Flight assistance methods, flight assistance systems, and flight assistance programs

Abstract

The system provides automatically adjusted support for each worker when operating work equipment used in the field. [Solution] The operation support method includes preparing work-in-progress information (S202) which includes first work device information indicating the type of first work device (2) used when the first worker (3) performed the first work in the field (9), first worker information identifying the first worker, and first sensor information indicating the operating status of the first work device operated by the first worker in the first work; acquiring pre-work information (S204) which includes second worker information identifying the first worker and second work device information indicating the type of second work device before the first worker performs the second work in the field using the second work device (2); generating support information representing the support settings for the second operation performed by the first worker on the second work device in order to perform the second work, based on the work-in-progress information and the pre-work information (S205); and controlling the second work device with the support information (S105).

Description

Technical Field

[0001] The present invention relates to a driving support method, a driving support system, and a driving support program, and can be suitably used, for example, to support the operation of a working device performing agricultural work in a field.

Background Art

[0002] Patent Document 1 (Japanese Patent No. 6718838) stores the driving state of an agricultural work vehicle operated by a first operator as work history information, and when the operation of the agricultural work vehicle by a second operator is different from the driving support content based on the work history information, a driving support system that notifies the second operator of a correction operation is disclosed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In Patent Document 1, after uniformly setting the operation by a skilled person for each agricultural work vehicle as an ideal work history, a correction operation to an inexperienced operator is notified. However, an operator with sufficient experience may wish to operate the working device in a sense including his / her own unique habits different from those of a skilled person. Also, when operating a working device of the same type different from the working device that one is used to operating, if the operation based on the feeling that each operator is familiar with is corrected to a model case based on the work history of a skilled person, it may become impossible to expect work by an operation optimized for each operator.

[0005] In view of the above circumstances, one of the objectives of this disclosure is to provide a control support method, a control support system, and a control support program for providing automatically adjusted support for each operator when operating work equipment used in a field. Other issues and novel features will become apparent from the description herein and the accompanying drawings. [Means for solving the problem]

[0006] The means for solving the problem are described below using the numbers and symbols used in the embodiments for carrying out the invention. These numbers and symbols are added in parentheses for reference to show an example of the correspondence between the claims and the embodiments for carrying out the invention. Therefore, the claims should not be interpreted restrictively because of the parenthetical statements.

[0007] According to one embodiment, the operation support method includes preparing work-in-progress information (S202) which includes, in a mutually associated manner, first work device information indicating the type of first work device (2) used by the first worker (3) when performing the first work in the field (9), first worker information identifying the first worker (3), and first sensor information indicating the operating state of the first work device (2) operated by the first worker (3) in the first work. The operation support method further includes acquiring pre-work information (S204) which includes, in a mutually associated manner, second worker information identifying the first worker (3) and second work device information indicating the type of the second work device (2) before the first worker (3) performs the second work in the field (9) using the second work device (2). The operation support method further includes, when the first operator information and the second operator information match, generating support information representing the support settings for the second operation performed by the first operator (3) on the second work device (2) in order to perform the second operation, based on the operation information and the pre-operation information (S205). The operation support method further includes controlling the second work device using the support settings represented by the support information (S105).

[0008] According to one embodiment, the operation support system (1) includes an operation information storage unit (533), an operation information acquisition unit (521), a support information generation unit (522), and a control unit (226). The operation information storage unit (533) stores operation information that includes, in a mutually associated manner, first operation equipment information indicating the type of first operation equipment (2) used by the first worker (3) when performing the first operation in the field (9), first worker information identifying the first worker (3), and first sensor information representing the operating state of the first operation equipment (2) operated by the first worker (3) in the first operation. The operation information acquisition unit (521) acquires pre-operation information that includes, in a mutually associated manner, second worker information identifying the first worker (3) and second operation equipment information indicating the type of the second operation equipment, before the first worker (3) performs the second operation in the field (9) using the second operation equipment (2). When the first worker information and the second worker information match, the support information generation unit (522) generates support information representing the support settings for the second operation performed by the first worker (3) on the second work device (2) in order to perform the second work, based on the work information and the pre-work information. The control unit (226) controls the second work device (2) using the support settings represented by the support information.

[0009] According to one embodiment, the operation support program is an operation support program for realizing a predetermined process by having it executed by a computing device (22, 42), and this process includes preparing work-in-progress information (S202) which includes, in a mutually associated state, first work device information indicating the type of first work device (2) used when the first worker (3) performed the first work in the field (9), first worker information identifying the first worker (3), and first sensor information indicating the operating state of the first work device (2) operated by the first worker (3) in the first work. This process further includes acquiring pre-work information (S204) which includes, in a mutually associated state, second worker information identifying the first worker (3) and second work device information indicating the type of the second work device (2), before the first worker (3) performs the second work in the field (9) using the second work device (2). This process further includes, when the first worker information and the second worker information match, generating support information representing the support settings for the second operation performed by the first worker (3) on the second work device (2) in order to perform the second work, based on the work information and the pre-work information (S205). This process further includes controlling the second work device using the support settings represented by the support information (S105). [Effects of the Invention]

[0010] According to one embodiment, the operation of work equipment used in fields can be automatically adjusted to support each worker. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 shows an example configuration of a pilot assistance system according to one embodiment. [Figure 2] Figure 2 is a block circuit diagram showing an example configuration of a terminal according to one embodiment. [Figure 3] Figure 3 is a block circuit diagram showing one example configuration of a worker terminal according to one embodiment. [Figure 4] Figure 4 is a block circuit diagram showing one example configuration of a piloting assistance device according to one embodiment. [Figure 5]Figure 5 is a block circuit diagram showing an example configuration of an administrator terminal according to one embodiment. [Figure 6] Figure 6 is a flowchart showing a part of a pilot assistance program according to one embodiment. [Figure 7] Figure 7 is a flowchart showing a part of a pilot assistance program according to one embodiment. [Modes for carrying out the invention]

[0012] The forms for implementing the pilot assistance method, pilot assistance system, and pilot assistance program described herein will be explained below with reference to the attached drawings.

[0013] (Embodiment) As shown in Figure 1, one embodiment of the piloting support system 1 comprises a mounted terminal 20 attached to a work device 2 and a connected piloting support device 5. The piloting support system 1 may further include some or all of a worker terminal 30 carried by a worker 3 and a manager terminal 6 used by a manager. The mounted terminal 20, the piloting support device 5, and the manager terminal 6 may communicate via wired and / or wireless communication over a network 4. The worker terminal 30 may communicate wirelessly with the mounted terminal 20 in order for the mounted terminal 20 to identify the worker 3.

[0014] The mounted terminal 20 is mounted on the work device 2. The work device 2 moves along the ground and performs agricultural work such as tilling and harvesting on the field 9 and the crops being grown in the field 9. For example, the work device 2 may be a tiller for tilling, a transplanter or rice transplanter for transplanting, a combine harvester for harvesting, or a tractor that tows work machines that perform harvesting, tilling, fertilizing, etc.

[0015] The mounted terminal 20 identifies the operator 3 who operates the work device 2 by means of an operator terminal 30 carried by the operator 3. As an example, the mounted terminal 20 may perform wireless communication with the operator terminal 30 and identify the operator 3 based on the operator terminal identification information received from the operator terminal 30. The mounted terminal 20 generates an operator identification signal for identifying the operator 3 based on the operator terminal identification information and transmits it to the operation support device 5.

[0016] In addition, the mounted terminal 20 generates position information measuring the position of each of a plurality of points through which the work device 2 has passed while performing work in the field 9. The position measurement may be performed using a GNSS (Global Navigation Satellite System), a quantum compass that does not require an external auxiliary system such as an artificial satellite, or the like. The point at which the position of the work device 2 is measured is referred to as a measurement point. The position information may include positioning time information representing the positioning time when the position of the work device 2 is measured at each measurement point. The mounted terminal 20 transmits the position information to the operation support device 5.

[0017] In addition, the mounted terminal 20 records sensor information obtained by measuring various operation parameters representing the operating state of the work device 2 with a sensor or the like. The mounted terminal 20 transmits the recorded sensor information to the operation support device 5. The operation parameters recorded by the mounted terminal 20 may include, for example, at least one of the vehicle speed, engine speed, PTO (Power Take Off) speed, working position height, etc. when the work device 2 moves within the field 9 during work.

[0018] Furthermore, the mounted terminal 20 controls the work device 2. As an example, when the operator 3 operates the work device 2, the mounted terminal 20 performs control to keep the operation parameters of the work device 2 within a predetermined range. The mounted terminal 20 sets the range based on the support information received from the operation support device 5. As a more detailed example, the operation parameters controlled by the mounted terminal 20 may include, for example, at least one of the vehicle speed, engine speed, PTO speed, working position height, etc. when the work device 2 moves within the field 9 during work.

[0019] Operator 3 operates the work device 2 to perform work such as farming work in the field 9. Operator 3 carries the operator terminal 30. The operator terminal 30 may include a smartphone, a tablet terminal, a personal computer, etc. having a communication function, a display function, and an input function. The operator terminal 30 has a function of authenticating the operator 3 by authentication means such as face authentication, fingerprint authentication, voice authentication, password input, etc. The operator terminal 30 transmits operator information representing the result of authenticating the operator 3 to the mounted terminal 20.

[0020] The steering support device 5 generates support information for assisting the operation of the work device 2 that the operator 3 will perform hereafter, based on the in-work information received from the mounted terminal 20 mounted on the work device 2 that has performed work in the past, and the pre-work information received from the mounted terminal 20 mounted on the work device 2 that will perform work hereafter. The in-work information includes, in a state of being associated with each other, operator information representing the result of identifying the operator 3, work device information for identifying the work device 2, and sensor information representing the operating state of the work device 2 during work. The in-work information may further include at least one of position information obtained by measuring the position of the work device 2 within the field 9, weather information representing the weather in the field 9, and soil information representing the result of observing the soil state of the field 9, in a state of being associated with the operator information, the work device information, and the sensor information. The pre-work information includes, in a state of being associated with each other, the operator information and the work device information. The pre-work information may further include at least one of position information obtained by measuring the position of the work device 2 within or near the field 9, weather information, and soil information, in a state of being associated with the operator information and the work device information. The steering support device 5 may further include at least one of crop information representing the type of crop grown in the field 9 during work and tillage information representing the tillage used for growing the crop, etc., in a state of being associated with the various information included in the in-work information and / or the pre-work information, in the in-work information and / or the pre-work information. The crop information and the tillage information may be stored in the work information storage unit 533 of the steering support device 5, such as being received from the administrator terminal 6.

[0021] The administrator terminal 6, used by the administrator, displays the support settings represented by the support information generated by the control support device 5 so that the administrator can view them. The administrator terminal 6 also accepts an operation by the administrator to input priority settings to impose predetermined constraints on the support settings, and transmits priority constraint information representing said priority settings to the control support device 5. The administrator terminal 6 may also transmit to the control support device 5 the content entered by the administrator regarding crop information representing the type of crop being grown in the field 9 and / or crop type information representing the crop type used for growing said crop.

[0022] As shown in Figure 2, the mounted terminal 20 according to one embodiment may be configured as a so-called computer. In the example in Figure 2, the mounted terminal 20 includes a bus 21, an arithmetic unit 22, a storage device 23, a communication device 24, an input / output device 25, a worker identification device 26, a sensor device 27, and a positioning device 28. The bus 21 may be configured to enable communication between the arithmetic unit 22, the storage device 23, the communication device 24, the input / output device 25, the worker identification device 26, the sensor device 27, and the positioning device 28.

[0023] The arithmetic unit 22 executes at least a portion of the work management program according to one embodiment, thereby realizing the processing of the worker identification unit 221, the sensor unit 222, the positioning unit 223, the transmission unit 224, the reception unit 225, and the control unit 226, respectively. Each of the worker identification unit 221, the sensor unit 222, the positioning unit 223, the transmission unit 224, the reception unit 225, and the control unit 226 is a virtual functional block that executes processing realized by the cooperation of the arithmetic unit 22 and the storage device 23. The worker identification unit 221 controls the worker identification device 26 to acquire worker information from the worker terminal 30. The worker identification unit 221 may store the worker information in the data storage unit 232. The sensor unit 222 controls the sensor device 27 to acquire sensor information from the work device 2. The sensor unit 222 may store the sensor information in the data storage unit 232. The positioning unit 223 controls the positioning device 28 to measure the position of the work device 2 at each of multiple time points. As an example, the positioning unit 223 measures the position of the work device 2 at predetermined intervals, such as every second or every minute. The time at which the positioning unit 223 measures the position is called the positioning time. The positioning unit 223 generates position information by associating positioning information representing the measured position of the work device 2 with positioning time information representing the positioning time at which each position was measured. The positioning unit 223 may store the position information in the data storage unit 232 of the storage device 23. The transmitting unit 224 controls the communication device 24 to transmit worker information, sensor information, position information, and work device information for identifying the work device 2 to the operation support device 5. The work device information may be set and stored in the data storage unit 232 when the mounted terminal 20 is mounted on the work device 2. The receiving unit 225 controls the communication device 24 to receive support information transmitted from the operation support device 5. The receiving unit 225 may store the support information in the data storage unit 232. The control unit 226 controls the operation of the work device 2 operated by the worker 3 based on support information.

[0024] The storage device 23 comprises a program storage unit 231 and a data storage unit 232. At least a portion of the operation support program may be read from an external recording medium 230 and stored in the program storage unit 231. The recording medium 230 may be a non-transitory and tangible medium. The data storage unit 232 may pre-store work device information of the work device 2. The data storage unit 232 may further store worker information acquired by the worker identification unit 221, sensor information acquired by the sensor unit 222, position information generated by the positioning unit 223, and support information received by the receiving unit 225.

[0025] The communication device 24 communicates with external devices, including the pilot support device 5, via wireless communication over the network 4. At least a portion of the pilot support program may be received from an external source by the communication device 24 and stored in the program storage unit 231.

[0026] The input / output device 25 outputs information to the user and accepts user input. For example, the input / output device 25 includes a display device that outputs images and buttons that accept input.

[0027] The worker identification device 26 acquires worker information from the worker terminal 30.

[0028] The sensor device 27 generates sensor information by measuring various operating parameters representing the operating status of the work device 2 using sensors or other means. The sensor device 27 may include the sensors themselves that measure the operating parameters, or it may acquire sensor signals representing the measurement results from sensors mounted on the work device 2 that measure the operating parameters, and generate sensor information based on these sensor signals. The sensor device 27 may further generate weather information representing the results of observing the weather in the field 9, soil information representing the results of observing the soil condition in the field 9, and so on.

[0029] The positioning device 28 measures the position of the work device 2 under the control of the positioning unit 223. The positioning device 28 may also measure the position of the work device 2 using GNSS, a quantum compass, or the like.

[0030] As shown in Figure 3, the worker terminal 30 according to one embodiment may be configured as a so-called computer. In the example in Figure 3, the worker terminal 30 includes a bus 31, an arithmetic unit 32, a storage device 33, a communication device 34, an input / output device 35, and an authentication device 36. The bus 31 may be configured to enable communication between the arithmetic unit 32, the storage device 33, the communication device 34, the input / output device 35, and the authentication device 36.

[0031] The arithmetic unit 32 implements the processing of the authentication unit 321 and the transmission unit 322 by executing at least a part of the work management program according to one embodiment. The authentication unit 321 and the transmission unit 322 are virtual functional blocks that execute processing realized by the cooperation of the arithmetic unit 32 and the storage device 33. The authentication unit 321 controls the authentication device 36 to authenticate the worker 3 who possesses the worker terminal 30 and generate worker information. The transmission unit 322 controls the communication device 34 to transmit the worker information to the onboard terminal 20.

[0032] The storage device 33 comprises a program storage unit 331 and a data storage unit 332. At least a portion of the pilot assistance program may be read from an external recording medium 330 and stored in the program storage unit 331. The recording medium 330 may be a non-temporary, tangible medium. The data storage unit 332 may store operator information generated by the authentication unit 321.

[0033] The communication device 34 communicates with external devices, including the onboard terminal 20, via wireless communication over the network 4. At least a portion of the pilot support program may be received from an external source by the communication device 34 and stored in the program storage unit 331.

[0034] The input / output device 35 outputs information to the worker 3 and accepts input operations from the worker 3. As an example, the input / output device 35 includes a touch panel that integrates a display device that outputs images and a touch pad that accepts input via touch operation.

[0035] The authentication device 36, under the control of the authentication unit 321, authenticates the worker 3 using authentication methods such as facial recognition, fingerprint recognition, voice recognition, and password input.

[0036] As shown in Figure 4, the pilot assistance device 5 according to one embodiment may be configured as a so-called computer. In the example in Figure 4, the pilot assistance device 5 includes a bus 51, an arithmetic unit 52, a storage device 53, a communication device 54, and an input / output device 55. The bus 51 may be configured to enable communication between the arithmetic unit 52, the storage device 53, the communication device 54, and the input / output device 55.

[0037] The arithmetic unit 52 implements the processing of the work information acquisition unit 521, the support information generation unit 522, the priority constraint setting unit 523, and the output unit 524 by executing at least a part of the operation support program according to one embodiment. Each of the work information acquisition unit 521, the support information generation unit 522, the priority constraint setting unit 523, and the output unit 524 is a virtual functional block that executes processing realized by the cooperation of the arithmetic unit 52 and the storage device 53. The work information acquisition unit 521 controls the communication device 54 to receive and acquire work-in-progress information and / or pre-work information transmitted from the onboard terminal 20. The work information acquisition unit 521 may store the acquired work-in-progress information and / or pre-work information in the work information storage unit 533 of the storage device 53. As described above, the work-in-progress information includes worker information, work equipment information, and sensor information. The pre-work information also includes worker information and work equipment information. The work information and pre-work information may further include at least one of location information, weather information, and soil information. The work information and pre-work information may further include at least one of crop information and crop type information. The support information generation unit 522 generates support information to assist the operator 3 in operating the work device 2, based on the work information and pre-work information. The support information generation unit 522 may store the generated support information in the data storage unit 532. The priority constraint setting unit 523 sets priority constraints corresponding to each piece of support information based on priority constraint information received from the administrator terminal 6. The output unit 524 controls the communication device 54 to output the generated support information and transmit it to the onboard terminal 20.

[0038] The storage device 53 comprises a program storage unit 531, a data storage unit 532, and a work information storage unit 533. At least a portion of the operation support program may be read from an external recording medium 530 and stored in the program storage unit 531. The recording medium 530 may be a non-temporary, tangible medium. The data storage unit 532 may store support information generated by the support information generation unit 522. The work information storage unit 533 stores work-in-progress information and pre-work information acquired by the work information acquisition unit 521. The work information storage unit 533 may store multiple work-in-progress information acquired for each work performed by a combination of multiple work devices 2 and multiple workers 3 under the management of the administrator.

[0039] The communication device 54 communicates with external devices, including the onboard terminal 20 and the administrator terminal 6, via wireless and / or wired communication over the network 4. At least a portion of the pilot support program may be received from an external source by the communication device 54 and stored in the program storage unit 531.

[0040] The input / output device 55 outputs information to the user and accepts user input operations. For example, the input / output device 55 includes a display device that outputs images, a keyboard and / or mouse that accept input.

[0041] As shown in Figure 5, the administrator terminal 6 in one embodiment may be configured as a so-called computer. In the example in Figure 5, the administrator terminal 6 includes a bus 61, an arithmetic unit 62, a storage device 63, a communication device 64, and an input / output device 65. The bus 61 may be configured to enable communication between the arithmetic unit 62, the storage device 63, the communication device 64, and the input / output device 65.

[0042] The arithmetic unit 62 implements the processing of the viewing unit 621 and the setting unit 622 by executing at least a part of the work management program according to one embodiment. The viewing unit 621 and the setting unit 622 are virtual functional blocks that execute processing realized by the cooperation of the arithmetic unit 62 and the storage device 63. The viewing unit 621 requests support information from the control support device 5 in response to the operation of the user of the administrator terminal 6, obtains the requested support information from the control support device 5, and displays the contents of the obtained support information so that the user can view it. The viewing unit 621 may store the support information obtained from the control support device 5 in the data storage unit 632. The setting unit 622 controls the input / output device 55 to receive an operation for setting constraints on the support information viewed by the user of the administrator terminal 6, and generates priority constraint information to set priority constraints on the operation by the worker 3 to the work device 2 and on the control support by the onboard terminal 20 that receives the support information. The setting unit 622 controls the communication device 54 to transmit the generated priority constraint information to the control support device 5. The setting unit 622 may store priority constraint information in the data storage unit 632.

[0043] The storage device 63 comprises a program storage unit 631 and a data storage unit 632. At least a portion of the piloting support program may be read from an external recording medium 630 and stored in the program storage unit 631. The recording medium 630 may be a non-temporary, tangible medium. The data storage unit 632 may store support information acquired by the browsing unit 621 and priority constraint information generated by the setting unit 622.

[0044] The communication device 64 communicates with external devices, including the pilot support device 5, via wireless communication over the network 4. At least a portion of the pilot support program may be received from an external source by the communication device 64 and stored in the program storage unit 631.

[0045] The input / output device 65 outputs information to the user of the administrator terminal 6 and accepts operations to be entered by the user. As an example, the input / output device 65 includes a touch panel that integrates a display device that outputs an image and a touch pad that accepts input via touch operation.

[0046] Referring to the flowcharts in Figures 6 and 7, an example of the processing of a piloting assistance method according to one embodiment will be described.

[0047] The flowchart in Figure 6 shows an example of the process performed by the onboard terminal 20 as part of the pilot assistance method. The process in Figure 6 as part of the pilot assistance method may be started when the onboard terminal 20 is powered on.

[0048] When the operation support method processing is started in the mounted terminal 20, step S101 in Figure 6 is executed. In step S101, the operator identification unit 221 of the mounted terminal 20 shown in Figure 2 identifies operator 3. More specifically, the operator identification unit 221 identifies operator 3 who will operate the mounted terminal 20 by receiving and acquiring operator information transmitted by the transmission unit 322 of the operator terminal 30 shown in Figure 3. That is, it is inferred that the work device 2 equipped with the mounted terminal 20 shown in Figure 1 will then be operated by operator 3 represented by the operator information. The operator identification unit 221 in Figure 2 may store the received operator information in the data storage unit 232.

[0049] After step S101 in Figure 6, step S102 is executed. In step S102, the transmission unit 224 of the mounted terminal 20 shown in Figure 2 records pre-work information. More specifically, the worker identification unit 221 records the worker information acquired in step S101 in Figure 6 and the work device information stored in the data storage unit 232 for identifying the work device 2, in a manner that correlates them with each other, as pre-work information in the data storage unit 232. The pre-work information may further include at least one of the following: weather information and soil information acquired by the sensor unit 222 by controlling the sensor device 27, and position information measured by the positioning unit 223, in a manner that correlates them with the worker information and work device information.

[0050] After step S102 in Figure 6, step S103 is executed. In step S103, the transmission unit 224 of the onboard terminal 20 shown in Figure 2 transmits the pre-work information recorded in step S102 in Figure 6 to the control support device 5 shown in Figure 1. More specifically, the transmission unit 224 in Figure 2 reads the pre-work information recorded in the data storage unit 232 and controls the communication device 24 to transmit the pre-work information to the control support device 5 via the network 4. At this time, as will be described later, the work information acquisition unit 521 of the control support device 5 shown in Figure 4 receives the pre-work information in step S204 of the flowchart shown in Figure 7.

[0051] After step S103 in Figure 6, step S104 is executed. In step S104, the receiving unit 225 of the onboard terminal 20 shown in Figure 2 receives support information from the control support device 5. The receiving unit 225 may store the received support information in the data storage unit 232. The receiving unit 225 may also receive priority constraint information. If the receiving unit 225 receives priority constraint information, it may further store the priority constraint information in the data storage unit 232. Here, the support information is generated by the support information generation unit 522 of the control support device 5 shown in Figure 4, based on the pre-operation information transmitted by the transmitting unit 224 of the onboard terminal 20 shown in Figure 2 in step S103 of Figure 6, as will be described later. The priority constraint information is generated by the priority constraint setting unit 523 of the control support device 5 shown in Figure 4, based on the pre-operation information transmitted by the transmitting unit 224 of the onboard terminal 20 shown in Figure 2, in step S103 of Figure 6, as will be described later.

[0052] After step S104 in Figure 6, step S105 is executed. In step S105, the control unit 226 of the mounted terminal 20 shown in Figure 2 starts controlling the work device 2. More specifically, the control unit 226 controls the operations performed by the worker 3 on the work device 2 based on support information. Here, if priority constraint information is received in step S104 in Figure 6, the control unit 226 in Figure 2 further controls the operations performed by the worker 3 on the work device 2 based on said priority constraint information.

[0053] After step S105 in Figure 6, step S106 is executed. In step S106, the transmission unit 224 of the mounted terminal 20 shown in Figure 2 records work-in-progress information. More specifically, the worker identification unit 221 records the worker information acquired in step S101 in Figure 6, the work device information stored in the data storage unit 232 for identifying the work device 2, and the sensor information acquired by the sensor unit 222 from the work device 2 while it is working by controlling the sensor device 27, in a manner that correlates them with each other, and records them in the data storage unit 232 as work-in-progress information.

[0054] After step S106 in Figure 6, step S107 is executed. In step S107, the control unit 226 of the mounted terminal 20 shown in Figure 2 terminates control of the work device 2. More specifically, when the worker 3 finishes the work performed in the field 9 using the work device 2 and the worker 3 finishes operating the work device 2, the control unit 226 terminates control based on support information for the operation performed by the worker 3 on the work device 2. At this time, the transmission unit 224 terminates recording the work information to the data storage unit 232.

[0055] After step S107 in Figure 6, step S108 is executed. In step S108, the transmission unit 224 of the onboard terminal 20 shown in Figure 2 transmits work information to the control support device 5. More specifically, the transmission unit 224 transmits the work information recorded in the data storage unit 232 to the control support device 5 shown in Figure 1. More specifically, the transmission unit 224 in Figure 2 reads the work information recorded in the data storage unit 232 and controls the communication device 24 to transmit the work information to the control support device 5 via the network 4. At this time, as will be described later, the work information acquisition unit 521 of the control support device 5 shown in Figure 4 receives the work information in step S201 of the flowchart shown in Figure 7.

[0056] After step S108 in Figure 6, the processing of the mounted terminal 20 is completed.

[0057] The flowchart in Figure 7 shows an example of the process performed by the pilot assistance device 5 as part of the pilot assistance method. The process in Figure 7 may be started when the pilot assistance device 5 is activated.

[0058] When the process shown in Figure 7 begins in the control support device 5 shown in Figure 4, step S201 is executed. In step S201, the work information acquisition unit 521 of the control support device 5 shown in Figure 4 receives work information from the onboard terminal 20 shown in Figure 1. More specifically, the work information transmitted by the transmission unit 224 of the onboard terminal 20 shown in Figure 2 in step S108 of the flowchart shown in Figure 6 is received and acquired by the work information acquisition unit 521 of the control support device 5 shown in Figure 4.

[0059] After step S201 in Figure 7, step S202 is executed. In step S202, the work information acquisition unit 521 of the control support device 5 shown in Figure 4 stores the work information received in step S201 in Figure 7. More specifically, the work information received in step S201 is stored in the work information storage unit 533 in Figure 4. However, the work information acquisition unit 521 continues to store the work information in the work information storage unit 533 in Figure 4 each time step S201 in Figure 7 is executed, that is, multiple work information items are stored in the work information storage unit 533. Here, the multiple work information items stored in the work information storage unit 533 may include multiple work information items corresponding to the same combination of operator information and work equipment information, or they may include multiple work information items corresponding to different combinations of operator information and work equipment information.

[0060] After step S202 in Figure 7, step S203 is executed. In step S203, the priority constraint setting unit 523 of the control support device 5 shown in Figure 4 sets priority constraints. More specifically, the priority constraint setting unit 523 receives priority constraint information transmitted from the setting unit 622 of the administrator terminal 6 shown in Figure 5, and sets the priority constraint represented by the priority constraint information for the support information corresponding to the combination of operator information and work device information corresponding to the priority constraint information. The priority constraint setting unit 523 may store the received priority constraint information in the data storage unit 532. However, if the administrator terminal 6 does not transmit priority constraint information, step S203 may be omitted.

[0061] After step S203 in Figure 7, step S204 is executed. In step S204, the work information acquisition unit 521 of the control support device 5 shown in Figure 4 receives pre-work information from the onboard terminal 20 shown in Figure 1. More specifically, the pre-work information transmitted by the transmission unit 224 of the onboard terminal 20 shown in Figure 2 in step S103 of the flowchart shown in Figure 6 is received and acquired by the work information acquisition unit 521 of the control support device 5 shown in Figure 4. The work information acquisition unit 521 may store the received pre-work information in the work information storage unit 533.

[0062] After step S204 in Figure 7, step S205 is executed. In step S205, the support information generation unit 522 of the steering support device 5 shown in Figure 4 generates support information. More specifically, the support information generation unit 522 generates support information corresponding to the combination of operator information and work equipment information that corresponds to the pre-work information received in step S204 in Figure 7 and the in-work information that corresponds to the same combination of operator information and work equipment information as the pre-work information.

[0063] After step S205 in Figure 7, step S206 is executed. In step S206, the output unit 524 of the control support device 5 shown in Figure 4 transmits support information to the onboard terminal 20. At this time, as described above, the receiving unit 225 of the onboard terminal 20 shown in Figure 2 receives the support information from the control support device 5 in step S104 of the flowchart shown in Figure 6.

[0064] After step S206 in Figure 7, the processing of the control support device 5 returns to step S201, and the processing of steps S201 to S206 is repeated.

[0065] Let's explain the support information in more detail. As an example, the support settings represented by the support information include a setting to maintain the vehicle speed of the work device 2 as it moves while working in the field 9 within a predetermined range. For each type of work device 2, an ideal vehicle speed may be set by the manufacturer of the work device 2. The ideal vehicle speed is, for example, the vehicle speed at which the work can be performed most efficiently. However, depending on the worker 3, it may be possible to perform the work more efficiently by working at a vehicle speed different from the ideal vehicle speed. In one embodiment of the operation support method, operation support system 1, and operation support program, in such cases, the mounted terminal 20 provides support information to control the work device 2 so that the work device 2 moves at a vehicle speed that falls within the range at which the worker 3 can perform the work most efficiently. If the vehicle speed at which the worker 3 can perform the work most efficiently is 80% of the ideal vehicle speed set for the work device 2, the control unit 226 of the mounted terminal 20 controls the operation of the work device 2 so that the vehicle speed of the work device 2 is maintained within a predetermined range that includes 80% of the ideal vehicle speed. More specifically, even if the operator 3 controls the working device 2 to reach an ideal speed, the control unit 226, based on support information, will maintain the speed at approximately 80% of the ideal speed. This is expected to improve the efficiency of the work performed by the operator 3 in the field 9 using the working device 2.

[0066] The support information for realizing this control is generated by the support information generation unit 522 of the steering support device 5 shown in Figure 4, at step S205 of the flowchart shown in Figure 7, based on work information acquired when the worker 3 previously performed work using a work device 2 of the same type as the work device 2. Multiple pieces of work information may be used at this time. That is, by analyzing the work information of work performed by the worker 3 in the past using a work device 2 of the same type as the work device 2, and calculating statistical values ​​of the vehicle speed during work, it is possible to estimate the range of vehicle speeds in which the worker 3 can perform the work most efficiently. Here, the statistical values ​​of vehicle speed may include, for example, the average value, median value, maximum value, minimum value of the vehicle speed. In addition, the statistical values ​​of vehicle speed may be calculated as a ratio to the ideal vehicle speed set for each work device 2. By doing this, even if the performance of the first work device 2 that worker 3 will operate to perform the work is different from the performance of the second work device 2, which is of the same type as the first work device 2 and which worker 3 has operated in the past to perform the same work, it becomes possible to appropriately convert and determine the most efficient vehicle speed statistics when worker 3 works with the first work device 2 from the vehicle speed statistics when worker 3 worked with the second work device 2.

[0067] The above example described a case where the support settings represented by the support information are determined based on the combination of worker 3 and work equipment 2. As another example, the support settings represented by the support information may also be determined based on the field 9 where the work is performed, the type of crop being grown in field 9, the cropping method of the crop, the weather in field 9, the soil conditions in field 9, etc. When using a large number of parameters in this way, the transformation of statistical values ​​may be performed, for example, using a generative AI (Artificial Intelligence) that uses multiple pieces of work information accumulated in the past as training data.

[0068] As another example, the support settings represented by the support information may include settings to maintain at least one of the following within a predetermined range during operation of the work device 2: engine speed, PTO speed, or working position height.

[0069] Priority constraint information is explained below. A manager who oversees multiple workers 3 may apply the support settings that are presumed to be optimal for each worker 3, or they may apply unified support settings for all workers 3 as an organization. For example, if the optimal vehicle speed for a certain worker 3 is higher than the ideal vehicle speed, the manager may apply support settings to keep the vehicle speed below the ideal vehicle speed as the support setting for that worker 3, for the purpose of prioritizing safety over work efficiency. Such support settings made by the manager are called priority constraints, as they take precedence over the support settings for each worker 3. Priority constraint information represents such priority constraints. As a user of the manager terminal 6, the manager may view the support information generated for each combination of worker 3 and work device 2, and set priority constraints as needed.

[0070] As described above, the operation support method, operation support system 1, and operation support program according to one embodiment can provide automatically adjusted support for each worker 3 when operating the work equipment 2 performing work in the field 9.

[0071] (Note) The pilot assistance methods, pilot assistance systems 1, and pilot assistance programs described in each embodiment can be described as follows:

[0072] The pilot assistance method relating to the first aspect is: To prepare work-in-progress information that includes, in a manner related to each other, first work equipment information indicating the type of first work equipment used by the first worker when performing the first work in the field, first worker information identifying the first worker, and first sensor information representing the operating status of the first work equipment operated by the first worker during the first work, Before the first worker performs the second operation in the field using the second work device, pre-operation information is acquired that includes second worker information identifying the first worker and second work device information indicating the type of the second work device, in a manner that is associated with each other. When the first worker information and the second worker information match, support information representing the support settings for the second operation performed by the first worker on the second work device in order to perform the second work is generated based on the work in progress information and the pre-work information. Controlling the second work device using the support settings represented by the support information, Includes.

[0073] The pilot assistance method relating to the second embodiment is the pilot assistance method relating to the first embodiment, Generating the aforementioned support information means Based on the first performance information included in the first work device information that represents the performance of the first work device, and the second performance information included in the second work device information that represents the performance of the second work device, the first statistical value related to the operating state included in the first sensor information is converted into a second statistical value related to the second operation. To generate the support information based on the second statistical value, Includes.

[0074] The pilot assistance method relating to the third aspect is a pilot assistance method relating to the second aspect, In the piloting assistance method described in claim 2, Converting the first statistical value to the second statistical value is Convert the first statistical value to the second statistical value using a generative AI (Artificial Intelligence) that uses multiple pieces of the aforementioned work information as training data. Includes.

[0075] The pilot assistance method relating to the fourth aspect is the pilot assistance method relating to the first aspect, The information during the aforementioned work is, At the time the first operation was performed, at least one of the following: the type of crop being grown in the field, the cropping method used to grow the crop, the weather, or the soil conditions of the field. This further includes the first work device information, the first worker information, and the first sensor information, in a manner associated with them. The pre-operation information mentioned above is: When performing the second operation described above, At least one of the following: the type of crop being grown in the field, the cultivation method used to grow the crop, the weather, or the soil conditions of the field. This further includes the second work device information and the second worker information, associated with each other.

[0076] The pilot assistance method relating to the fifth aspect is a pilot assistance method relating to the second aspect, Generating the support information based on the second statistical value means When the second statistical value satisfies predetermined conditions, priority constraint information representing predetermined priority constraints is output as the support information. Includes.

[0077] The pilot assistance method relating to the sixth aspect is the pilot assistance method relating to the first aspect, The aforementioned support settings are: A setting that maintains at least one of the following in the second working device: vehicle speed, engine speed, PTO speed, or working position height, within a predetermined range. Includes.

[0078] The pilot assistance system relating to the seventh aspect is: A work information storage unit stores work information that includes, in a manner related to each other, first work equipment information indicating the type of first work equipment used by the first worker when performing the first work in the field, first worker information identifying the first worker, and first sensor information representing the operating status of the first work equipment operated by the first worker during the first work. Before the first worker performs the second work in the field using the second work device, a work information acquisition unit acquires pre-work information that includes second worker information identifying the first worker and second work device information indicating the type of the second work device, in a manner that is associated with each other. When the first worker information and the second worker information match, a support information generation unit generates support information representing the support settings for the second operation performed by the first worker on the second work device in order to perform the second work, based on the work in progress information and the pre-work information. A control unit that controls the second work device using the support settings represented by the support information, It is equipped with.

[0079] The pilot assistance program relating to the eighth aspect is: A piloting support program for achieving predetermined processing by having a computing device execute it, The aforementioned process is, To prepare work-in-progress information that includes, in a manner related to each other, first work equipment information indicating the type of first work equipment used by the first worker when performing the first work in the field, first worker information identifying the first worker, and first sensor information representing the operating status of the first work equipment operated by the first worker during the first work, Before the first worker performs the second operation in the field using the second work device, pre-operation information is acquired that includes second worker information identifying the first worker and second work device information indicating the type of the second work device, in a manner that is associated with each other. When the first worker information and the second worker information match, support information representing the support settings for the second operation performed by the first worker on the second work device in order to perform the second work is generated based on the work in progress information and the pre-work information. Controlling the second work device using the support settings represented by the support information, Includes.

[0080] The invention made by the inventor has been described in detail based on embodiments above, but it goes without saying that the present invention is not limited to these embodiments and can be modified in various ways without departing from its essence. Furthermore, the features described in the embodiments can be freely combined within a range that does not contradict the technical aspects. [Explanation of Symbols]

[0081] 1. Pilot Support System 2. Working equipment 20 devices equipped with this device 21 Bus 22 Arithmetic unit 221 Worker identification unit 222 Reception Unit 223 Positioning Unit 224 Transmitter 225 Receiving section 226 Control Unit 23 Storage device 230 recording media 231 Program Storage Unit 232 Data Storage Unit 24 Communication equipment 25 Input / Output Devices 26. Worker identification device 27 CM device 28 Positioning device 3 Workers 30 Worker terminals 31 Bus 32 Arithmetic unit 321 Certification Department 322 Transmitter 33 Storage device 330 recording media 331 Program Storage Unit 332 Data Storage Unit 34 Communication equipment 35 Input / Output Devices 36 Authentication device 4 Network 5. Pilot support system 51 Bus 52 Arithmetic unit 521 Work Information Acquisition Unit 522 Support information generation section 523 Priority constraint setting part 524 Output section 53 Storage device 530 Recording media 531 Program Storage Unit 532 Data Storage Unit 533 Work Information Storage Unit 54 Communication equipment 55 Input / Output Devices 6. Administrator terminal 61 Bus 62 Arithmetic unit 621 Viewing Section 622 Settings Section 63 Storage device 630 Recording media 631 Program Storage Unit 632 Data Storage Unit 64 Communication equipment 65 Input / Output Devices 9 Fields

Claims

1. To prepare work-in-progress information that includes, in a manner related to each other, first work equipment information indicating the type of first work equipment used by the first worker when performing the first work in the field, first worker information identifying the first worker, and first sensor information representing the operating status of the first work equipment operated by the first worker during the first work, Before the first worker performs the second operation in the field using the second work device, pre-operation information is acquired that includes second worker information identifying the first worker and second work device information indicating the type of the second work device, in a manner that is associated with each other. When the first worker information and the second worker information match, support information representing the support settings for the second operation performed by the first worker on the second work device in order to perform the second work is generated based on the work in progress information and the pre-work information. Controlling the second work device using the support settings represented by the support information, including Pilot assistance methods.

2. In the piloting assistance method described in claim 1, Generating the aforementioned support information means Based on the first performance information included in the first work device information that represents the performance of the first work device, and the second performance information included in the second work device information that represents the performance of the second work device, the first statistical value included in the first sensor information is converted into a second statistical value related to the second operation. To generate the support information based on the second statistical value, including Pilot assistance methods.

3. In the piloting assistance method described in claim 2, Converting the first statistical value to the second statistical value is, Converting the first statistical value to the second statistical value using a generative AI (Artificial Intelligence) that uses multiple pieces of the aforementioned work-in-progress information as training data. including Pilot assistance methods.

4. In the piloting assistance method described in claim 1, The information during the aforementioned work is, At the time the first operation was performed, at least one of the following: the type of crop being grown in the field, the cropping method used to grow the crop, the weather, or the soil conditions of the field. This further includes the first work device information, the first worker information, and the first sensor information, in a state associated with them. The pre-operation information mentioned above is: When performing the second operation described above, At least one of the following: the type of crop being grown in the field, the cultivation method used to grow the crop, the weather, or the soil conditions of the field. This further includes the second work device information and the second worker information, in a manner associated with them. Pilot assistance methods.

5. In the piloting assistance method described in claim 2, Generating the support information based on the second statistical value means When the second statistical value satisfies predetermined conditions, priority constraint information representing predetermined priority constraints is output as the support information. including Pilot assistance methods.

6. In the piloting assistance method described in claim 1, The aforementioned support settings are: A setting that maintains at least one of the following in the second working device: vehicle speed, engine speed, PTO speed, or working position height within a predetermined range. including Pilot assistance methods.

7. A work information storage unit stores work information that includes, in a manner related to each other, first work equipment information indicating the type of first work equipment used by the first worker when the first worker performed the first work in the field, first worker information identifying the first worker, and first sensor information representing the operating status of the first work equipment operated by the first worker during the first work. Before the first worker performs the second work in the field using the second work device, a work information acquisition unit acquires pre-work information that includes second worker information identifying the first worker and second work device information indicating the type of the second work device, in a manner that is associated with each other. When the first worker information and the second worker information match, a support information generation unit generates support information representing the support settings for the second operation performed by the first worker on the second work device in order to perform the second work, based on the work in progress information and the pre-work information. A control unit that controls the second work device using the support settings represented by the support information, Equipped with Pilot assistance system.

8. A piloting support program for achieving predetermined processing by having a computing device execute it, The aforementioned process is, To prepare work-in-progress information that includes, in a manner related to each other, first work equipment information indicating the type of first work equipment used by the first worker when performing the first work in the field, first worker information identifying the first worker, and first sensor information representing the operating status of the first work equipment operated by the first worker during the first work, Before the first worker performs the second operation in the field using the second work device, pre-operation information is acquired that includes second worker information identifying the first worker and second work device information indicating the type of the second work device, in a manner that is associated with each other. When the first worker information and the second worker information match, support information representing the support settings for the second operation performed by the first worker on the second work device in order to perform the second work is generated based on the work in progress information and the pre-work information. Controlling the second work device using the support settings represented by the support information, including Pilot assistance program.

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