vehicle management system (1) according to the embodiment includes a work vehicle (10) that performs work in a field (F) while automatically driving, field data relating to the field (F) and including shape information of the field (F), and work vehicle data relating to a plurality of work vehicles (10) and including working width information of the work vehicles (10), and a control means (40) that assigns the work vehicle (10) to perform work corresponding to the area of ​​the field to be worked on based on the field data and the work vehicle data, and the control means (40) determines from the field data, if the shape of the field (F) is not rectangular, the rectangular area (F3) which is the largest area in the field (F) and the narrow part (F S The area is divided into a rectangle (F4) and a non-rectangular area (W), and the working width (W) of the work vehicle (10) is obtained from the work vehicle data. W The first work vehicle (10) is assigned to the rectangular area (F3) according to the following, and the working width (W) of the first work vehicle is assigned to the area other than the rectangle (F4). W ) is greater than the working width (W W ) assigns the smaller second work vehicle (10). [Effects of the Invention]

[0009] According to the work vehicle management system of this embodiment, it is possible to formulate a work plan that is suitable for the shape of the field. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a schematic diagram illustrating the management system for a work vehicle according to this embodiment. [Figure 2] Figure 2 is a block diagram showing the functions of the work vehicle management system according to the embodiment. [Figure 3]Figure 3 is a schematic diagram illustrating the operation control device and the information processing device. [Figure 4] Figure 4 is a block diagram showing the functions of the work control device. [Figure 5] Figure 5 is an explanatory diagram of the field's shape. [Figure 6] Figure 6 is an explanatory diagram of the working width rankings for work vehicles. [Figure 7] Figure 7 shows an example of assigning work vehicles to a field to be worked on. [Figure 8] Figure 8 is a flowchart showing an example of the processing procedure for work vehicle allocation control (part 1). [Figure 9] Figure 9 is a flowchart showing an example of the processing procedure for work vehicle allocation control (part 2). [Figure 10] Figure 10 is an explanatory diagram (part 1) of the corner of the field. [Figure 11] Figure 11 shows a modified example of assigning work vehicles to the field to be worked on. [Figure 12] Figure 12 is an explanatory diagram (part 2) of the corner of the field. [Figure 13] Figure 13 is an explanatory diagram for determining acute angles when the corners of a field are curved. [Figure 14] Figure 14 is an explanatory diagram of the division of a field that contains narrow areas. [Figure 15] Figure 15 is an explanatory diagram of the work plan (part 1) in the field. [Figure 16] Figure 16 is an explanatory diagram of the work plan (part 2) in the field. [Figure 17] Figure 17 is an explanatory diagram of the work plan (part 3) in the field. [Modes for carrying out the invention]

[0011] The embodiments of the work vehicle management system disclosed herein will be described in detail below with reference to the attached drawings. However, the present invention is not limited to the embodiments described below.

[0012] First, an example of the configuration of the work vehicle management system 1 according to the embodiment will be described with reference to Figures 1 to 4. Figure 1 is a schematic diagram illustrating the work vehicle management system 1 according to the embodiment. Figure 2 is a block diagram illustrating the functions of the work vehicle management system 1 according to the embodiment. Figure 3 is a schematic diagram illustrating the work control device 30 and the information processing device 40. Figure 4 is a block diagram illustrating the functions of the work control device 30.

[0013] As shown in Figure 1, the work vehicle management system 1 includes, for example, a tractor 10 as an example of a work vehicle, a positioning device 20 that measures a positioning point indicating the position (self-position) of the tractor 10, a work control device 30 which is a control unit capable of generating work-related information by the tractor 10, and an information processing device 40 (control means described later) that can communicate with the work control device 30.

[0014] Furthermore, the work vehicle management system 1 controls multiple tractors 10.

[0015] The tractor 10, which is a work vehicle, is an agricultural tractor and comprises a vehicle body 11 and an implement 12. The vehicle body 11 is capable of traveling on the field F (FA, FB, FC). The implement 12 is, for example, mounted on the rear of the vehicle body 11 and performs ground work in the field F. The implement 12 is, for example, a rotary tiller that cultivates the soil surface of the field F. While the implement 12 of the tractor 10 is a rotary tiller, the implement 12 may also be a seedling planting device if the work vehicle 10 is a seedling transplanter, a fertilizer applicator if the work vehicle 10 is a fertilizer applicator, or a harvesting device if the work vehicle 10 is a combine harvester.

[0016] Additionally, field F has an entrance F for tractor 10. IN and exit F OUT An entrance F is provided. IN and exit F OUT A single entrance / exit may be provided.

[0017] The vehicle body 11 is equipped with an engine and a power transmission system. The engine is the power source for both the vehicle body 11 and the implement 12. The engine is a heat engine, such as a diesel engine or a gasoline engine. The power transmission system has a clutch that can connect the engine and the drive wheels, and when the clutch is engaged, it transmits power from the engine to the drive wheels and the implement 12. Also, when the clutch is in the neutral position, the connection between the engine and the drive wheels is released, and power from the engine is not transmitted to the drive wheels. In other words, when the clutch is in the neutral position, the tractor 10, which is the work vehicle, decelerates. The vehicle body 11 can travel freely on farm roads R and within fields F.

[0018] As described above, the positioning device 20 measures the position of the tractor 10. Specifically, the positioning device 20 is a GNSS (Global Navigation Satellite System) control device that acquires position information, including a positioning point indicating the tractor 10's own position. The GNSS control device 20, which is the positioning device, can determine the tractor 10's own position and time it by receiving radio waves from navigation satellites 50 orbiting the Earth. That is, the position information includes information on the tractor 10's own position, which is the positioning point, and information on the time when the positioning point was measured.

[0019] The work control device 30 is an example of a control device that controls the automatic driving (autonomous driving) of the tractor 10 in the field F, and comprises a control unit 31 (see Figure 2), which will be described later, and a storage unit 32 (see Figure 2). The work control device 30 may also include, for example, a portable terminal device (for example, a tablet terminal) which is an information processing device that can be brought onto the tractor 10. The tablet terminal can be wirelessly connected to the control unit 31, etc., by a short-range wireless communication standard such as Bluetooth®.

[0020] As shown in FIG. 2, a management system 1 of a work vehicle is constructed such that, for example, a plurality of tractors 10 can be connected to at least one information processing device 40 via a communication network N. A work control device 30 is provided for each of the tractors 10. That is, the management system 1 of the work vehicle according to the present embodiment is a system capable of so-called cloud computing.

[0021] The work control device 30 can generate work-related information including travelable area information in which at least the tractor 10 can travel automatically. Here, the travelable area information is, for example, as shown in FIG. 1, in a predetermined farm field F, a travel route (work route) R along which the tractor 10 can safely travel unmanned without deviating from the outermost edge of the effective cultivated land (work area) within each farm field F by automatic driving. W It is information including

[0022] The information processing device 40 is, for example, a computer provided with a processing device such as a CPU (Central Processing Unit), a storage device such as a ROM (Read Only Memory), a RAM (Random Access Memory), and a HDD (Hard Disk Drive), and further an input / output device.

[0023] In the information processing device 40, an agricultural work support server 41, a personal computer (hereinafter referred to as PC) 42, etc. are connected to the work control device 30 via the communication network N. In the present embodiment, as the information processing device 40, one information processing device 40 including the agricultural work support server 41 and the PC 42 is installed in a management building H that manages a plurality of farm fields F. The PC 42 of the information processing device 40 functions as a control means for allocating the tractor 10 to the farm field F where work is performed in the management system 1 of the work vehicle.

[0024] The information processing device 40 stores field map information (including field data described later) associated with field identification information 100a to 100i (see Figure 3) for each of the multiple fields F in the storage unit 422 described later. In addition, the information processing device 40 can acquire work-related information (including work vehicle data described later) generated by the work control device 30 and store it independently in the storage unit 422 for each field F.

[0025] The control unit 31 of the work control device 30 controls various ECUs (Electronic Control Units) 111 (see Figure 4) that control each system mounted on the work vehicle (tractor 10), such as the engine and the running gear.

[0026] The control unit 31 executes an automatic driving mode to automatically drive the tractor 10. The control unit 31 can also switch to a manual driving mode in which an operator (driver) is on board and manually drives the tractor. In addition, the control unit 31 can control the lifting and lowering of the implement 12, the opening and closing of the power transmission switch that controls the clutch engagement state, and the operation of the drive system.

[0027] The automatic driving mode includes a work mode in which the machine operates automatically within field F, and an inter-field movement mode in which the machine moves between fields automatically. The control unit 31 switches between these modes according to instructions from the information processing device 40.

[0028] Furthermore, the control unit 31 automatically drives the tractor 10 along a pre-registered travel path RW (see Figure 1) based on position information from the GNSS control device 20, which is a positioning device. The control unit 31 also sets a work area setting mode to define the work area in the field F where the tractor 10 can automatically travel, and then executes the work area setting mode.

[0029] As shown in Figure 3, the field-related information acquired from the information processing device 40 and stored in the storage unit 32 of the work control device 30 includes field map information indicating the location of field F to which field identification information 100a to 100i is individually assigned, and work-related information associated with the field map information. For example, for each of the fields F in districts A, B, and C, which are divided into districts, work-related information concerning the multiple partitioned fields A0 to A2, B0 to B3, and C0 to C1 is compiled into a database as necessary information and stored in the storage unit 32.

[0030] In this type of work vehicle management system 1, work-related information acquired by the tractor 10 can be associated with each of the multiple fields F that can be visually identified by map information, and managed centrally by, for example, an information processing device 40 (such as an agricultural work support server 41). This makes it easier to plan future work and improves convenience.

[0031] Furthermore, if the work control device 30 is equipped with a tablet terminal, for example, by sequentially uploading work-related information to the agricultural work support server 41 via the tablet terminal, it becomes possible to create work plans on the agricultural work support server 41 or PC 42 using cloud computing.

[0032] Furthermore, since the information processing device 40 also stores information on areas where autonomous driving is possible, autonomous driving becomes possible in any of the multiple fields F that are the target of the work.

[0033] Furthermore, in the work vehicle management system 1 according to this embodiment, the drivable area information, including the travel path RW (see Figure 1) for automatically driving the tractor 10, is generated by the work control device 30. For example, when the tractor 10 is driven manually within the field F, the work control device 30 (control unit 31) acquires the travel path RW and the acquired travel path R W Based on this, information on areas where driving is permitted is generated.

[0034] The work control device 30 (storage unit 32) includes the working width W of the tractor 10, including other vehicles working in the field F. W (See Figure 6) Information about the work vehicle (work vehicle data), including horsepower, wheelbase, tread, tire width, and various other specifications, is stored.

[0035] Thus, a tractor 10 whose various parts are controlled by electronic control can perform predetermined tasks in a predetermined work area by automatically driving, even when the tractor 10 is not being driven by a human. In this case, the automatically driving tractor 10 can travel safely without deviating from the work area in field F (see Figure 1).

[0036] The work control device 30, like the information processing device 40 described above, is equipped with a processing unit (control unit 31) having a CPU, a storage device (storage unit 32) such as ROM, RAM, or HDD, and an input / output device. Each device is connected to the others and can exchange signals with them.

[0037] In addition, the control unit 31 of the work control device 30 is connected to various ECUs 111, as well as, for example, various actuators 112, various sensors 113, a camera 114, an automatic steering system 115, and a GNSS control device 20.

[0038] Examples of the various actuators 112 include various cylinders such as a lifting cylinder for raising and lowering the work equipment 12 (see Figure 1), and a throttle motor (electric motor) for adjusting the intake volume of the engine.

[0039] The various sensors 113 include, for example, a topsoil depth sensor for detecting the topsoil depth of field F, a fertility sensor for detecting the fertilizer concentration of field F, weight sensors such as load cells for detecting the weight of harvested products like rice grains or seedlings, a rotation sensor for detecting the rotation speed of the rear wheels, a tilt sensor for detecting the tilt of the vehicle body 11, and various other sensors such as a work clutch sensor and a temperature sensor.

[0040] Multiple cameras 114 are installed at appropriate locations on the vehicle body 11. The image data captured by the cameras 114 can be viewed, for example, via an information processing device 40 installed in the management building H shown in Figure 1. The work control device 30 can also determine the crop growth status and work status from the image data captured by the cameras 114.

[0041] The GNSS control device 20, which acquires positional information including a positioning point indicating the tractor 10's own position, receives radio waves from navigation satellites 50 using a receiving antenna 21 installed on the vehicle body 11, and acquires GNSS coordinates at predetermined time intervals, thereby acquiring positional information (positioning points) on Earth at predetermined intervals.

[0042] The work control device 30 generates field-related information (see Figure 3) by associating the location information and work-related information for each location acquired by the GNSS control device 20 with field map information indicating the locations of fields FA, FB, and FC (see Figure 1), and records this information as independent information for each field FA, FB, and FC. The generated independent information is transmitted to the information processing device 40 via the communication network N (see Figure 2).

[0043] The automatic steering system 115 is controlled by the control unit 31 based on position information acquired by the GNSS control device 20 when the automatic driving mode of the tractor 10 is executed. That is, the control unit 31 automatically operates the steering wheel provided on the vehicle body 11, and the vehicle body 11 is driven automatically. As shown in Figure 4, the automatic steering system 115 includes a steering motor 115a that rotates the steering wheel by applying an arbitrary rotational force, and a steering potentiometer 115b that detects the rotation angle of the steering wheel.

[0044] Furthermore, it is also possible to use unmanned aerial vehicles, commonly known as drones, as the management system 1 for work vehicles. The unmanned aerial vehicle should be equipped with an imaging device similar to the camera 114 installed on the tractor 10, and an antenna capable of constructing part of the GNSS control device 20.

[0045] The PC 42 (control unit 421) of the information processing device 40 acquires various types of information. For example, the control unit 421 sequentially receives information detected by various sensors 113 installed on the tractor 10, determines whether the received information is field information (field data) related to field F, work vehicle information (work vehicle data) related to the work vehicle (tractor) 10, or work-related information, and stores the information in the field database 321, work vehicle database 322, or work database 323 of the storage unit 32 via the storage unit 422.

[0046] The control unit 31 acquires the position information obtained by the GNSS control device 20. Specifically, the control unit 31 acquires the positioning points included in the position information as shape information (field data) indicating the shape of field F. The control unit 31 also sets a work area in which the tractor 10 can automatically travel based on the shape information, and sets a travel path (work path) R in which the tractor 10 will work by automatically traveling based on the set work area. W (See Figure 1) is generated.

[0047] Furthermore, the control unit 31 controls the automatic driving of the tractor 10 during field work and inter-field movement, according to instructions from the information processing device 40. The control unit 31 switches between the work mode, inter-field movement mode, and standby mode in automatic driving mode according to instructions from the information processing device 40.

[0048] Furthermore, the control unit 31 can automatically generate travel route information, i.e., travelable area information, for the tractor 10 based on position information from the GNSS control device 20 and work-related information included in the field-related information. The generated travelable area information is stored in the route database 324 of the storage unit 32, with a one-to-one correspondence to each of the plotted fields A0-A2, B0-B3, and C0-C1 (see Figure 3).

[0049] The memory unit 32 stores various information, including various programs necessary for control processing by the control unit 31. Specifically, the memory unit 32 includes a field database 321, a work vehicle database 322, a work database 323, a route database 324, and a program unit 325 that stores various programs.

[0050] The storage unit 32 stores work-related information as field-related information, which is independent information for each of the multiple fields FA, FB, and FC (see Figure 1), associated with field map information that shows the location of each field FA, FB, and FC, to which field identification information 100a to 100i has been individually assigned. In other words, for each of the fields FA, FB, and FC, which are divided by district, the necessary information regarding the multiple partitioned fields A0 to A2, B0 to B3, and C0 to C1 is compiled into a database and stored in the storage unit 32.

[0051] For example, the field database 321 includes management information such as the location, name, and owner of field F, as well as shape information indicating the shape of field F. The work vehicle database 322 includes the working width (tillage width) W of the work vehicle, tractor 10. W This includes information on working capacity such as working width and horsepower, as well as various other specifications such as wheelbase, tread, tire width, and other data. The work database 323 contains information on the work process in field F. For example, the work database 323 contains information on work performed in the past and work planned to be performed in the future. The route database 324 contains information on the work area and the travel route (work route) R set within the work area. W This contains information about...

[0052] Furthermore, for example, the memory unit 32 stores the shape of field F, the work area, and the reference line in association. This eliminates the need for setting up the system when performing the same work in the same field F in subsequent years, thus reducing the burden on the worker. In addition, the shape of field F is stored, for example, with the centroid or center of the polygon as a representative point of field F.

[0053] Furthermore, each database stored in the memory unit 32 can be sorted according to a predetermined sorting method. For example, when selecting past field F, the fields F closest to the current location (for example, a representative point) are displayed in order on the monitor of the information processing device 40 (see Figure 2). Alternatively, they may be displayed in the order in which work was performed last year. Field F may also be displayed in the order of registration.

[0054] The program unit 325 stores computer programs that control the overall operation of the tractor 10, such as a work path generation program that generates work path information when the tractor 10 is driven automatically, and an automatic steering program that drives the tractor 10 automatically according to the generated work path information.

[0055] The work path generation program includes, for example, a self-position acquisition step that acquires information indicating the self-position of the tractor 10, which is positioned by a GNSS control device 20, and a travel path generation step that generates a travel path RW (see Figure 1) including information on the drivable area where the tractor 10 can automatically travel, based on the acquired self-position information and pre-stored field map information. Furthermore, it includes a transmission step that generates various work-related information in addition to the travel path RW and transmits the generated information to an information processing device.

[0056] Furthermore, the field database 321 of the memory unit 32 stores field-related information as shown in Figure 3. This field-related information is generated, for example, by the control unit 31, by linking field identification information 100a to 100i that identifies field F, field map information consisting of image data showing the location of field F on a map, and work-related information.

[0057] In the work vehicle management system 1, for example, the information processing device 40 stores the work capacity of multiple tractors 10 and multiple candidate work sites (fields F), extracts a preferred field F from among the candidate work sites F based on the work capacity of the tractor 10, transmits map information (location information) of the field F to be worked on to the tractor 10, and directs the tractor 10 to field F. The work capacity of the tractor 10 is, for example, the working width (tillage width) W of the implement 12. W (See Figure 6.)

[0058] However, the working width W W The large tractor 10 has a large body, and depending on the shape of the field F, residual tilling may occur. Specifically, in narrow areas of field F where the large tractor 10 cannot work, so-called narrow areas F S If a narrow section F (see Figure 5) exists, the large tractor 10 cannot perform the work, and uncultivated areas may occur. For this reason, in this embodiment, S Field F in which such a thing exists has a narrow section F S Assign tractor 10 capable of performing the task.

[0059] Next, the method for assigning the work vehicles (tractors) 10 will be explained with reference to Figures 5-9. Figure 5 is an explanatory diagram of the shape of field F. Figure 6 shows the working width W of the work vehicle (tractor) 10. W This is an explanatory diagram of the ranks. Figure 7 shows an example of assigning a work vehicle (tractor) 10 to the field F to be worked on. Figures 8 and 9 are flowcharts showing an example of the processing procedure for controlling the assignment of the work vehicle (tractor) 10.

[0060] As described above, the information processing device 40 (PC42) (see Figure 2), which is a control means, has field data and work vehicle data. The field data is data relating to multiple fields F and includes shape information of these multiple fields F. The work vehicle data is data relating to multiple tractors 10 and includes working width information of the implements 12 of these multiple tractors 10. The work vehicle data also includes horsepower information of the multiple tractors 10.

[0061] The information processing device 40 selects a tractor 10 from among several tractors 10 that corresponds to the target field (also called the work field) F, based on field data and work vehicle data, and directs the selected tractor 10 to the work field F. The tractor 10 selected by the information processing device 40 automatically travels along farm roads R, etc., to reach the target field F.

[0062] In this embodiment, the narrow part F S The system is configured to include an information processing device 40 as a control means for assigning a tractor 10 to a field F where a narrow section F exists, for example, S In order to assign tractor 10 to field F where such a device exists, a configuration utilizing AI (artificial intelligence) may be used instead of a control device (PC42 of information processing device 40).

[0063] As shown in Figure 5, field F has shapes that consist only of right-angled or obtuse-angled corners FC (FC1) (left side in the figure), as well as shapes that consist of at least one acute-angled corner FC (FC2) (right side in the figure). The acute-angled corner FC2 is a narrow part of field F where a large tractor 10 cannot work, a so-called narrow area F S This can happen. The work control device 30 controls the narrow section F in the field F. S In field F where this exists, the working width W is as described later. W Send in a small tractor 10.

[0064] Therefore, for fields F with a shape that has only right-angled or obtuse-angled corners FC1, the information processing device 40 selects a tractor 10 according to the size (area) of the field, as usual, and for acute-angled corners F C2 A field F having a shape (i.e., narrow section F) S In field F) where such a thing exists, there is a narrow section F S Select a tractor 10 capable of performing the task and direct the tractor 10 towards the target field F.

[0065] As shown in Figure 6, the work vehicle management system 1 (see Figure 1) is equipped with multiple tractors 10 of different vehicle class (a classification determined by the size of the vehicle body, engine displacement, etc.). The information processing device 40 divides the multiple tractors 10 into multiple stages according to their vehicle class. Specifically, the information processing device 40 determines the working width W of the implement 12. W Depending on the situation, multiple tractors 10 are divided into four stages, for example, "Class A to D". For example, "Class A" has a working width W W The largest tractor is Class B, with the second widest working width (W) being Class A. W The large tractor 10 (tractor 10 group) is "Class C" with the next widest working width W after "Class B". W It is a large tractor 10, and "Class D" has a working width W W This is the smallest tractor 10 (tractor 10 group).

[0066] In this embodiment, the "Class C" and "Class D" tractors 10 are located in the narrow section F S It is responsible for working in field F where the following exists. Note that the tractor 10 is not limited to this four-level classification; for example, it may be classified into two levels, "large" and "small," or into three levels, "large," "medium," and "small." Furthermore, the tractor 10 may be classified into five or more levels. Even in such a classification, the working width W W The small tractor 10 (tractor group 10) is in a narrow section F S I will be responsible for the work in field F where [the item / condition] exists.

[0067] The information processing device 40 identifies narrow areas F in the target field F from the field data. S If such a narrow section F exists, S Depending on the degree of narrowness, this narrow part F S We will rank them. Below, we will rank the narrowest part F S This rank is called the "narrow rank". As shown in Figure 5, the narrow part F SThe smaller the angle of corner FC of field F, the greater the degree of narrowness. The narrowness rank is set such that, for example, a higher degree of narrowness corresponds to a higher rank, and a lower degree of narrowness corresponds to a lower rank.

[0068] Furthermore, the information processing device 40 obtains the working width W of the tractor 10 from the work vehicle data. W Depending on the work width W W We will rank them. Below, we will consider the working width W. W This rank is called the "working width rank". As shown in Figure 6, generally, the larger the size of the tractor 10, the greater the working width W W It also gets bigger. The work width rank is, for example, work width W W The larger the size, the higher the rank, and the working width W W The smaller the value, the lower the rank.

[0069] Then, when directing the tractor 10 to the target field F, the information processing device 40 assigns the tractor 10 to the target field F by matching the narrowness rank and the working width rank. Specifically, the information processing device 40 assigns the tractor 10 to the target field F by matching the narrowness rank and the working width rank. S If such a thing exists, narrow part F S To enable this work, a tractor 10 with a working width rank corresponding to the narrowness rank is directed to the target field F. In this case, the information processing device 40 indicates that the target field F has a narrow section F S The greater the degree of narrowness, the wider the working width W W A small tractor 10 is assigned. In other words, the higher the narrowness rank, the lower the tractor 10 with the lower working width rank is assigned.

[0070] Also, for example, a narrow section F where the angle of the corner FC is 60° or more. S For field F where such conditions exist, a medium-sized tractor 10, such as a Class C tractor, is assigned, and for narrow sections where the angle of the corner FC is 60° or more, F S For field F where such conditions exist, a small tractor 10, such as a Class D tractor, will be assigned. Note that narrow sections F will be handled by Class C or D tractors. S These conditions can be set by operators or other means.

[0071] Furthermore, the information processing device 40 has a narrow section F S For a work area F where a work area exists, the work width W W Multiple tractors 10 may be assigned, including a tractor 10 with a small working width (low working width rank). In this case, it is preferable to assign tractors 10 with working width ranks corresponding to the size (area) of the field F to be worked on, other than the tractor 10 with a low working width rank, and the tractor 10 with a low working width rank will be assigned to the narrow part F S The other tractor 10 was assigned to handle the narrow section F. S Assign them to handle the remaining tasks.

[0072] As shown in Figure 7, the narrow section F S When multiple tractors 10 are assigned to a work field F where narrow sections of the work field F exist, the information processing device 40, in order to suppress the uneven distribution of work load among the tractors 10, for example, assigns the tractor 10 with a lower working width rank to the narrow sections of the work field F. S By assigning the work (circular tilling) to the peripheral area F1 including the narrow section, and assigning the work to the other tractor 10 to the area F2 of the field F other than the peripheral area F1, the workload of each tractor 10 is balanced. S If the working area of ​​tractor 10 responsible for a particular task is likely to be large, the system automatically calculates that tractor 10 should only be responsible for working on the peripheral area F1 (rotating around the edge) to balance the workload of each tractor 10.

[0073] Each tractor 10 is controlled so that it will not start work until the operator approves the distribution of the workload. Furthermore, even if the workload is distributed fairly evenly, if a large tractor 10 is to work on field F where maneuverability is required, the operator can request a recalculation that allows for workload imbalance. Additionally, tractors 10 of classes A to D may be assigned to field F according to the area of ​​field F.

[0074] Specifically, the information processing device 40 determines the work width W assigned to the target field F from the work vehicle data. WThe system calculates the ratio of horsepower of the smaller tractor 10 compared to other tractors 10. The information processing device 40 also calculates the working width W as a percentage of the total area S of the target field F from the work vehicle data and field data. W Calculate the percentage of the working area S1 for the small tractor 10.

[0075] The information processing device 40 displays the work width W assigned to the work target field F. W The ratio of horsepower in the small tractor 10 compared to other tractors 10, and the working width W as a percentage of the total area S of the field F to be worked on. W Compare this with the ratio of the working area S1 of the smaller tractor 10.

[0076] The information processing device 40 displays the work width W assigned to the work target field F. W The ratio of horsepower in the small tractor 10 compared to other tractors 10, and the working width W as a percentage of the total area S of the field F to be worked on. W If the ratio of the working area S1 of the smaller tractor 10 to the area of ​​the field F is greater than or equal to a predetermined value, the area (total area) S of the field F is divided, and of the divided area (total area) S of the field F, the narrower part F S The area S1 of the peripheral portion F1 including the working width W W Assigned to the small tractor 10, narrow section F S The area S2 of the portion F2 that does not include this area is allocated to another tractor 10.

[0077] In the example shown in Figure 7, for example, in the field F to be worked on, the narrow section F S The peripheral portion F1 (area S1) including the narrow section F is assigned to a tractor 10 of class C or D, and the narrow section F S The portion F2 (area S2) that does not include this area is assigned to a tractor 10 of class A or B.

[0078] For example, when working on a field F with a total area S of 300 m2 using a 150 hp tractor 10, a 100 hp tractor 10, and a 50 hp tractor 10 (for example, class C or D tractors 10), the 150 hp tractor 10 works on an area of ​​150 m2, the 100 hp tractor 10 works on an area of ​​100 m2, and the 50 hp tractor 10 works on an area of ​​50 m2. If the working area S1 for the class C or D tractor 10 is too large, that is, if the load on the class C or D tractor 10 is too great, the work efficiency will decrease. Therefore, by assigning (sharing) the work to a class A or B tractor 10 in the same field F, the decrease in work efficiency can be suppressed.

[0079] Furthermore, when multiple tractors 10 work on a single target field F, if they all work simultaneously, the other tractors 10 will start with adjacent tasks such as adjacent tilling, thus limiting the working width W for acute-angle work. W By having the smaller tractor 10 work first, it can work in narrow areas F without being obstructed by the other tractors 10. S This allows you to perform the following tasks.

[0080] Also, the working width W for acute angles W The small tractor 10 in the narrow section F S If assigning only the task to narrow section F S The acute angle specialist's work width W after completing the task. W The small tractor 10 in the narrow section F S You may return to working on other parts. A new narrow section F S If work becomes necessary, the working width W of the person in charge of acute angles W The small tractor 10 in the narrow section F S Have them do the work.

[0081] Furthermore, the information processing device 40 initially sets evaluation points (for example, 10 points) for each field F, deducts points according to the conditions, and determines the working width W for acute angles according to the remaining number of points. WA smaller tractor 10 may be assigned. In this case, the information processing device 40 may, for example, deduct points for the size (area) of field F (the smaller the field, the greater the deduction), deduct points for the shape of field F (for example, "triangle > trapezoid > other shapes", with triangles receiving the greatest deduction, followed by trapezoids, etc.), deduct points if the corners FC are curved (rounded), and if the remaining number of points is below a predetermined threshold, assign the working width W responsible for acute angles. W Assign the small tractor 10.

[0082] As shown in Figure 8, in the assignment control of the tractor 10, the information processing device 40 designates a target field F from among multiple fields F (step S101). Then, based on the field data, the information processing device 40 designates a narrow section F in the designated target field F. S Determine whether or not it exists (step S102).

[0083] In step S102, the information processing device 40 identifies the narrow area F in the target field F. S If it is determined that such a tractor exists (Step S102: Yes), a tractor with a working width rank corresponding to the narrow rank is determined (Step S103).

[0084] Next, the information processing device 40 selects a tractor 10 from among the multiple tractors 10 that matches the determined working width rank (step S104). Then, the information processing device 40 directs the selected tractor 10 to the target field F (step S105) and ends the process.

[0085] Furthermore, in the processing of step S102, the information processing device 40 identifies the narrow section F in the target field F. S If it is determined that there is no such tractor (Step S102: No), a tractor 10 with a working width rank corresponding to the size (area S) of the field F to be worked on is selected (Step S106), the selected tractor 10 is directed to the field F to be worked on (Step S105), and the process is terminated.

[0086] Also, as shown in FIG. 9, in the allocation control of the tractor 10, when selecting the tractor 10, the information processing device 40 calculates the ratio of the horsepower of the tractor 10 assigned to the work target field F compared to other tractors 10 from the work vehicle data (step S201). Next, the information processing device 40 calculates the ratio of the work target area S1 of this tractor 10 in the tractor 10 assigned to the work target field F to the total area S of the work target field F from the work vehicle data and the field data (step S202).

[0087] Next, the information processing device 40 compares the ratio of the horsepower of the tractor 10 assigned to the work target field F with the ratio of the work target area S1 of this tractor 10 (step S203), and determines whether the ratio of the horsepower ratio of this tractor 10 to the work target area S1 ratio of the tractor 10 is greater than or equal to a predetermined value (step S204).

[0088] If the information processing device 40 determines in the process of step S204 that the ratio of the horsepower ratio of this tractor 10 to the work target area S1 ratio of the tractor 10 is greater than or equal to the predetermined value (step S204: Yes), it divides the work target field F (total area S) (step S205). Then, the information processing device 40 assigns the tractor 10 with a small working width W to the portion F1 including the narrow portion F in the work target field F, and assigns the other tractor 10 to the portion F2 not including the narrow portion F (step S206), and ends the process. S including the narrow portion F W and assigns the tractor 10 with a small working width W to the portion F1 including the narrow portion F S and assigns the other tractor 10 to the portion F2 not including the narrow portion F (step S206), and ends the process.

[0089] Note that if the information processing device 40 determines in the process of step S204 that the ratio of the horsepower ratio of this tractor 10 to the work target area S1 ratio of the tractor 10 is less than the predetermined value (step S204: No), it does not perform the division process of the work target field F (step S205) or the work sharing process of the tractor 10 (step S206), and ends the process.

[0090] FIG. 10 is a diagram showing a modification example when a work vehicle (tractor) 10 is assigned to a field F as a work target. As shown in FIG. 10, when the shape of the field (work target field) F is not rectangular, the information processing device 40 determines a rectangular area (rectangular portion F3) with the largest area in this field F, and an acute-angled corner portion F C (narrow portion F S ) and sets a portion F4 including the same.

[0091] The information processing device 40 assigns the rectangular portion F3 to a tractor 10 other than the tractor 10 with a small working width W W for the acute angle, and assigns the portion other than the rectangular portion F3 (the portion F4 including the narrow portion F S ) to the tractor 10 with a small working width W W for the acute angle. In the example shown in FIG. 10, the information processingdevice 40, for example, in the field F, assigns the rectangular portion F3 to a tractor 10 of class A or B, and assigns the portion other than the rectangular portion F3 (the portion F4 including the narrow portion F S ) to a tractor 10 of class C or D.

[0092] FIGS. 11 and 12 are explanatory diagrams of the corner FC of the field F. As shown in FIG. 11, when one side of the field F is a curve, the information processing device 40 sets a tangent line (virtual line) L1 at the corner FC, and sets the angle of the corner FC according to the slope of the tangent line L1. Further, as shown in FIG. 12, when the corner FC of the field F has a curved shape (round shape), the information processing device 40 sets extension lines (virtual lines) L2 of two sides forming the corner F C and sets the angle formed by the extension lines L2 as the angle of the corner FC.

[0093] FIG. 13 is an explanatory diagram of acute angle determination when the corner FC of the field F has a curved shape. As shown in FIG. 13, when the corner FC of the work target field F has a curved shape (round shape), the information processing device 40 determines that the angle formed by the extension lines (virtual lines) L2 of two sides forming the corner FC is an acute angle, and normally, the working width W WWhen assigning a small tractor 10, if the radius of curvature of the corner FC is sufficiently large (greater than a predetermined value), it is not determined to be an acute angle. In this case, the information processing device 40 sets a lower limit for the radius of curvature that can be turned while working for, for example, tractors 10 of classes A to D (see Figures 7 and 10), and assigns a tractor 10 with a lower limit smaller than the radius of the corner FC.

[0094] Figures 14-17 are explanatory diagrams of an example of a work plan in field F. As shown in Figure 14, if the shape of field F is not rectangular (excluding triangles), the information processing device 40 divides field F into multiple (two) parts Fa and Fb using a dividing line L3 (virtual line), and assigns a tractor 10 to each of the parts Fa and Fb. In this case, the dividing line L3 is set to pass through one vertex and be perpendicular to the opposite side.

[0095] Furthermore, it is preferable to simulate all patterns for the dividing line L3 in one field F and select the one that maximizes the difference between the two divided areas. In this case, the work efficiency can be improved by increasing the proportion of work done on the larger area by a larger tractor 10. Also, the entrance / exit (inlet F) of field F IN , Exit F OUT If an entrance / exit (entrance F) is provided, IN , Exit F OUT It is preferable to plan the work so that the side with ) is worked on later. Also, the work width W W It is preferable to plan the work so that the smaller tractor 10 works later. If the tractor 10 that entered field F later enters the work (plowing) track left by the tractor 10 that entered field F earlier, the tractor 10 that entered field F later should work (plow) the entered area again to erase the tracks.

[0096] Furthermore, if a single field F is divided into two by a dividing line L3, the information processing device 40, in the event that, as a result of working according to the work plan, various disturbances result in two tractors 10 entering a single field F, will have the tractor that enters later wait outside field F until the tractor that entered first has finished its work and left field F. The information processing device 40 will also prioritize the work of the larger tractor 10, and have the other tractor 10 wait while the other tractor 10 is working.

[0097] As shown in Figure 15, if the shape of field F is not rectangular, the information processing device 40 sets the rectangular area (rectangular portion Fc) that has the largest area in field F using a dividing line (virtual line) L4, and performs work on the rectangular portion Fc with a working width W that is responsible for acute angles. W Assign to any tractor other than the smallest tractor 10. In this case, if the area of ​​part Fd other than the rectangular part Fc is below a predetermined threshold, the work will not be performed on this part Fd in order to prioritize work efficiency.

[0098] As shown in Figure 16, when the assigned tractor 10 arrives at the target field F, if there are obstructing factors such as materials being placed in field F or puddles that were not present in the prior map information, the assigned tractor 10 transmits information to the information processing device 40 by sending images from the camera 114 (see Figure 4). If the information processing device 40 determines from the received images that it would be better to use a smaller tractor 10, it dispatches the smaller tractor 10 to the target field F to replace the assigned tractor 10 that has arrived at the target field F. In this case, the target field F is divided using a dividing line (imaginary line) L5, excluding the unworkable area Fe, and each section Ff and Fg is assigned to work by the respective tractor 10.

[0099] As shown in Figure 17, in actual work performed by the tractor 10, the corner FC (narrow section F) of the field F to be worked on SIf residual tillage Fh occurs in the field F, the tractor 10 in charge of the work transmits information to the information processing device 40 by sending images from the camera 114, etc. If the information processing device 40 determines that it would be better to use a smaller tractor 10 for the work based on the size of the residual tillage Fh, it dispatches the smaller tractor 10 to the field F to replace the tractor 10 in charge of the work that has arrived at the field F.

[0100] As described above, according to the work vehicle management system 1 of the embodiment, for example, if the field F is wide, the working width W W Instead of assigning a large tractor 10 to such a wide field F, even in the narrow parts F S If a narrow section F exists, S To accommodate the wide working width W W A small tractor 10 is assigned to the field F. S If a narrow section F exists, S Compatible working width W W By assigning tractor 10, it is possible to formulate a work plan suitable for the shape of field F, for example, by suppressing the occurrence of under-tilled areas (residual tillage) in field F.

[0101] Furthermore, field F has a narrow section F. S The greater the degree of narrowness, the wider the working width W W By assigning a smaller tractor 10, the occurrence of residual tillage can be more reliably suppressed.

[0102] Also, narrow section F S For field F in which such a thing exists, the narrow part F S Compatible working width W W Not only this tractor 10, but also other tractors 10, namely, working width W W The work can also be performed with a large tractor 10. Therefore, the working width W W This can suppress the decrease in work efficiency that occurs when working with a small tractor 10.

[0103] Also, the working width W WThe working area S1 of the small tractor 10 is too large (working width W W If the load on the small tractor 10 becomes too great, the work efficiency will decrease. Therefore, by having other tractors 10 handle (share) the work in the same field F, the decrease in work efficiency can be suppressed.

[0104] The above-described embodiment realizes the following work vehicle management system 1.

[0105] (1) The system includes a work vehicle 10 that performs work in a field F while driving automatically, field data which includes data relating to multiple fields F and shape information of field F, and work vehicle data which includes data relating to multiple work vehicles 10 and working width information of the work vehicles 10, and a control means 40 that directs the work vehicle 10 corresponding to the field F to be worked on to the field F based on the field data and the work vehicle data, and the control means 40 determines from the field data that there are narrow parts F in the field F S If a narrow section F exists, S Depending on the degree of narrowing, the narrow part F S We ranked them and, from the work vehicle data, the working width W of work vehicle 10. W Working width W W We ranked them, and narrow section F S rank and working width W W A work vehicle management system 1 that assigns work vehicle 10 to field F by matching the ranks.

[0106] According to this type of work vehicle management system 1, for example, if the field F is wide, the working width W W Instead of allocating a large work vehicle 10, even in a wide field F like this, in a narrow area F S If a narrow section F exists, S To accommodate the wide working width W W A small work vehicle 10 is assigned to the field F. S If a narrow section F exists, S Compatible working width W WBy assigning the work vehicle 10, it is possible to formulate a work plan suitable for the shape of field F, for example, by suppressing the occurrence of under-tilled areas (residual tillage) in field F.

[0107] (2) In the above (1), the narrow part F S This is the part of field F where the angle of the corner FC is acute, and the smaller the angle of the corner FC, the greater the degree of narrowing, and the control means 40 determines that the field F has a narrowed part F S The greater the degree of narrowness, the wider the working width W W A work vehicle management system 1 that assigns 10 small work vehicles.

[0108] According to this work vehicle management system 1, in addition to the effects of (1) above, the field F has narrow sections F S The greater the degree of narrowness, the wider the working width W W By assigning a small work vehicle 10, the occurrence of residual tillage can be further reliably suppressed.

[0109] (3) In (2) above, the control means 40 controls the narrow part F S For field F where the following exists, the working width W W A work vehicle management system 1 that assigns multiple work vehicles 10, including a small work vehicle 10.

[0110] According to this work vehicle management system 1, in addition to the effects of (2) above, the narrow area F S For field F in which such a thing exists, the narrow part F S Compatible working width W W Not only the work vehicle 10, but also other work vehicles 10, namely, the work width W W The work can also be performed using a large work vehicle 10. Therefore, the working width W W This makes it possible to suppress the decrease in work efficiency that occurs when working with a small work vehicle 10.

[0111] (4) In (3) above, the work vehicle data includes horsepower information of the work vehicle 10, and the control means 40 determines the work width W assigned to the field F to be worked on from the work vehicle data and the field data.W The ratio of horsepower of the small work vehicle 10 compared to other work vehicles 10, and the working width W as a percentage of the total area S of the field F to be worked on. W If the ratio of the work area S1 of the small work vehicle 10 to the work area is greater than or equal to a predetermined value, the work area F is divided, and the narrow part F of the divided field F is divided S A work vehicle management system 1 that assigns the portion not included to other work vehicles 10.

[0112] According to this work vehicle management system 1, in addition to the effects of (3) above, the work width W W The working area S1 of the small work vehicle 10 is too large (working width W W If the load on the small work vehicle 10 becomes too great, work efficiency will decrease. Therefore, by assigning the work to other work vehicles 10 in the same field F, the decrease in work efficiency can be suppressed.

[0113] Further effects and modifications can be readily derived by those skilled in the art. Therefore, broader aspects of the present invention are not limited to the specific details and representative embodiments expressed and described above. Accordingly, various modifications are possible without departing from the spirit or scope of the overall concept of the invention as defined by the appended claims and their equivalents. [Explanation of symbols]

[0114] 1. Management system for work vehicles 10. Work vehicles (tractors) 40 Control means (information processing device) Field F F S Narrow area S total area S1 Working Area W W Working width

Claims

1. A work vehicle that operates autonomously while performing tasks in the field, The control means comprises field data relating to the field and including shape information of the field, and work vehicle data relating to a plurality of work vehicles and including working width information of the work vehicles, and assigns the work vehicles to perform work corresponding to the area of ​​the field to be worked on, based on the field data and the work vehicle data. Equipped with, The control means is If the field data indicates that the field is not rectangular, it is divided into a rectangular area with the largest area and a non-rectangular area. From the aforementioned work vehicle data, the first work vehicle is assigned to the rectangular area according to the working width of the work vehicle. A second work vehicle, having a working width smaller than that of the first work vehicle, is assigned to the area outside the aforementioned rectangle. A work vehicle management system characterized by the following features.

2. The control means has information on the entrance and exit of the field, The area with an entrance / exit among the divided regions will be processed after the area without an entrance / exit. The work vehicle management system according to feature 1.

3. The control means is The work vehicles to be used later will wait outside the field until the work vehicle that is to be used first has finished its work and left the field. The work vehicle management system according to feature 2.

4. The control means is If the area of ​​a region other than the aforementioned rectangle is below a predetermined threshold, the work vehicle will not be assigned and the work will not be performed. A work vehicle management system according to any one of claims 1 to 3.

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