Work management method, work management system, and work management program

Abstract

To provide a work management method, a work management system, and a work management program configured to create an appropriate work plan corresponding to a work site where spraying work is conducted.SOLUTION: A work management method executes: calculating, based on a target route R of a work vehicle 10 that performs spraying work on a target arranged in a field F, the amount of spraying materials to be sprayed on the target and spraying time of the spraying work; displaying the spraying amount and the spraying time on a management operation terminal 30; and creating a work plan of the spraying work corresponding to the field F on the basis of the spraying amount and the spraying time.SELECTED DRAWING: Figure 20

Description

[Technical field]

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

[0002] A technology is known in the art that displays work history information, such as the route (work route) used for work previously performed for each field and the work time for that work, and utilizes that work history information when creating a work plan for the next time the same work is to be performed in the same field (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5889763 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with conventional technology, it is difficult to create an appropriate work plan, for example, when the target work is spraying work. Specifically, with conventional technology, the amount of spraying material and the spraying time are not displayed when creating a work plan, so the operator must create the work plan without taking this information into consideration. This causes problems such as spraying not being carried out according to the created work plan or inappropriate materials being sprayed on the field.

[0005] An object of the present invention is to provide a work management method, a work management system, and a work management program that are capable of creating an appropriate work plan corresponding to a work area where spraying work is to be performed. [Means for solving the problem]

[0006] The work management method of the present invention is a method which calculates the amount of spraying material to be applied to a spraying object located in a work area and the spraying time of the spraying work based on a target route of a work vehicle performing spraying work on the spraying object, displays the spraying amount and the spraying time on an operation terminal, and creates a work plan for the spraying work corresponding to the work area based on the spraying amount and the spraying time.

[0007] The work management system according to the present invention includes a calculation processing unit, a display processing unit, and a creation processing unit. The calculation processing unit calculates the amount of a spraying material to be applied to a spraying object located in a work area and the spraying time of the spraying work based on a target route of a work vehicle performing spraying work on the spraying object. The display processing unit displays the spraying amount and the spraying time on an operation terminal. The creation processing unit creates a work plan for the spraying work corresponding to the work area based on the spraying amount and the spraying time.

[0008] The work management program of the present invention is a program for causing one or more processors to execute the following operations: calculate the amount of spraying material to be applied to a spraying target located in a work area and the spraying time of the spraying work based on a target route of a work vehicle performing spraying work on the target object, display the spraying amount and the spraying time on an operation terminal, and create a work plan for the spraying work corresponding to the work area based on the spraying amount and the spraying time. Effect of the Invention

[0009] According to the present invention, it is possible to provide a work management method, a work management system, and a work management program that are capable of creating an appropriate work plan corresponding to the work area where spraying work is to be carried out. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram showing the overall configuration of an automated driving system according to an embodiment of the present invention. [Diagram 2]FIG. 2 is a block diagram showing a configuration of an automatic driving system according to an embodiment of the present invention. [Diagram 3] FIG. 3 is an external view of the work vehicle according to the embodiment of the present invention, as viewed from the left front side. [Figure 4] FIG. 4 is a left side external view of the work vehicle according to the embodiment of the present invention as viewed from the left side. [Diagram 5] FIG. 5 is an external view of the right side of the work vehicle according to the embodiment of the present invention as viewed from the right side. [Figure 6] The figure is a rear external view of a work vehicle according to an embodiment of the present invention, as viewed from the rear side. [Figure 7] FIG. 7 is a diagram showing an example of a crop row according to an embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing an example of a target route according to an embodiment of the present invention. [Figure 9] FIG. 9 is a diagram showing an example of a registration screen displayed on the management operation terminal according to the embodiment of the present invention. [Figure 10] FIG. 10 is a diagram showing an example of a registration screen displayed on the management operation terminal according to the embodiment of the present invention. [Figure 11] FIG. 11 is a diagram showing an example of a schedule screen displayed on the management operation terminal according to the embodiment of the present invention. [Figure 12] FIG. 12 is a diagram showing an example of a work status screen displayed on the management operation terminal according to the embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing an example of a work history screen displayed on the management operation terminal according to the embodiment of the present invention. [Figure 14] FIG. 14 is a diagram showing an example of a recipe information screen displayed on the management operation terminal according to the embodiment of the present invention. [Figure 15] FIG. 15 is a diagram showing an example of a work information screen displayed on the mobile operation terminal according to the embodiment of the present invention. [Figure 16] FIG. 16 is a diagram showing an example of a work plan screen displayed on the mobile operation terminal according to the embodiment of the present invention. [Figure 17]FIG. 17 is a diagram showing an example of a work status screen displayed on the mobile operation terminal according to the embodiment of the present invention. [Figure 18] FIG. 18 is a diagram showing an example of a work position screen displayed on the mobile operation terminal according to the embodiment of the present invention. [Figure 19] FIG. 19 is a diagram showing an example of an operation screen displayed on the mobile operation terminal according to the embodiment of the present invention. [Figure 20] FIG. 20 is a flowchart showing an example of a procedure of a work management process (work plan creation process) executed by the automated driving system according to the embodiment of the present invention. [Figure 21] FIG. 21 is a flowchart showing an example of a procedure of a work management process (notification process) executed by the automated driving system according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

[0012] [Autonomous Driving System 1] 1 and 2, an automated driving system 1 according to an embodiment of the present invention includes a work vehicle 10, a server 20, a management operation terminal 30, a mobile operation terminal 40, a base station 50, and a satellite 60. The work vehicle 10, the server 20, the management operation terminal 30, and the mobile operation terminal 40 can communicate with each other via a communication network N1. For example, the server 20, the work vehicle 10, the management operation terminal 30, and the mobile operation terminal 40 can communicate with each other via a mobile phone line network, a packet line network, or a wireless LAN.

[0013] In this embodiment, the work vehicle 10 will be described as a vehicle that performs spraying work to spray a spray material such as a chemical (chemical solution) on a crop V (see FIG. 7) planted in a field F. The field F is an example of a work site of the present invention, and the field F is, for example, an orchard such as a vineyard or an apple orchard. The crop V is an example of a work target of the present invention, and the crop V is, for example, a grape tree. The spraying work is an example of a work of the present invention, and the spraying work is, for example, a work of spraying a spray material such as a chemical solution on the crop V. In other embodiments, the work vehicle 10 may be a vehicle that performs weeding work, a vehicle that performs leaf cutting work, or a vehicle that performs harvesting work. The work of the present invention may be weeding work, leaf cutting work, harvesting work, etc.

[0014] The crops V are arranged in multiple rows at predetermined intervals in the field F. Specifically, as shown in FIG. 7, the multiple crops V are planted linearly in a predetermined direction (direction d1), constituting a crop row Vr including multiple crops V arranged in a straight line. FIG. 7 illustrates three crop rows Vr. Each crop row Vr is arranged at a predetermined interval W1 in the row direction (direction d2). The area (space) of the interval W2 between adjacent crop rows Vr becomes a work passageway along which the work vehicle 10 performs spraying work on the crops V while traveling in the direction d1.

[0015] The work vehicle 10 is also capable of automatic travel (autonomous travel) according to a preset target route R. For example, as shown in FIG. 8, the work vehicle 10 automatically travels from a work start position S to a work end position G along a target route R including a work route r1 (work routes r1a to r1f) and a movement route r2. The work route r1 is a linear route along which the work vehicle 10 performs spraying work on the crop V, and the movement route r2 is a route along which the work vehicle 10 moves between the crop rows Vr without performing spraying work. The movement route r2 includes, for example, a turning route and a straight route. In the example shown in FIG. 8, a crop V consisting of crop rows Vr1 to Vr11 is arranged in a field F. In FIG. 8, the position where the crop V is planted (crop position) is represented by "Vp". Furthermore, the work vehicle 10 traveling in the field F in Fig. 8 has a vehicle body 100 having a gate-like shape (see Fig. 6), and while traveling across one crop row Vr, sprays a chemical agent on the crops V in that crop row Vr and on the crop rows Vr adjacent to that crop row Vr. For example, as shown in Fig. 8, when the work vehicle 10 travels across crop row Vr5, the left body (left side part 100L) of the work vehicle 10 travels on the work passage between crop rows Vr4, Vr5, and the right body (right side part 100R) of the work vehicle 10 travels on the work passage between crop rows Vr5, Vr6, and sprays a chemical agent on the crops V in the crop rows Vr4, Vr5, and Vr6.

[0016] The work vehicle 10 also travels automatically in a predetermined row order. For example, the work vehicle 10 travels across the crop row Vr1, then across the crop row Vr3, and then across the crop row Vr5. In this way, the work vehicle 10 travels automatically according to a preset order of the crop rows Vr. The work vehicle 10 may travel every other row in the order of the crop rows Vr, or every several rows.

[0017] The satellite 60 is a positioning satellite that constitutes a satellite positioning system such as the Global Navigation Satellite System (GNSS), and transmits a GNSS signal (satellite signal). The base station 50 is a reference point (reference station) that constitutes the satellite positioning system. The base station 50 transmits correction information to the work vehicle 10 for calculating the current position of the work vehicle 10.

[0018] The positioning device 16 mounted on the work vehicle 10 executes positioning processing to calculate the current position (latitude, longitude, altitude) and current direction of the work vehicle 10 using GNSS signals transmitted from satellites 60. Specifically, the positioning device 16 locates the position of the work vehicle 10 using an RTK (Real Time Kinematic) method or the like that locates the position of the work vehicle 10 based on positioning information (GNSS signals, etc.) received by two receivers (antenna 164 and base station 50) and correction information generated by the base station 50. The positioning method is a well-known technology, so a detailed description will be omitted.

[0019] Hereinafter, each of the components constituting the automated driving system 1 will be described in detail.

[0020] [Work vehicle 10] Fig. 3 is an external view of the work vehicle 10 as seen from the front left side. Fig. 4 is an external view of the left side of the work vehicle 10 as seen from the left side, Fig. 5 is an external view of the right side of the work vehicle 10 as seen from the right side, and Fig. 6 is an external view of the rear of the work vehicle 10 as seen from the rear side.

[0021] 1 to 6, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a traveling device 13, a spraying device 14, a communication unit 15, a positioning device 16, an obstacle detection device 17, etc. The vehicle control device 11 is electrically connected to the memory unit 12, the traveling device 13, the spraying device 14, the positioning device 16, the obstacle detection device 17, etc. The vehicle control device 11 and the positioning device 16 may be capable of wireless communication.

[0022] The communication unit 15 is a communication interface for connecting the work vehicle 10 to the communication network N1 by wire or wirelessly and for executing data communication with external devices such as the server 20 via the communication network N1 in accordance with a predetermined communication protocol.

[0023] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various information. A control program for causing the vehicle control device 11 to execute a predetermined control process (e.g., an automatic driving process) is stored in the storage unit 12. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The control program may be downloaded from a server (e.g., the server 20) to the work vehicle 10 via the communication network N1 and stored in the storage unit 12. In addition, the storage unit 12 stores data of a target route R generated in the management operation terminal 30. For example, the data of the target route R is transmitted from the management operation terminal 30 to the server 20, and transferred from the server 20 to the work vehicle 10 and stored in the storage unit 12.

[0024] The vehicle control device 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various types of arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information, and is used as a temporary storage memory (work area) for various types of processing executed by the CPU. The vehicle control device 11 controls the work vehicle 10 by executing, with the CPU, various control programs that are stored in advance in the ROM or the storage unit 12.

[0025] The vehicle control device 11 controls the traveling of the work vehicle 10. Specifically, the vehicle control device 11 automatically travels the work vehicle 10 according to the target route R based on the position information indicating the position of the work vehicle 10 measured by the positioning device 16. For example, when the positioning state becomes a state in which RTK positioning is possible and the worker performs a work start operation on the operation screen of the mobile operation terminal 40, the mobile operation terminal 40 outputs a work start instruction to the work vehicle 10 via the server 20. When the vehicle control device 11 acquires the work start instruction, it starts the automatic traveling of the work vehicle 10 based on the position information indicating the position of the work vehicle 10 measured by the positioning device 16. Specifically, when the worker performs a work start operation on the mobile operation terminal 40, the worker manually moves the work vehicle 10 to the work start position S and presses the start button of the operation remote control (not shown) at the work start position S. As a result, the vehicle control device 11 starts the automatic traveling of the work vehicle 10 from the work start position S. The work vehicle 10 starts automatic traveling according to the target route R, and starts spraying work by the spraying device 14 in the work passage.

[0026] Furthermore, when the vehicle control device 11 receives a travel stop instruction from the portable operation terminal 40, it stops the automatic travel of the work vehicle 10. For example, when the worker presses the stop button on the operation screen of the portable operation terminal 40, the portable operation terminal 40 outputs the travel stop instruction to the work vehicle 10 via the server 20. When the vehicle control device 11 receives the travel stop instruction from the portable operation terminal 40, it stops the automatic travel of the work vehicle 10. As a result, the work vehicle 10 stops the automatic travel and the spraying work by the spraying device 14 stops.

[0027] The work vehicle 10 is equipped with a gate-shaped vehicle body 100 that travels across crops V (fruit trees) planted in multiple rows in a farm field F. As shown in Fig. 6, the vehicle body 100 is formed in a gate shape with a left side part 100L, a right side part 100R, and a connection part 100C that connects the left side part 100L and the right side part 100R, and a space 100S that allows the crops V to pass through is secured inside the left side part 100L, the right side part 100R, and the connection part 100C.

[0028] A crawler 101 is provided at the lower end of each of the left side 100L and right side 100R of the vehicle body 100. An engine (not shown), a battery (not shown), etc. are provided on the left side 100L. A storage tank 14A (see FIG. 5) for the spraying device 14 is provided on the right side 100R. In this way, by distributing and arranging the components on the left side 100L and right side 100R of the vehicle body 100, the work vehicle 10 is balanced left and right and has a low center of gravity. As a result, the work vehicle 10 can travel stably on slopes of the field F.

[0029] The traveling device 13 is a drive unit that drives the work vehicle 10. The traveling device 13 includes an engine, crawlers 101, and the like.

[0030] The left and right crawlers 101 are driven by power from the engine in a state where independent speed changes are possible by a hydrostatic continuously variable transmission. As a result, the vehicle body 100 is in a forward state moving straight forward in the forward direction when the left and right crawlers 101 are driven at a constant speed in the forward direction, and in a reverse state moving straight backward in the reverse direction when the left and right crawlers 101 are driven at a constant speed in the reverse direction. The vehicle body 100 is in a forward turning state where it turns while moving forward when the left and right crawlers 101 are driven at unequal speeds in the forward direction, and in a reverse turning state where it turns while moving backward when the left and right crawlers 101 are driven at unequal speeds in the reverse direction. The vehicle body 100 is in a pivot turning state when one of the left and right crawlers 101 is stopped and the other crawler 101 is driven, and in a spin turning state when the left and right crawlers 101 are driven at a constant speed in the forward direction and the reverse direction. Furthermore, the vehicle body 100 comes to a stop moving state by stopping the driving of the left and right crawlers 101. The left and right crawlers 101 may be configured as an electrically driven type driven by an electric motor.

[0031] As shown in Figure 6, the spraying device 14 comprises a storage tank 14A for storing the chemical (chemical solution), a spraying pump (not shown) for pressurizing the chemical, an electric spraying motor (not shown) for driving the spraying pump, spraying pipes 14B arranged in parallel, two on each side, in a vertical position on the back of the vehicle body 100, a total of 12 spraying nozzles 14C, three on each spraying pipe 14B, an electronically controlled valve unit (not shown) for changing the amount and pattern of spraying of the chemical, and a plurality of spraying pipes (not shown) connecting these together.

[0032] Each spray nozzle 14C is attached to the corresponding spray pipe 14B so that its position can be changed in the up-down direction. This allows each spray nozzle 14C to change the interval between adjacent spray nozzles 14C and its height position relative to the spray pipe 14B depending on the object to be sprayed (crop V). Also, each spray nozzle 14C is attached so that its height position and left-right position relative to the vehicle body 100 can be changed depending on the object to be sprayed.

[0033] In the spraying device 14, the number of spray nozzles 14C provided on each spray pipe 14B can be changed in various ways depending on the type of crop V, the length of each spray pipe 14B, and the like.

[0034] As shown in Fig. 6, among the multiple spray nozzles 14C, the three spray nozzles 14C provided on the leftmost spray pipe 14B spray the chemical to the left toward the crop Va located on the left outer side of the vehicle body 100. Among the multiple spray nozzles 14C, the three spray nozzles 14C provided on the left inner spray pipe 14B adjacent to the leftmost spray pipe 14B spray the chemical to the right toward the crop Vb located in the space 100S in the center of the left and right of the vehicle body 100. Among the multiple spray nozzles 14C, the three spray nozzles 14C provided on the rightmost spray pipe 14B spray the chemical to the right toward the crop Vc located on the right outer side of the vehicle body 100. Of the multiple spray nozzles 14C, the three spray nozzles 14C provided on the right inner spray pipe 14B adjacent to the rightmost spray pipe 14B spray the agent leftward toward the crop Vb located in the space 100S.

[0035] With the above-mentioned configuration, in the spraying device 14, the two spraying pipes 14B and six spraying nozzles 14C provided on the left side 100L of the vehicle body 100 function as the left spraying section 14L. Also, the two spraying pipes 14B and six spraying nozzles 14C provided on the right side 100R of the vehicle body 100 function as the right spraying section 14R. The left and right spraying sections 14L, 14R are arranged at the rear of the vehicle body 100 with a left-right interval between them that allows the crop Vb to pass through (space 100S) while spraying in the left and right directions.

[0036] In the spraying device 14, the spraying patterns by the spraying parts 14L, 14R include a four-way spraying pattern in which each of the spraying parts 14L, 14R sprays medicine in both the left and right directions, and a directional limited spraying pattern in which the spraying direction by the spraying parts 14L, 14R is limited. The direction-limited spray patterns include a left side three-way spray pattern in which spraying unit 14L sprays the medicinal agent in both the left and right directions and spraying unit 14R sprays the medicinal agent only in the left direction; a right side three-way spray pattern in which spraying unit 14L sprays the medicinal agent only in the right direction and spraying unit 14R sprays the medicinal agent in both the left and right directions; a two-way spray pattern in which spraying unit 14L sprays the medicinal agent only in the right direction and spraying unit 14R sprays the medicinal agent only in the left direction; a left side one-way spray pattern in which spraying unit 14L sprays the medicinal agent only in the left direction and spraying unit 14R does not spray the medicinal agent; and a right side one-way spray pattern in which spraying unit 14R sprays the medicinal agent only in the right direction and spraying unit 14L does not spray the medicinal agent.

[0037] The vehicle body 100 is equipped with an automatic travel control unit that automatically travels the vehicle body 100 along a target route R in the field F based on positioning information acquired from the positioning device 16, an engine control unit that controls the engine, an HST (Hydro-Static Transmission) control unit that controls the hydrostatic continuously variable transmission, and an implement control unit that controls the implements such as the spraying device 14. Each control unit is constructed by an electronic control unit equipped with a microcontroller, and various information and control programs stored in a non-volatile memory (for example, an EEPROM such as a flash memory) of the microcontroller. The various information stored in the non-volatile memory may include a target route R generated in advance. In this embodiment, each control unit is collectively referred to as a "vehicle control device 11" (see FIG. 2).

[0038] The positioning device 16 is a communication device including a positioning control unit 161, a memory unit 162, a communication unit 163, and an antenna 164. The antennas 164 are provided in front and behind the ceiling (connection unit 100C) of the vehicle body 100 (see FIG. 3). Also, the ceiling of the vehicle body 100 is provided with indicator lights 102 that display the traveling state of the work vehicle 10 (see FIG. 3). The battery is connected to the positioning device 16, and the positioning device 16 can operate even when the engine is stopped.

[0039] The communication unit 163 is a communication interface for connecting the positioning device 16 to the communication network N1 in a wired or wireless manner and for executing data communication with an external device such as the base station 50 via the communication network N1 in accordance with a predetermined communication protocol.

[0040] The antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites. Since the antennas 164 are provided at the front and rear of the work vehicle 10, the current position of the work vehicle 10 can be determined with high accuracy.

[0041] The positioning control unit 161 is a computer system including one or more processors, and storage memories such as non-volatile memory and RAM. The storage unit 162 is a non-volatile memory that stores a control program for causing the positioning control unit 161 to execute positioning processing, and data such as positioning information and movement information. The positioning control unit 161 locates the current position of the work vehicle 10 using a predetermined positioning method (such as the RTK method) based on the GNSS signal received by the antenna 164 from the satellite 60.

[0042] The obstacle detection device 17 includes a lidar sensor 171L provided on the front left side of the vehicle body 100, and a lidar sensor 171R provided on the front right side of the vehicle body 100 (see FIG. 3). Each lidar sensor measures the distance from the lidar sensor to each ranging point (measurement object) within the measurement range, for example, by a Time Of Flight (TOF) method that measures the distance to a ranging point based on the round-trip time it takes for laser light emitted by the lidar sensor to reach the ranging point and return.

[0043] The measurement range of the lidar sensor 171L is set to a predetermined range on the front left side of the vehicle body 100, and the measurement range of the lidar sensor 171R is set to a predetermined range on the front right side of the vehicle body 100. Each lidar sensor transmits measurement information such as the measured distance to each ranging point and the scanning angle (coordinates) for each ranging point to the vehicle control device 11.

[0044] The obstacle detection device 17 also includes left and right ultrasonic sensors 172F (see FIG. 3) provided on the front side of the vehicle body 100, and left and right ultrasonic sensors 172R (see FIGS. 4 and 5) provided on the rear side of the vehicle body 100. Each ultrasonic sensor measures the distance from the ultrasonic sensor to the measurement object using a TOF method that measures the distance to the ranging point based on the round-trip time it takes for ultrasonic waves emitted by the ultrasonic sensor to reach the ranging point and return.

[0045] The front left ultrasonic sensor 172F has a measurement range set to a predetermined range on the front left side of the vehicle body 100, the front right ultrasonic sensor 172F has a measurement range set to a predetermined range on the front right side of the vehicle body 100, the rear left ultrasonic sensor 172R has a measurement range set to a predetermined range on the rear left side of the vehicle body 100, and the rear right ultrasonic sensor 172R has a measurement range set to a predetermined range on the rear right side of the vehicle body 100. Each ultrasonic sensor transmits measurement information including the measured distance to the measurement object and the direction of the measurement object to the vehicle control device 11.

[0046] The obstacle detection device 17 also includes left and right contact sensors 173F (see FIG. 3) provided on the front side of the vehicle body 100, and left and right contact sensors 173R (see FIGS. 4 and 5) provided on the rear side of the vehicle body 100. The contact sensor 173F on the front side of the vehicle body 100 detects an obstacle when the obstacle comes into contact with the contact sensor 173F. A spraying device 14 is provided in front of the contact sensor 173R on the rear side of the vehicle body 100 (the rear side of the work vehicle 10), and when an obstacle comes into contact with the spraying device 14, the contact sensor 173R detects the obstacle by moving the spraying device 14 backward (the front side of the work vehicle 10). Each contact sensor transmits a detection signal to the vehicle control device 11 when it detects an obstacle.

[0047] The vehicle control device 11 executes an avoidance process for avoiding an obstacle when there is a possibility that the work vehicle 10 will collide with the obstacle, based on measurement information relating to the obstacle obtained from the obstacle detection device 17.

[0048] With the above configuration, the work vehicle 10 can be automatically driven along the target route R with high accuracy, and the spraying device 14 can properly spray the agent.

[0049] The above-mentioned configuration of the work vehicle 10 is one example of the configuration of the work vehicle of the present invention, and the present invention is not limited to the above-mentioned configuration. The above-mentioned work vehicle 10 is a vehicle that can perform a spraying operation of spraying a spraying agent on the first crop row Vr and the second crop rows Vr on the left and right sides of the first crop row Vr while traveling across the first crop row Vr. As another embodiment, the work vehicle 10 may have a normal shape in which the vehicle body 100 does not have a gate-shaped shape, but the entire vehicle body 100 travels between the crop rows Vr (work passage). In this case, the work vehicle 10 automatically travels through each work passage in order without straddling the crop rows Vr. In addition, the spraying device 14 has one spraying unit, and performs a spraying operation by switching between a spraying pattern in which a spraying agent is sprayed in both left and right directions, a spraying pattern in which a spraying agent is sprayed only in the left direction, and a spraying pattern in which a spraying agent is sprayed only in the right direction.

[0050] [Administrative operation terminal 30] As shown in Fig. 2, the management operation terminal 30 is an information processing device including a control unit 31, a storage unit 32, an operation display unit 33, and a communication unit 34. The management operation terminal 30 is, for example, a personal computer (PC) or a tablet terminal. The management operation terminal 30 is operated by, for example, a field manager who manages a field F. The field manager operates the management operation terminal 30 to register information related to work in the field F (for example, spraying work) and generate a target route R. The field manager also operates the management operation terminal 30 to create a work plan for the work in the field F. Furthermore, a worker who performs work in the field F operates the management operation terminal 30 to check the work plan, work status, and the like. The management operation terminal 30 is an example of an operation terminal of the present invention.

[0051] The communication unit 34 is a communication interface for connecting the management operation terminal 30 to the communication network N1 by wire or wirelessly and for executing data communication with external devices such as the server 20 via the communication network N1 in accordance with a predetermined communication protocol.

[0052] The operation display unit 33 is a user interface equipped with a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, a mouse, or a keyboard that accepts operations. The farm manager can operate the operation unit on the operation screen displayed on the display unit to register various information (such as work vehicle information, farm field information, and work information described below) and create a work plan. In addition, the worker can operate the operation unit to start work on the work vehicle 10, stop travel, and the like. Furthermore, the worker can grasp the travel state, work status, and surrounding conditions of the work vehicle 10 that automatically travels in the field F according to the target route R from the travel trajectory and the surrounding image of the vehicle body 100 displayed on the management operation terminal 30 at a location away from the work vehicle 10.

[0053] The storage unit 32 is a non-volatile storage unit such as an HDD or SSD that stores various information. The storage unit 32 stores control programs such as a work management program for causing the control unit 31 to execute a work management process (see Figs. 20 and 21) described below. For example, the work management program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 32. The work management program may be downloaded from a server (not shown) to the management operation terminal 30 via the communication network N1 and stored in the storage unit 32.

[0054] The control unit 31 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various information, and is used as a temporary storage memory (work area) for various processes executed by the CPU. The control unit 31 controls the management operation terminal 30 by executing, by the CPU, various control programs stored in advance in the ROM or the storage unit 32.

[0055] 2, the control unit 31 includes various processing units such as a setting processing unit 311, a display processing unit 312, a creation processing unit 313, a calculation processing unit 314, a determination processing unit 315, and a notification processing unit 316. The control unit 31 functions as the various processing units by executing various processes according to the control program with the CPU. Some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing a plurality of processors to function as the processing units.

[0056] Specifically, the setting processing unit 311 sets and registers information about the work vehicle 10 (hereinafter referred to as work vehicle information), information about the field F (hereinafter referred to as field information), and information about work (here, spraying work) (hereinafter referred to as work information).

[0057] In the process of setting the work vehicle information, the setting processing unit 311 sets information such as the model of the work vehicle 10, the position where the antenna 164 is attached on the work vehicle 10, the type of work implement (here, the spraying device 14), the size and shape of the work implement, the position of the work implement relative to the work vehicle 10, the vehicle speed and engine RPM of the work vehicle 10 while working, and the vehicle speed and engine RPM of the work vehicle 10 while turning, by the field manager performing an operation to register the information on the management operation terminal 30. In this embodiment, information related to the spraying device 14 is set as the information on the work implement.

[0058] In the field information setting process, the setting processing unit 311 sets information such as the position and shape of the field F, the work start position S where work begins and the work end position G where work ends (see FIG. 8), the work direction, etc., by the field manager performing an operation to register the information on the management operation terminal 30. Note that the work direction means the direction in which the work vehicle 10 travels while performing spraying work with the spraying device 14 in the work area, which is the area of ​​the field F excluding non-work areas such as headland.

[0059] Information on the position and shape of the field F can be automatically acquired, for example, by the field manager manually driving the work vehicle 10 around the perimeter of the field F and recording the transition of the position information of the antenna 164 at that time. The position and shape of the field F can also be acquired based on a polygon obtained by the field manager operating the management operation terminal 30 while a map is displayed on the management operation terminal 30 to specify multiple points on the map. The area specified by the acquired position and shape of the field F is the area in which the work vehicle 10 can be driven (travel area).

[0060] In the work information setting process, the setting processing unit 311 is configured to be able to set, as work information, the skip number, which is the number of work routes that the work vehicle 10 skips when turning on the headland, the width of the headland, etc.

[0061] Furthermore, the setting processing unit 311 generates a target route R, which is a route along which the work vehicle 10 will automatically travel, based on each of the setting information. The target route R is, for example, a route from a work start position S to a work end position G (see FIG. 8). The target route R shown in FIG. 8 includes a linear work route r1 for spraying agrichemicals on the crops V in an area where the crops V are planted, and a movement route r2 for moving between the crop rows Vr without performing spraying work. The setting processing unit 311 outputs the route data of the generated target route R to the server 20 in association with the field F. The server 20 stores the route data of the target route R in association with each field F.

[0062] The display processing unit 312 executes processing to display various information on the operation display unit 33. For example, the display processing unit 312 causes the operation display unit 33 to display a registration screen for registering work vehicle information, field information, work information, work plans, etc., an operation screen for starting automatic traveling of the work vehicle 10, a display screen for displaying the traveling status of the work vehicle 10, etc. The display processing unit 312 is an example of a display processing unit of the present invention.

[0063] The specific configuration of the control unit 31 that creates a work plan for the spraying work for each field will be described below.

[0064] 9 shows an example of a registration screen D1 for registering a work plan. For example, when a farm field manager enters a user ID and password into a login screen (not shown) displayed on the management operation terminal 30, the display processing unit 312 displays the registration screen D1. The registration screen D1 includes a map Mp of a predetermined area including multiple farm fields F, a date button K1 for selecting a scheduled work date, a work type button K2 for selecting a work type, a number of elapsed days button K3 for selecting the number of days elapsed since the previous work date, a registration field R0 for registering work content, etc., and a work plan list Sr for displaying a list of registered work plans.

[0065] The registration column R0 also includes a work time registration column R1 for registering work time, an area column R2 for displaying or registering the size (area) of the field, a work time column R3 for displaying or registering work time (e.g., spraying time), a work type column R4 for registering the type of work (spraying, weeding, etc.), a pesticide column R5 for displaying or registering the total amount of pesticide (chemical solution), a moisture column R6 for displaying or registering the total amount of water, a worker column R7 for registering workers, and a model column R8 for registering the model of the work vehicle 10.

[0066] The creation processing unit 313 creates a work plan for each field F. Specifically, the field manager selects the date button K1 on the registration screen D1 to determine the planned work date. FIG. 9 shows that "March 1st" has been selected. Next, the field manager selects the field F that is the target of the work plan on the map Mp. For example, the field manager selects field A1. The creation processing unit 313 is an example of a creation processing unit of the present invention.

[0067] Next, the field manager registers each item in the registration field R0. For example, the field manager registers the work time in the work time registration field R1, indicating whether the work is performed in the morning, the work is performed in the afternoon, or the time of the work does not matter. Here, the display processing unit 312 displays the area of ​​the field A1 in the area field R2. For example, the display processing unit 312 displays a pre-registered area or an area calculated from the map Mp in the area field R2. The display processing unit 312 also displays the work time (spraying time) in the work time field R3. Specifically, the calculation processing unit 314 calculates the spraying time of the spraying work based on the target route R of the field A1. For example, the calculation processing unit 314 calculates the spraying time based on information such as the area of ​​the field A1, the travel speed of the work vehicle 10, the target route R, and the work machine. The calculation processing unit 314 also calculates the spraying time based on work history information (described in detail below) of past spraying work in the field A1. The display processing unit 312 displays the calculated spraying time in the work time column R3. The field manager can change the area displayed in the area column R2 and the spraying time displayed in the work time column R3. The calculation processing unit 314 is an example of the calculation processing unit of the present invention.

[0068] The farm manager also selects a work type in the work type field R4. In this example, the farm manager selects "spraying."

[0069] The display processing unit 312 also displays the total amount of pesticide in the pesticide column R5, and the total amount of water in the moisture column R6. Specifically, the calculation processing unit 314 calculates the total amount of pesticide and the total amount of water based on the target route R of the field A1. The calculation processing unit 314 also calculates the total amount of pesticide and the total amount of water based on work history information (details will be described later) of past spraying work in the field A1. The total amounts of pesticide and water are an example of the spray amount of the present invention. The display processing unit 312 displays the calculated total amount of pesticide in the pesticide column R5, and the calculated total amount of water in the moisture column R6. The field manager can change the total amount of pesticide displayed in the pesticide column R5 and the total amount of water displayed in the moisture column R6.

[0070] The field manager also selects the worker who will perform the spraying work in the field A1 in the worker column R7. Here, the field manager selects worker P1. The field manager also selects the model of the work vehicle 10 that will perform the spraying work in the model column R8. Here, the field manager selects model "M1."

[0071] When the field manager completes the registration operation for each item in the registration column R0, he or she presses the registration button ("CREATE"), which causes the creation processing unit 313 to create a work plan including work information (information for each of items R1 to R8) related to the spraying work to be carried out in the field A1 on "March 1".

[0072] Next, the field manager may, for example, register another planned work date (eg, "March 8") for the field A1, or may register a planned work date for another field F (eg, field A2).

[0073] In this way, the creation processing unit 313 creates a work plan for each field F in response to the registration operation of the field manager. Every time the creation processing unit 313 creates a work plan corresponding to each field F, it outputs data of the work plan to the server 20. Note that information on the target route R may be included in the work plan.

[0074] The server 20 stores and manages the work plans for each field F. The server 20 also displays the work plans for each field F on the registration screen D1 of the management operation terminal 30. Specifically, the display processing unit 312 displays information on the work plans for each field F managed by the server 20 in a work plan list Sr (see FIG. 9).

[0075] The registration screen D1 (see FIG. 9) has a function for registering a work plan, as well as a function for displaying the registered work plan. Therefore, the field manager and the workers of each field F can check the work plan for each field F by date by viewing the registration screen D1.

[0076] Furthermore, the registration screen D1 further includes a function (notification function) for notifying the user of work information (notification information) related to a work plan when the work plan includes a work plan that requires attention in order to perform the work according to the plan. The specific configuration of the notification function will be described below.

[0077] The determination processing unit 315 acquires one or more work plans. The determination processing unit 315 also determines whether or not there is a work plan (a first work plan of the present invention) that requires attention in order for the work vehicle 10 to perform work according to the work plan among the multiple work plans. Furthermore, when there is a work plan that requires attention among the multiple work plans, the notification processing unit 316 notifies work information (notification information) related to the work plan.

[0078] FIG. 10 shows an example of the registration screen D1. In the example shown in FIG. 10, "March 5" has been selected by the field manager, and the work status as of "March 5" is displayed on the map Mp of the registration screen D1. Specifically, the judgment processing unit 315 judges whether or not there is a work plan for which work has not been completed at the present time ("March 5" in FIG. 10) among the multiple work plans. For example, the server 20 acquires information on the work status of each field F from the work vehicle 10 and the mobile operation terminal 40, and manages the start, interruption, and end of work corresponding to the work plan. In addition, the server 20 stores work history information (see FIG. 13) corresponding to the work plan for each field F. The work history information includes the work date, work time, amount of spraying, type of pesticide, worker, model of the work vehicle 10, location information, and the like.

[0079] The determination processing unit 315 acquires one or more work plans, for example, by referring to the work history information, and determines whether or not there is a work plan in which a scheduled work date before "March 5" is registered and the work is not completed as of "March 5". For example, when a worker is unable to complete a work on the scheduled work date or forgets to do a work, information indicating that the work is not completed is registered in the work history information. By referring to the work history information, the determination processing unit 315 determines, for each work plan, whether the work is being performed as planned in the work plan. The determination processing unit 315 is an example of the acquisition processing unit and the determination processing unit of the present invention.

[0080] When there is a work plan among the multiple work plans for which work has not been completed at the present time ("March 5" in FIG. 10), the notification processor 316 notifies the user of work information related to the work plan. Specifically, the notification processor 316 displays the field F corresponding to the work plan in an identifiable manner on the map Mp of the registration screen D1 shown in FIG. 10. For example, when a work plan is registered for the field A6 with "March 3" as the planned work date for spraying work and spraying work in the field A6 has not been completed at the present time ("March 5"), the notification processor 316 displays the field A6 (an example of the first work area of ​​the present invention) in an identifiable manner, for example, by highlighting the background image Fs of the field A6, as shown in FIG. 10. As another embodiment, the notification processor 316 may display a flag on the field A6. This allows the field manager and workers to know the fields F where work has not been carried out on the scheduled work day, the fields F where work has not been completed on the scheduled work day, etc. Then, for example, the field manager can register a work plan for spraying work again for field A6, or the worker can carry out spraying work for field A6 on the day. The notification processing unit 316 is an example of a notification processing unit of the present invention.

[0081] The notification processor 316 may display fields F where the scheduled work date has passed and where no work has been performed and fields F where work has been interrupted midway in different display modes so that they can be distinguished from each other on the map Mp of the registration screen D1. This allows the field manager and worker to distinguish and understand the fields F where no work has been performed and the fields F where work has been interrupted. The notification processor 316 may also display the fields F where work plans for the current day and after are registered so that they can be distinguished from other fields F on the map Mp of the registration screen D1.

[0082] In another embodiment, the notification processor 316 may display the number of days that have passed from the scheduled work date to the current date in association with the field F. In the example of Fig. 10, the notification processor 316 displays the number of days that have passed from "March 3" to "March 5", "2 days", in association with the field A6. This allows the field manager and workers to know the number of days that have passed from the scheduled work date to the current date.

[0083] 10, the field manager sets the number of days since the previous work date button K3, which selects the number of days since the previous work date, to "5 days." Specifically, the field manager sets the number of days since the previous work date button K3 to "5 days" in order to check (extract) fields A1 to A12 in which, as of the current date ("March 5"), it has been five or more days since the previous spraying work was carried out.

[0084] The determination processor 315 determines whether or not there is a work plan among the multiple work plans for which a predetermined number of days have passed since the work date of the previous work until the current date. For example, the determination processor 315 refers to the work history information and determines whether or not there is a work plan for which "5 days" or more have passed since the work date of the previous spraying work as of "March 5th".

[0085] When a work plan in which a predetermined number of days ("5 days" in FIG. 10) or more has passed since the work date of the previous work to the current day exists among the multiple work plans, the notification processor 316 displays the number of days elapsed from the work date of the previous work to the current day in association with the field F on the map Mp of the registration screen D1 shown in FIG. 10. For example, when five days have passed since the work date of the previous spraying work for the field A3, the notification processor 316 displays a days flag Fg indicating that five days have passed in association with the field A3. In the example shown in FIG. 10, it is indicated that six days have passed since the work date of the previous spraying work for the fields A7 and A9, and that seven days have passed since the work date of the previous spraying work for the field A10. This allows the field manager and the worker to know the field F for which the next spraying work needs to be performed immediately. Then, for example, the farm field manager can register a work plan for the next spraying work for the field F.

[0086] In another embodiment, when a work plan exists in which the work content is work that is repeatedly performed at a predetermined cycle and the scheduled work date is not registered at the predetermined cycle, the notification processing unit 316 may identifiably display the field F corresponding to the work plan.

[0087] Specifically, the determination processing unit 315 determines whether or not there is a work plan among the multiple work plans, the work content of which is spraying work that is performed repeatedly at a predetermined cycle (for example, one or two weeks) and the scheduled work date is not registered at the predetermined cycle. For example, the determination processing unit 315 refers to the work plan for each field F stored in the server 20 and executes the determination process.

[0088] When there is a work plan among a plurality of work plans, the work content of which is spraying work to be repeatedly performed at a predetermined cycle and the scheduled work date is not registered at the predetermined cycle, the notification processing unit 316 identifiably displays the field F corresponding to the work plan on the map Mp of the registration screen D1. For example, when spraying work needs to be performed once a week in the field A8, if the spraying work was performed one week before the current date "March 5" and a work plan for the spraying work is not registered for the current day, the notification processing unit 316 identifiably displays the field A8 on the map Mp. The notification processing unit 316 may also display information that prompts the registration of a work plan for the field A8. This allows the field manager and the worker to know that a work plan for the spraying work for the field A8 is not registered.

[0089] Incidentally, some of the work carried out by the work vehicle 10 is easily affected by weather. For example, in a spraying operation, if it rains after a pesticide has been sprayed on the crops V, the pesticide will be washed away by the rain, reducing the effect of the pesticide on the crops V. For this reason, for example, spraying of the pesticide is necessary immediately after it rains. Therefore, as another embodiment, the notification processing unit 316 may notify notification information according to the weather.

[0090] Specifically, the determination processing unit 315 determines whether or not there is a work plan among the multiple work plans for which the weather forecast for the scheduled work day predicts rain. The determination processing unit 315 obtains weather forecast information for a predetermined area including the field F by a well-known method. The display processing unit 312 may also display the weather forecast information on the date button K1 on the registration screen D1 (see FIGS. 9 and 10).

[0091] When a work plan in which the weather forecast for the planned work day is rain is included among the multiple work plans, the notification processing unit 316 notifies the user of work information related to the work plan. Specifically, when a work plan in which the weather forecast for the planned work day is rain is included among the multiple work plans, and a planned work date for a specific work content that needs to be performed after rain is not registered, the notification processing unit 316 identifiably displays the field F corresponding to the work plan on the map Mp of the registration screen D1. For example, when rain falls immediately after a spraying work is performed on "March 4" in the field A12, and a work plan for the spraying work is not registered on the following day, "March 5", the notification processing unit 316 identifiably displays the field A12 on the registration screen D1 for "March 5". The notification processing unit 316 may display information that prompts the user to register a work plan for the spraying work for the field A12. This allows the field manager and the workers to know that spraying work is required in the field A12.

[0092] Furthermore, among the works performed by the work vehicle 10, there are some works for which entry is prohibited for a predetermined period of time after the work is completed. For example, in a spraying work, entry into the field F is prohibited for 24 to 48 hours after a chemical is sprayed on the crops V. Therefore, as another embodiment, the notification processing unit 316 may notify information about the prohibited area.

[0093] Specifically, the judgment processing unit 315 judges whether or not there is a work plan among the multiple work plans in which the work content is work in which entry into the field F is prohibited for a specified period of time after the work is performed by the work vehicle 10.

[0094] When there is a work plan among the multiple work plans in which the work content is work in which entry to the field F is prohibited for a predetermined period after the work is performed by the work vehicle 10, the notification processing unit 316 identifiably displays on the map Mp of the registration screen D1 that the field F corresponding to the work plan is prohibited from entry for a predetermined period. For example, when 48 hours have not yet passed since the fields A2, A4, and A11 were sprayed, the notification processing unit 316 identifiably displays each field by highlighting the background image Ft of each of the fields A2, A4, and A11. The judgment processing unit 315 may set the prohibition period according to the type of chemical. The notification processing unit 316 may also display the elapsed time since the prohibition of entry, the remaining time until the prohibition of entry is lifted, etc., or may change the background image Ft according to the elapsed time or the remaining time.

[0095] As described above, the notification processing unit 316 notifies, on the map Mp of the registration screen D1 (see FIG. 10), work information related to a work plan (the first work plan of the present invention) that requires attention in order for the work vehicle 10 to carry out the work as planned in the work plan.

[0096] In another embodiment, the notification processing unit 316 may display the work information in a schedule table Sd of a schedule screen D2 displayed on the management operation terminal 30. Fig. 11 shows an example of the schedule screen D2. For example, when the field manager presses the menu button Mb to select "Schedule" on the registration screen D1 shown in Fig. 10, the display processing unit 312 causes the management operation terminal 30 to display the schedule screen D2. The schedule screen D2 displays a work plan for each field F, a work plan for each worker, a work plan for each model of work vehicle 10, and the like. Fig. 11 shows an example of a work plan for each field F.

[0097] The display processing unit 312 causes the schedule table Sd to display a list of information on the work plans for each field F managed by the server 20. Specifically, the display processing unit 312 causes the schedule table Sd to display an icon C1 corresponding to the work plan in the date column for the scheduled work date. In addition, the notification processing unit 316 causes the schedule table Sd to display work information (notification information) related to a work plan (a first work plan of the present invention) that requires attention in order for the work vehicle 10 to perform work according to the work plan.

[0098] For example, when there is a work plan that has not been completed at the present time ("March 5" in Fig. 10) among the multiple work plans, the notification processor 316 identifiably displays the field F corresponding to the work plan in the schedule Sd shown in Fig. 11. For example, when a work plan that sets "March 3" as the planned work date for spraying work is registered for the field A6, the notification processor 316 displays warning information Cm in the date column of "March 3" for the field A6 and highlights the background image of the date column, as shown in Fig. 11. The notification processor 316 also highlights the background image Fm of the name of the field A6 in the schedule Sd.

[0099] In addition, when there is a work plan among the multiple work plans for which a predetermined number of days ("5 days" in FIG. 10) or more have passed since the date of the last work performed until the current date, the notification processing unit 316 may display the number of days that have passed since the date of the last work performed until the current date in association with the field in the schedule table Sd of the schedule screen D2 shown in FIG. 11 (not shown).

[0100] In addition, when there is a work plan among multiple work plans in which the work content is spraying work that is performed repeatedly at a predetermined cycle and the scheduled work date is not registered at the predetermined cycle, the notification processing unit 316 may identifiably display the field F corresponding to the work plan in the schedule table Sd of the schedule screen D2 (not shown).

[0101] In addition, if there is a work plan among multiple work plans for which the weather forecast for the scheduled work day predicts rain, and the scheduled work date for specific work content that needs to be carried out after rain is not registered, the notification processing unit 316 may identifiably display the field F corresponding to the work plan in the schedule table Sd of the schedule screen D2 (not shown).

[0102] Furthermore, when there is a work plan among the multiple work plans in which entry to the field F is prohibited for a predetermined period of time after the work vehicle 10 has performed the work, the notification processor 316 may identifiably display in the schedule table Sd of the schedule screen D2 that the field F corresponding to the work plan is prohibited from entry for a predetermined period of time. For example, when 48 hours have not yet elapsed since the spraying work was performed on the fields A2 and A4, the notification processor 316 identifiably displays each field in the schedule table Sd of the schedule screen D2 by highlighting the background images C2 of the fields A2 and A4, respectively. The notification processor 316 may display the period of entry prohibition on a past date, as in the case of the fields A1 and A5, or may display the period of entry prohibition on a date after the current date (future), as in the case of the field A5.

[0103] In another embodiment, the notification processing unit 316 may display an icon C1 corresponding to a field F (field A5 in FIG. 11) in which a work plan for the current day and onward is registered in the schedule table Sd of the schedule screen D2 so as to be distinguishable from the icons C1 of other fields F.

[0104] As described above, the notification processor 316 notifies, in the schedule table Sd (see FIG. 11) of the schedule screen D2, of work information related to a work plan (first work plan of the present invention) that requires attention in order for the work vehicle 10 to carry out the work as planned in the work plan. As described above, the notification processor 316 according to this embodiment notifies the work information in at least one of the map Mp (see FIG. 10) and the schedule table Sd (see FIG. 11). This makes it possible for the field manager and worker to understand work plans that require attention in order for the work vehicle 10 to carry out the work as planned in the work plan, work that is not progressing as planned in the work plan, etc.

[0105] FIG. 12 shows an example of a work status screen D3 showing the current work status. For example, when the field manager presses the menu button Mb and selects "Work Status" on the registration screen D1 (see FIG. 9 and FIG. 10) or the schedule screen D2 (see FIG. 11), the display processing unit 312 causes the management operation terminal 30 to display the work status screen D3. The work status screen D3 displays the current work status for each field F. For example, the display processing unit 312 causes the map Mp to display the work content (spraying work) and information on the worker for the fields A5 and A9 currently being worked on. The display processing unit 312 may also identifiably display the fields F scheduled for work today, the fields F not scheduled for work today, the fields F where other workers are working, and the like. This allows the field manager and workers to grasp the work status of each field F in real time.

[0106] FIG. 13 shows an example of a work history screen D4 showing work history information. For example, when the field manager presses the menu button Mb to select "Work History" on the registration screen D1 (see FIG. 9 and FIG. 10) or the schedule screen D2 (see FIG. 11), the display processing unit 312 causes the management operation terminal 30 to display the work history screen D4. The work history screen D4 displays work history information for each field F. Specifically, the work history information including the work time for each work day, the amount of application, the type of chemical, the worker, the model of the work vehicle 10, and the location information is displayed. For example, the server 20 acquires information on the work status of each field F from the work vehicle 10 and the mobile operation terminal 40, and stores the work history information corresponding to the work plan. The display processing unit 312 refers to the work history information of the server 20 and causes the management operation terminal 30 to display it. Note that information on the work performance included in the work history information (such as the work date, work time, amount of application, and type of chemical) is submitted to a predetermined management organization.

[0107] Here, the work history information may be used to create a work plan. Specifically, the calculation processing unit 314 calculates the total amount of chemicals and the total amount of water, and the spraying time, based on the work history information of past spraying work of the field F. For example, when the field manager selects the field A1 on the registration screen D1 shown in FIG. 9, the calculation processing unit 314 calculates the spraying amount (total amount of chemicals and total amount of water) and the spraying time corresponding to the field A1, based on the work history information of past spraying work of the field A1. The display processing unit 312 displays the calculated spraying amount (total amount of chemicals and total amount of water) in the chemical column R5 and the moisture column R6 of the registration screen D1, and displays the calculated spraying time in the work time column R3 of the registration screen D1.

[0108] Furthermore, the display processing unit 312 may cause recipe information corresponding to each of a plurality of chemicals used in past spraying operations in the field A1 to be displayed on the management operation terminal 30. The recipe information is information that represents a combination of a plurality of chemicals.

[0109] FIG. 14 shows an example of the recipe information screen Dr. For example, when the farm manager selects the icon in the drug column R5 on the registration screen D1 shown in FIG. 9, the display processing unit 312 displays the recipe information screen Dr. The recipe information screen Dr displays information about the drug contained in the work history information (see FIG. 13). For example, FIG. 14 shows "Recipe 1" consisting of drugs "n1", "n2", and "n3" used in past spraying work in the field A1. In addition, the amount of drug used is displayed. The amount of drug used may be the amount used per unit area or the total amount actually used. In addition, when multiple recipe information are associated with the field A1, the farm manager can display other recipe information by pressing the recipe selection column Rp and select a desired recipe.

[0110] The control unit 31 registers recipe information based on work history information of past spraying work in the field F. For example, when spraying work is carried out in each field F and the server 20 acquires information on the work results from the work vehicle 10 and the mobile operation terminal 40 and stores the work history information, the control unit 31 registers recipe information for each field F or for each spraying work based on the work history information. In this way, one or more pieces of recipe information are associated with and registered for each field F.

[0111] Furthermore, the field manager can create a new recipe on the recipe information screen Dr. For example, the field manager can create a new recipe by pressing an add button on the recipe information screen Dr to register the chemical and the amount to be used, and pressing a set button. The recipe information of the recipe selected by the field manager is stored in association with the field F.

[0112] The creation processing unit 313 accepts an operation to select recipe information (first recipe information of the present invention) to be used for spraying work in the field F from among multiple recipe information, and creates a work plan based on the accepted recipe information. Specifically, when a specific recipe is selected on the recipe information screen Dr, the calculation processing unit 314 calculates the total amount of pesticide and the total amount of water based on the target route R of the field F and the recipe information, and the creation processing unit 313 creates a work plan that includes information on the calculated amounts of pesticide and water to be sprayed.

[0113] In this way, the control unit 31 displays the spray amount and spray time corresponding to the field F calculated based on the work history information of past spraying work in the field F, and creates a work plan for the spraying work corresponding to the field F. This allows the field manager to create a work plan by knowing the spray amount and spray time in advance. It is therefore possible to create an appropriate work plan corresponding to the field F where the spraying work will be carried out. Also, the spraying work can be carried out according to the created work plan. It is also possible to prevent an inappropriate chemical from being sprayed in the field F.

[0114] Furthermore, the control unit 31 displays the registered recipe information in a selectable manner on the registration screen D1, and creates a work plan by determining the chemicals to be used for spraying in the field F and the spraying amounts based on the selected recipe information. This allows the field manager to create a work plan suitable for the field F by a simple operation of selecting past recipe information.

[0115] Incidentally, there are cases where one work vehicle 10 performs spraying work on multiple fields F consecutively on the same day. In this case, if the total amount of chemical needed to be sprayed on the multiple fields F can be known when creating a work plan, the total amount of chemical needed can be stored in the storage tank 14A before work begins, and the necessary amount of chemical can be appropriately replenished during work.

[0116] Therefore, in another embodiment, when creating a work plan corresponding to multiple fields F, the display processing unit 312 may display on the registration screen D1 the total amount of spraying required when spraying work is performed collectively on a scheduled work date for multiple fields F. For example, when creating a work plan for spraying work with a scheduled work date of "March 1" for field A1 and field A2, the display processing unit 312 displays on the registration screen D1 the total amount of spraying that is the sum of the amount of spraying required for field A1 (total amount of chemical and water) and the amount of spraying required for field A2 (total amount of chemical and water).

[0117] The creation processing unit 313 also creates a work plan that combines the spraying work for each of the fields A1 and A2. For example, when the field manager selects the fields A1 and A2 on the map Mp of the registration screen D1, the creation processing unit 313 creates one work plan that combines the spraying work for each of the fields A1 and A2. The control unit 31 executes the above process on the condition that the same chemical is used in the fields A1 and A2. This allows the worker to store the total amount of chemical required for spraying in the fields A1 and A2 in the storage tank 14A before starting spraying work for each of the fields A1 and A2. In addition, an operator can store the amount of chemical required for spraying in field A1 in storage tank 14A and perform spraying work in field A1, and then replenish with the amount of chemical required for field A2 and perform spraying work in field A2.

[0118] In this way, the control unit 31 calculates the amount and time of spraying of the chemical based on the target route R of the work vehicle 10 performing spraying work in the field F, and displays the calculated amount and time of spraying on the management operation terminal 30 (see FIG. 9, etc.). The control unit 31 also creates a work plan for the spraying work corresponding to the field F based on the amount and time of spraying.

[0119] The control unit 31 executes the following processes in addition to the above-mentioned processes. For example, the control unit 31 accepts a work start operation from the worker to cause the work vehicle 10 to start work, a travel stop operation to stop the travel of the work vehicle 10 during automatic travel, etc. When the control unit 31 accepts each of the above operations, it outputs instructions corresponding to each of the above operations to the work vehicle 10 via the server 20.

[0120] When the vehicle control device 11 of the work vehicle 10 receives a work start instruction from the management operation terminal 30, it starts the automatic driving and work (e.g., spraying work) of the work vehicle 10. In addition, when the vehicle control device 11 receives a driving stop instruction from the management operation terminal 30, it stops the automatic driving and work of the work vehicle 10.

[0121] The management operation terminal 30 may be able to access a website (agricultural support site) of the agricultural support service provided by the server 20 via the communication network N1. In this case, the management operation terminal 30 can function as an operation terminal for the server 20 by executing a browser program by the control unit 31.

[0122] [Server 20] As shown in FIG. 2, the server 20 is a server device including a control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. The server 20 is not limited to one computer, and may be a computer system in which multiple computers work in cooperation with each other. Various processes executed by the server 20 may be executed in a distributed manner by one or multiple processors. The server 20 stores and manages the work plans for each field F created in the management operation terminal 30. The server 20 also stores and manages the target route R for each field F created in the management operation terminal 30. The server 20 also acquires work information (work results) related to the work status of each field F from the work vehicle 10 and the mobile operation terminal 40, and stores and manages the work history information corresponding to the work plans.

[0123] The communication unit 24 is a communication interface that connects the server 20 to the communication network N1 via a wired or wireless connection, and performs data communication in accordance with a predetermined communication protocol between the server 20 and one or more external devices such as a work vehicle 10, a management operation terminal 30, and a mobile operation terminal 40 via the communication network N1.

[0124] The operation display unit 23 is a user interface that includes a display unit, such as a liquid crystal display or an organic EL display, that displays various information, and an operation unit, such as a touch panel, a mouse, or a keyboard, that accepts operations.

[0125] The storage unit 22 is a non-volatile storage unit such as an HDD or SSD that stores various types of information. A control program for causing the control unit 21 to execute a predetermined control process is stored in the storage unit 22. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 22. The control program may be downloaded from another server (not shown) to the server 20 via the communication network N1 and stored in the storage unit 22.

[0126] The control unit 21 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various information, and is used as a temporary storage memory (work area) for various processes executed by the CPU. The control unit 21 controls the server 20 by executing, by the CPU, various control programs stored in advance in the ROM or the storage unit 22.

[0127] Specifically, the control unit 21 acquires various information from the work vehicle 10, the management operation terminal 30, and the mobile operation terminal 40. For example, the control unit 21 acquires information on the target route R and the work plan corresponding to each field F from the management operation terminal 30. When the control unit 21 acquires the target route R and the work plan, the control unit 21 stores them in the memory unit 22 in association with the field F. In addition, the control unit 21 acquires information such as work results from the work vehicle 10 and the mobile operation terminal 40. When the control unit 21 acquires the work results, the control unit 21 stores them in the memory unit 22 as work history information. The work history information includes the work date and time, the amount of application, the type of chemical, the worker, the model of the work vehicle 10, and location information. In addition, the work history information is displayed on the management operation terminal 30 in response to an operation of the field manager on the management operation terminal 30 (see FIG. 13). Note that the control unit 21 may execute a process to display the work history information on the management operation terminal 30 in response to a request from the management operation terminal 30.

[0128] Furthermore, the control unit 21 transfers route data of the target route R (see FIG. 8 ) to the work vehicle 10. The work vehicle 10 stores the route data of the target route R transferred from the server 20 in the memory unit 12. The work vehicle 10 performs automatic traveling according to the target route R while measuring the current position of the work vehicle 10 by the positioning device 16.

[0129] Here, the work vehicle 10 is configured to be able to travel automatically when its current position is located within the field F, and is configured not to be able to travel automatically when its current position is located outside the field F (such as on a public road). Also, the work vehicle 10 is configured to be able to travel automatically when, for example, its current position coincides with the work start position S.

[0130] When the current position of the work vehicle 10 coincides with the work start position S, and the operator presses the start button on the operation remote control (not shown) to give an instruction to start work, the work vehicle 10 starts automatic driving by the vehicle control device 11 and starts spraying work by the spraying device 14. In other words, the work vehicle 10 is permitted to drive automatically on the condition that the current position coincides with the work start position S. Note that the conditions for permitting automatic driving of the work vehicle 10 are not limited to the above conditions.

[0131] The vehicle control device 11 automatically drives the work vehicle 10 from the work start position S to the work end position G based on the target route R obtained from the server 20. Furthermore, when the work vehicle 10 finishes work, the vehicle control device 11 may automatically drive the work vehicle 10 from the work end position G to the entrance of the field F. When the work vehicle 10 is automatically driving, the portable operation terminal 40 can receive the status of the work vehicle 10 (position, driving speed, work status, etc.) from the work vehicle 10 and display it on the operation display unit 43.

[0132] [Portable operation terminal 40] As shown in FIG. 2, the mobile operation terminal 40 is an information processing device including a control unit 41, a storage unit 42, an operation display unit 43, and a communication unit 44. The mobile operation terminal 40 is, for example, a smartphone or a tablet terminal. The mobile operation terminal 40 is operated by a worker who performs work in a farm field F. The worker operates the mobile operation terminal 40 to check information related to the work (work plan, work status, etc.) and input work results. The worker also operates the mobile operation terminal 40 to create a work plan or correct the created work plan, as necessary. The mobile operation terminal 40 is an example of an operation terminal of the present invention.

[0133] The communication unit 44 is a communication interface for connecting the mobile operating terminal 40 to the communication network N1 by wire or wirelessly and for executing data communication with an external device such as the server 20 via the communication network N1 in accordance with a predetermined communication protocol.

[0134] The operation display unit 43 is a user interface that includes a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, a mouse, or a keyboard that accepts operations.

[0135] The storage unit 42 is a non-volatile storage unit such as an HDD or SSD that stores various types of information. A control program for causing the control unit 41 to execute control processing is stored in the storage unit 42. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 42. The control program may be downloaded to the mobile operation terminal 40 from another server (not shown) via the communication network N1 and stored in the storage unit 42.

[0136] The control unit 41 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various information, and is used as a temporary storage memory (work area) for various processes executed by the CPU. The control unit 41 controls the server 20 by executing, by the CPU, various control programs stored in advance in the ROM or the storage unit 42.

[0137] Specifically, the control unit 41 acquires various information from the server 20. For example, the control unit 41 acquires information on a work plan corresponding to the field F from the server 20. When the control unit 41 acquires the work plan, it causes the mobile operation terminal 40 to display a work information screen D11. For example, when a worker carrying the mobile operation terminal 40 enters a user ID and a password into a login screen displayed on the mobile operation terminal 40, the control unit 41 causes the work information screen D11 to be displayed.

[0138] FIG. 15 shows an example of the work information screen D11. For example, the work information screen D11 shown in FIG. 15 displays date information (date selection icon) and a work information icon B1 indicating a work plan corresponding to each of a plurality of fields F (fields A8, A11, A1, A12) in which the worker P1 is in charge of work. In addition, warning information Bm is displayed on the work information icon B1 corresponding to the field A8. In addition, the background image Ba of the work information icon B1 corresponding to the fields A8 and A11 is highlighted. For example, when attention is required to perform work in the fields A8 and A11 according to the work plan, the control unit 41 displays the warning information Bm and highlights the background image Ba. Specifically, when work is not completed on the scheduled work date in the field A8, the control unit 41 displays the warning information Bm on the work information icon B1 corresponding to the field A8 and highlights the background image Ba. Furthermore, when entry to the field A11 is prohibited for a predetermined period of time after spraying work is completed, the control unit 41 highlights the background image Ba of the work information icon B1 corresponding to the field A11.

[0139] The control unit 41 also preferentially displays the work information icon B1 corresponding to the work plan that requires attention in order to perform the work according to the work plan at the top of the work information screen D11. The control unit 41 also continues to display the warning information Bm until the work in the field A8 is completed, for example. The control unit 41 also highlights the background image Ba until the no-entry period for the field A11 ends, for example.

[0140] Furthermore, the worker can select the field F where work will be performed on that day ("March 5th") on the work information screen D11. For example, when the worker P1 selects the work information icon B1 for the field A1 on the work information screen D11, the control unit 41 displays a work plan screen D12 including the work plan for the field A1 corresponding to the selected work information icon B1. FIG. 16 shows an example of the work plan screen D12. The work plan screen D12 displays information related to the work plan registered on the registration screen D1 (see FIG. 9). The worker P1 can check the work content for the field A1 on that day ("March 5th") on the work plan screen D12.

[0141] Furthermore, the worker P1 can change the work content on the work plan screen D12. For example, the worker P1 can change the work time, the type of work (spraying, weeding, etc.), the amount of spraying, the model of the work vehicle 10, etc.

[0142] Furthermore, the control unit 41 causes the mobile operation terminal 40 to display a work status screen D13 indicating the current work status. Fig. 17 shows an example of the work status screen D13. The work status screen D13 displays the same information as the work status screen D3 (see Fig. 12) displayed on the management operation terminal 30. The example shown in Fig. 17 indicates that spraying work is currently being performed in fields A5 and A9.

[0143] Furthermore, for example, when work is interrupted and then resumed, the control unit 41 displays a resume position corresponding to the interruption position on the work position screen D14. Fig. 18 shows an example of the work position screen D14. For example, when work is interrupted in the field A5 and then resumed, the control unit 41 displays the resume position Sp at the interruption position in the field A5. This enables the worker to move the work vehicle 10 to the resume position Sp and resume the work.

[0144] Furthermore, the control unit 41 may accept a work end operation from the worker on the mobile operation terminal 40. For example, when the worker presses the end button on the operation screen D15 shown in Fig. 19, the control unit 41 accepts the work end operation and outputs a work end instruction to the server 20. When the server 20 acquires the work end instruction, it outputs a work stop instruction (stop signal) to the work vehicle 10. When the vehicle control device 11 of the work vehicle 10 acquires the work stop instruction from the server 20, it moves the work vehicle 10 to a predetermined position and stops automatic traveling and work.

[0145] Furthermore, the control unit 41 accepts input operations such as work results from the worker on the operation screen D15. When the control unit 41 accepts an input operation of the work results, it outputs the input operation to the server 20. When the server 20 acquires the work results, it stores the work results as work history information.

[0146] [Work management process] An example of the work management process executed by the control unit 31 of the management operation terminal 30 will be described below with reference to FIGS.

[0147] The present invention can be understood as an invention of a work management method that executes one or more steps included in the work management process. One or more steps included in the work management process described here may be omitted as appropriate. The steps in the work management process may be executed in a different order as long as the same action and effect is achieved. Furthermore, although an example is described here in which the control unit 31 executes each step in the work management process, another embodiment can also be a work management method in which one or more processors execute each step in the work management process in a distributed manner.

[0148] Fig. 20 is a flowchart showing an example of a procedure for executing a work plan creation process for creating a work plan. Fig. 21 is a flowchart showing an example of a procedure for executing a notification process for notifying predetermined notification information when attention is required to perform work as planned in the work plan. The work plan creation process and the notification process are included in the work management process.

[0149] [Work plan creation process] An example of the work plan creation process executed by the control unit 31 of the management operation terminal 30 will be described with reference to FIG.

[0150] In step S1, the control unit 31 accepts a selection operation of a field F from the field manager. For example, when creating a work plan, the field manager logs in by entering a user ID and password on a login screen at the management operation terminal 30. Then, the field manager selects the target field F on a registration screen D1 (see FIG. 9 ) displayed on the management operation terminal 30. Here, for example, the field manager selects field A1.

[0151] Next, in step S2, the control unit 31 generates a target route R. Specifically, the control unit 31 generates a target route R (see FIG. 8) for the selected field F based on the work vehicle information, the field information, the work information, etc. Here, for example, the control unit 31 generates the target route R for the field A1.

[0152] Next, in step S3, the control unit 31 accepts a registration operation of various work information. Specifically, the field manager selects the planned work date, work time, work type, worker, and model of work vehicle 10 in the registration column R0 of the registration screen D1 (see FIG. 9). The control unit 31 accepts the selection operation of the field manager. The control unit 31 registers various work information in response to the selection operation.

[0153] Next, in step S4, the control unit 31 calculates the amount of agent to be sprayed and the spraying time of the spraying work based on the target route R. For example, the control unit 31 calculates the spraying time based on information such as the area of ​​the field A1, the travel speed of the work vehicle 10, the target route R, and the work machine. The control unit 31 also calculates the spraying time based on work history information of past spraying work in the field A1 (see FIG. 13).

[0154] Next, in step S5, the control unit 31 displays the calculated spray amount and spray time on the registration screen D1 (see FIG. 9). Specifically, the control unit 31 displays the calculated spray amount (total amount of chemicals and total amount of water) in the chemical column R5 and the water column R6 of the registration screen D1, and displays the calculated spray time in the work time column R3 of the registration screen D1.

[0155] Next, in step S6, the control unit 31 determines whether or not a recipe selection operation has been received. For example, when the field manager selects a recipe registered based on the work history information (see FIG. 13), the field manager selects the icon in the drug column R5 of the registration screen D1. The field manager selects a desired recipe from one or more recipes on the recipe information screen Dr (see FIG. 14). If the field manager selects a recipe (S6: Yes), the control unit 31 shifts the process to step S7. On the other hand, if the field manager does not select a recipe (S6: No), the control unit 31 shifts the process to step S8.

[0156] In step S7, the control unit 31 changes the spray amount according to the selected recipe. Specifically, the control unit 31 calculates the spray amount based on the selected recipe, and changes the spray amount calculated in step S4. If the spray time is changed by the selection of a recipe, the control unit 31 also changes the spray time. The control unit 31 updates the information in the drug column R5, the moisture column R6, and the work time column R3.

[0157] In step S8, the control unit 31 creates a work plan. Specifically, the control unit 31 creates a work plan for the field F based on the work information registered by each of the above-mentioned processes. Here, the control unit 31 creates a work plan that includes work information (information for items R1 to R8) related to work to be performed in the field A1 on "March 1st."

[0158] The control unit 31 executes the work plan creation process as described above. The control unit 31 also executes the work plan creation process for each field F. The control unit 31 also outputs data of the created work plan to the server 20. Note that data of the target route R may be included in the work plan. The server 20 stores and manages the work plan and target route R for each field F.

[0159] In another embodiment, the control unit 31 may accept a recipe selection operation after step S3. For example, when the control unit 31 accepts a recipe selection operation, the control unit 31 may calculate and display a spray amount and a spray time based on the selected recipe to create a work plan.

[0160] In another embodiment, the control unit 41 of the mobile operation terminal 40 may execute the work plan creation process in response to a login operation by the worker.

[0161] [Notification processing] An example of the notification process executed by the control unit 31 of the management operation terminal 30 will be described with reference to FIG.

[0162] In step S11, the control unit 31 acquires a work plan. For example, the control unit 31 acquires a plurality of work plans stored in the server 20. Specifically, when the farm field manager logs in by entering a user ID and password on the login screen of the management operation terminal 30, the control unit 31 acquires the latest work plan at that time. The server 20 acquires work results from the work vehicle 10 and the mobile operation terminal 40, and stores the work results as work history information in association with the target work plan.

[0163] Next, in step S12, the control unit 31 determines whether or not the acquired work plans include a work plan (a first work plan of the present invention) that requires attention in order for the work vehicle 10 to perform the work as planned in the work plan. A specific example will be described below.

[0164] As a first example, the control unit 31 determines whether or not there is a work plan for which work has not been completed at present among the multiple work plans. Specifically, the control unit 31 refers to the work history information and determines whether or not there is a work plan for which a scheduled work date before "March 5" is registered as of "March 5" and the work has not been completed. For example, when a worker fails to complete a work on the scheduled work date or forgets to do a work, information indicating that the work has not been completed is registered in the work history information.

[0165] As a second example, the control unit 31 determines whether or not there is a work plan among the multiple work plans for which a predetermined number of days have passed since the work date of the previous work until the current date. Specifically, the control unit 31 refers to the work history information and determines whether or not there is a work plan for which "five days" or more have passed since the work date of the previous spraying work as of "March 5th". The predetermined number of days is set by the farm field manager by operating the number of days elapsed button K3 (see FIG. 10).

[0166] As a third example, the control unit 31 determines whether or not there is a work plan whose work content is work that is repeatedly performed at a predetermined cycle and whose scheduled work date is not registered at the predetermined cycle. Specifically, the control unit 31 determines whether or not there is a work plan whose work content is a spraying work that is repeatedly performed at a predetermined cycle (for example, one or two weeks) and whose scheduled work date is not registered at the predetermined cycle, among the multiple work plans.

[0167] As a fourth example, the control unit 31 determines whether or not there is a work plan in which the weather forecast for the scheduled work day predicts rain among the multiple work plans.

[0168] As a fifth example, the control unit 31 determines whether there is a work plan among the multiple work plans in which the work content is work in which entry into the field F is prohibited for a predetermined period of time after the work is performed by the work vehicle 10.

[0169] If the determination result in the determination process of each of the above examples is positive, i.e., if there is a work plan among the multiple work plans that requires attention in order for the work vehicle 10 to perform the work as planned in the work plan (S12: Yes), the control unit 31 transitions the process to step S13. On the other hand, if the determination result in the determination process of each of the above examples is negative, i.e., if there is no work plan among the multiple work plans that requires attention in order for the work vehicle 10 to perform the work as planned in the work plan (S12: No), the control unit 31 ends the notification process.

[0170] In step S13, the control unit 31 executes a notification process for notifying predetermined notification information. Specific examples of the notification process corresponding to the specific examples (first to fifth examples) of the determination process described above will be described below.

[0171] In the first example, the control unit 31 displays the field F corresponding to the work plan in an identifiable manner on the map Mp of the registration screen D1 shown in Fig. 10. For example, if a work plan is registered for the field A6 in which "March 3" is the planned work date for spraying work, the control unit 31 displays the field A6 in an identifiable manner, for example by highlighting the background image Fs of the field A6, as shown in Fig. 10. As another embodiment, the control unit 31 may display a flag on the field A6.

[0172] The control unit 31 also identifiably displays the field F corresponding to the work plan in the schedule table Sd shown in Fig. 11. For example, if a work plan is registered for the field A6 with "March 3" as the planned work date for spraying work, the control unit 31 displays warning information Cm in the date column of "March 3" for the field A6 and highlights the background image of the date column, as shown in Fig. 11. The control unit 31 also highlights the background image Fm of the name of the field A6 in the schedule table Sd.

[0173] In the second example, the control unit 31 displays the number of days that have passed since the last work date until the current date in association with the field F on the map Mp of the registration screen D1 shown in Fig. 10. For example, for field A3, if five days have passed since the last spraying work date, the control unit 31 displays a days flag Fg indicating that five days have passed in association with field A3. In the example shown in Fig. 10, it is indicated that six days have passed since the last spraying work date for fields A7 and A9, and that seven days have passed since the last spraying work date for field A10.

[0174] Furthermore, the control unit 31 causes the number of days that have passed since the last work date until the current date to be displayed in association with the field F (not shown) in the schedule table Sd of the schedule screen D2 shown in FIG.

[0175] In the third example, for example, in the case where spraying work needs to be carried out once a week in the field A8, if spraying work was carried out one week before the current date "March 5" and no work plan for the spraying work has been registered for the current day, the control unit 31 causes the field A8 to be identifiable on the map Mp. The control unit 31 may also cause information to be displayed that prompts the registration of a work plan for the field A8.

[0176] Furthermore, the control unit 31 causes the field A8 corresponding to the work plan to be identifiable (not shown) in the schedule table Sd of the schedule screen D2.

[0177] In the fourth example, when there is a work plan in which the weather forecast for the planned work day predicts rain among the multiple work plans, and the planned work date for a specific work content that needs to be performed after rain is not registered, the control unit 31 identifiably displays the field F corresponding to the work plan on the map Mp of the registration screen D1. For example, when it rains immediately after spraying work is performed on "March 4" in the field A12, and a work plan for the spraying work on the following day, "March 5", is not registered, the control unit 31 identifiably displays the field A12 on the registration screen D1 for "March 5". The notification processing unit 316 may display information that prompts the user to register a work plan for the spraying work for the field A12.

[0178] Furthermore, the control unit 31 causes the field F corresponding to the work plan to be identifiable in the schedule table Sd of the schedule screen D2.

[0179] In the fifth example, the control unit 31 identifiably displays on the map Mp of the registration screen D1 that the field F corresponding to the work plan is off-limits for a predetermined period of time. For example, if 48 hours have not yet elapsed since the spraying work was carried out for the fields A2, A4, and A11, the control unit 31 identifiably displays each field by highlighting the background image Ft of each of the fields A2, A4, and A11.

[0180] Furthermore, the control unit 31 identifiably displays in the schedule table Sd of the schedule screen D2 that the field F corresponding to the work plan is off-limits for a predetermined period of time. For example, for the fields A2 and A4, if 48 hours have not yet elapsed since the spraying work was carried out, the control unit 31 identifiably displays each field in the schedule table Sd of the schedule screen D2 by highlighting the background images C2 of the fields A2 and A4 (see FIG. 11). Furthermore, the control unit 31 may display the off-limits period on a past date, as in the case of field A1 and field A5, or may display the off-limits period on a date after the current date (future), as in the case of field A5.

[0181] After the process of step S13, the control unit 31 ends the notification process. The control unit 31 executes the notification process every time the farm field manager logs in and accesses the registration screen D1.

[0182] As another embodiment, the control unit 41 of the mobile operation terminal 40 may execute the notification process in response to a login operation by the worker. In this case, the control unit 41 causes the mobile operation terminal 40 to display the notification information.

[0183] As described above, the automated driving system 1 according to this embodiment acquires a work plan that correlates the field F (work site) where the work vehicle 10 will perform work, the work content of the work to be performed by the work vehicle 10 in the field F, and the planned work date for the work. Furthermore, the automated driving system 1 determines whether or not there is a work plan (first work plan) among the multiple work plans that requires attention so that the work vehicle 10 can perform the work according to the work plan, and if the first work plan is present among the multiple work plans, it notifies work information related to the first work plan.

[0184] According to the above configuration, when there is a work plan (first work plan) that requires attention in order for the work vehicle 10 to carry out the work according to the work plan, such as a work plan in which the work has not been completed on the registered scheduled work date (first example), a work plan in which a predetermined number of days have passed since the work date in which the work was carried out until the current date (second example), a work plan in which the scheduled work date is not registered at a predetermined cycle (third example), a work plan in which the weather forecast for the scheduled work date predicts rain (fourth example), or a work plan in a field F that is off-limits for a predetermined period (fifth example), it is possible to notify the field manager, worker, etc. of predetermined notification information. Therefore, the field manager, worker, etc. can grasp the work that is not proceeding according to the work plan, the work that requires attention, etc. That is, it is possible to call the attention of the field manager, worker, etc. regarding the work plan. This makes it possible for the worker to grasp the work status according to the work plan. Then, it becomes possible to appropriately carry out the work in each field F according to the work plan.

[0185] Furthermore, the automated driving system 1 according to this embodiment calculates the amount of spraying material to be applied to a target object placed in a field F and the spraying time of the spraying work based on the target route R of the work vehicle 10 performing spraying work on the target object, and displays the amount of spraying material and the spraying time on an operation terminal (such as the management operation terminal 30 or the mobile operation terminal 40). Furthermore, the automated driving system 1 creates a work plan for the spraying work corresponding to the field F based on the amount of spraying material and the spraying time.

[0186] According to the above configuration, the field manager can grasp the amount and time of the pesticide to be sprayed when creating a work plan for spraying work in the field F. This makes it possible to create an appropriate work plan for the field F where the spraying work will be carried out. As a result, the spraying work can be carried out according to the created work plan. It is also possible to prevent an inappropriate pesticide from being sprayed in the field F.

[0187] In the above embodiment, the automatic driving system 1 corresponds to the work management system according to the present invention, but the work management system according to the present invention may be configured by the management operation terminal 30 alone. Also, the work management system according to the present invention may be configured by the server 20 alone or the mobile operation terminal 40 alone. For example, the server 20 may include the calculation processing unit 314, the determination processing unit 315, and the notification processing unit 316 of the management operation terminal 30. Also, the mobile operation terminal 40 may include the setting processing unit 311, the display processing unit 312, the creation processing unit 313, the calculation processing unit 314, the determination processing unit 315, and the notification processing unit 316 of the management operation terminal 30. Also, the work management system according to the present invention may be configured by one or more components of the server 20, the management operation terminal 30, and the mobile operation terminal 40. [Explanation of symbols]

[0188] 1:Autonomous driving system 10: Work vehicle 20: Server 30: Management operation terminal (operation terminal) 40: Mobile operation terminal (operation terminal) 50:Base station 60:Satellite 311: Setting processing section 312: Display processing unit 313: Creation processing unit 314: Calculation processing unit 315: Judgment processing unit 316: Notification processing unit D1: Registration screen D2: Schedule screen D3: Work status screen D4: Work history screen Dr: Recipe information screen F: Field (work area) Mp:Map R: Target route Sd: Schedule

Claims

1. One or more processors, Generating a target route for a work vehicle that performs spraying work on a target object arranged in a work area using a work machine; Calculating the amount of spraying material to be sprayed on the spraying object and the spraying time of the spraying work based on information including at least one of the area of ​​the work site, the traveling speed of the work vehicle, the target route, and information of the work machine, which are stored in advance; Displaying the spray amount and the spray time on an operation terminal; The operation terminal is capable of accepting an operation to change the spray amount and the spray time from a user; Creating a work plan for the spraying work corresponding to the work site, the work plan including the spray amount and the spraying time; A work management method to carry out the above.

2. When a specific work area is selected, the one or more processors cause the operation terminal to display the spray amount and the spray time corresponding to the work area based on work history information of past spraying work of the work area. The work management method according to claim 1 .

3. The amount of spraying includes the total amount of the drug and the total amount of water; The work management method according to claim 1 or 2.

4. The one or more processors cause the operation terminal to display recipe information corresponding to each of a plurality of spray materials used in past spraying operations in the work area. The work management method according to any one of claims 1 to 3.

5. The one or more processors accept, on the operation terminal, an operation to select first recipe information to be used for the spraying work on the work area from among the plurality of recipe information, and create the work plan based on the accepted first recipe information. The work management method according to claim 4.

6. The one or more processors calculate a total amount of the chemical constituting the spray material and a total amount of water for diluting the chemical based on the target path and the first recipe information. The work management method according to claim 5.

7. The one or more processors register the recipe information representing a combination of chemicals that constitute the spray material based on work history information of past spraying work. The work management method according to any one of claims 4 to 6.

8. When the one or more processors create a work plan corresponding to the plurality of work sites, a total amount of spraying required for performing the spraying work on the plurality of work sites collectively on a scheduled work day is displayed on the operation terminal. The work management method according to any one of claims 1 to 7.

9. A setting processing unit that generates a target route for a work vehicle that performs spraying work on a target object arranged in a work area using a work machine; A calculation processing unit that calculates the amount of spraying material to be sprayed on the spraying target and the spraying time of the spraying work based on information including at least one of the area of ​​the work site, the traveling speed of the work vehicle, the target route, and information of the work machine that are stored in advance; a display processing unit that displays the spray amount and the spray time on an operation terminal and is capable of receiving an operation from a user on the operation terminal to change the spray amount and the spray time; A creation processing unit that creates a work plan for the spraying work corresponding to the work site, the work plan including the spray amount and the spraying time; A work management system comprising:

10. Generating a target route for a work vehicle that performs spraying work on a target object arranged in a work area using a work machine; Calculating the amount of spraying material to be sprayed on the spraying object and the spraying time of the spraying work based on information including at least one of the area of ​​the work site, the traveling speed of the work vehicle, the target route, and information of the work machine, which are stored in advance; Displaying the spray amount and the spray time on an operation terminal; The operation terminal is capable of accepting an operation to change the spray amount and the spray time from a user; Creating a work plan for the spraying work corresponding to the work site, the work plan including the spray amount and the spraying time; A work management program for executing the above on one or more processors.

Images