Work vehicle management system

Abstract

To form a work plan suitable for the shape of a farm field.SOLUTION: A management system of work vehicles includes work vehicles and control means. The work vehicle which travels autonomously works in a field. The control means includes field data regarding multiple fields and including shape information on the fields and work vehicle data regarding multiple vehicles and including work width information of the work vehicles, and dispatches a work vehicle corresponding to a work target field to the work target field on the basis of the field data and the work vehicle data. The control means ranks narrow sections, when the narrow sections exist in the field, from the field data, according to degrees of narrowness of the narrow sections, ranks work widths according to the work widths of the work vehicles from the work vehicle data, and allocates the work vehicles to the fields while associating the ranks of the narrow sections with the ranks of the work widths.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a work vehicle management system. [Background technology]

[0002] Conventionally, there is known a work vehicle management system that stores the work capabilities, such as the working width, of multiple work vehicles and multiple candidate work sites (fields), extracts a prioritized field from the candidate work sites based on the work capacity of the work vehicle, and transmits the location information of the field where work will be performed to the work vehicle (see, for example, Patent Document 1).

[0003] Furthermore, in such a work vehicle management system, when multiple work vehicles have finished work, map information (location information of the field where work is being performed) is sent preferentially to the work vehicle with the greatest work capacity. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 11-203523 Summary of the Invention [Problem to be solved by the invention]

[0005] However, while conventional work vehicle management systems such as those described above can improve work efficiency by prioritizing work vehicles with greater work capacity, work vehicles with greater work capacity also tend to be larger, and depending on the shape of the field, this can result in areas remaining unplowed (referred to as residual tillage). Specifically, residual tillage can occur when there are narrow sections (narrow parts) in the field where large work vehicles cannot operate.

[0006] In other words, the above-described conventional work vehicle management systems have room for improvement in terms of formulating work plans suited to the shape of the field.

[0007] The present invention has been made in view of the above, and has an object to provide a management system for work vehicles that can create a work plan suited to the shape of a farm field. [Means for solving the problem]

[0008] In order to solve the above-mentioned problems and achieve the object, a work vehicle management system (1) according to an embodiment has a work vehicle (10) that performs work in a field (F) while automatically traveling, field data that is data relating to a plurality of the fields (F) and includes shape information of the fields (F), and work vehicle data that is data relating to a plurality of the work vehicles (10) and includes working width information of the work vehicles (10), and is equipped with a control means (40) that directs the work vehicle (10) corresponding to the field (F) to be worked on to the field (F) based on the field data and the work vehicle data, and the control means (40) determines from the field data whether there are any narrow sections (F) in the field (F), S ) exists, the narrow part (F S ) depending on the degree of narrowing of the narrow portion (F S ) and ranks the working width (W W ) according to the working width (W W ) and rank the narrow portion (F S ) rank and the working width (W W The work vehicles (10) are assigned to the fields (F) in accordance with the ranks of the fields (F). [Effects of the Invention]

[0009] The work vehicle management system according to the embodiment makes it possible to create a work plan that is suited to the shape of the field. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram illustrating an outline of a management system for a work vehicle according to an embodiment. [Figure 2] FIG. 2 is a block diagram showing the functions of the work vehicle management system according to the embodiment. [Figure 3] FIG. 3 is a schematic explanatory diagram of the work control device and the information processing device. [Figure 4] FIG. 4 is a block diagram showing the functions of the work control device. [Figure 5] FIG. 5 is an explanatory diagram of the shape of a farm field. [Figure 6] FIG. 6 is an explanatory diagram of the working width ranks of work vehicles. [Figure 7] FIG. 7 is a diagram showing an example of a case where work vehicles are assigned to a field to be worked on. [Figure 8] FIG. 8 is a flowchart showing an example of a processing procedure for work vehicle allocation control (part 1). [Figure 9] FIG. 9 is a flowchart showing an example of a processing procedure for work vehicle allocation control (part 2). [Figure 10] FIG. 10 is an explanatory diagram (part 1) of the corner of a farm field. [Figure 11] FIG. 11 is a diagram showing a modified example in which work vehicles are assigned to fields to be worked on. [Figure 12] FIG. 12 is an explanatory diagram (part 2) of the corner of the field. [Figure 13] FIG. 13 is an explanatory diagram of acute angle determination when the corner of the field has a curved shape. [Figure 14] FIG. 14 is an explanatory diagram of division of a farm field having narrow portions. [Figure 15] FIG. 15 is an explanatory diagram of a work plan (part 1) for a farm field. [Figure 16] FIG. 16 is an explanatory diagram of a work plan (part 2) for a farm field. [Figure 17] FIG. 17 is an explanatory diagram of a work plan (part 3) for a farm field. DETAILED DESCRIPTION OF THE INVENTION

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a work vehicle management system disclosed in the present application will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the following embodiment.

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

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

[0014] Furthermore, the work vehicle management system 1 controls a plurality of tractors 10.

[0015] The tractor 10, which is a work vehicle, is an agricultural tractor and includes a traveling body 11 and a work implement 12. The traveling body 11 is capable of traveling in a field F (FA, FB, FC). The work implement 12 is, for example, attached to the rear of the traveling body 11 and performs ground work in the field F. The work implement 12 is, for example, a rotary tiller that tills the soil surface of the field F. Note that the work implement 12 of the tractor 10 is a rotary tiller or the like, but the work implement 12 may be a seedling planting device or the like if the work vehicle 10 is a seedling transplanter, a fertilizer applicator if the work vehicle 10 is a fertilizer applicator, or a harvester if the work vehicle 10 is a combine harvester.

[0016] In addition, the field F has an entrance F for the tractor 10. IN and Exit F OUT In addition, field F has an entrance F IN and Exit F OUT There may be one entrance / exit.

[0017] The traveling vehicle body 11 is equipped with an engine and a power transmission device. The engine is the power source for the traveling vehicle body 11 and also the power source for the work implement 12. The engine is, for example, a thermal engine such as a diesel engine or a gasoline engine. The power transmission device has a clutch that allows the engine and drive wheels to be connected, and when the clutch is in a connected state, the power of the engine is transmitted to the drive wheels and the work implement 12. When the clutch is in a neutral state, the power transmission device releases the connection between the engine and drive wheels, and the engine power is not transmitted to the drive wheels. In other words, when the clutch is in a neutral state, the tractor 10, which is a work vehicle, decelerates. The traveling vehicle body 11 can travel freely on farm roads R and in fields F.

[0018] As described above, the positioning device 20 measures the position of the tractor 10. Specifically, the positioning device 20 is, for example, a GNSS (Global Navigation Satellite System) control device that acquires position information including a positioning point that indicates the own position of the tractor 10. The GNSS control device 20, which is a positioning device, is capable of receiving radio waves from a navigation satellite 50 orbiting the Earth to determine the own position of the tractor 10 and is also capable of measuring time. In other words, the position information includes information on the own position of the tractor 10, which is the positioning point, and information on the time when the positioning point was measured.

[0019] The work control device 30 is an example of a control device that controls the automatic (autonomous) driving of the tractor 10 in the field F, and includes a control unit 31 (see FIG. 2) and a memory unit 32 (see FIG. 2), which will be described later. The work control device 30 may also be configured to include, for example, a mobile terminal device (e.g., a tablet terminal) that is an information processing device that can be carried into the tractor 10. The tablet terminal can be wirelessly connected to the control unit 31 and the like using a short-range wireless communication standard such as Bluetooth (registered trademark).

[0020] As shown in Figure 2, the work vehicle management system 1 is constructed in such a way that, for example, multiple tractors 10 can connect to at least one information processing device 40 via a communication network N. Each tractor 10 is provided with a work control device 30. In other words, the work vehicle management system 1 according to this embodiment is a system capable of so-called cloud computing.

[0021] The work control device 30 can generate work-related information including at least information about a drivable area where the tractor 10 can automatically travel. Here, the drivable area information is, for example, as shown in FIG. 1 , a travel route (work route) R in a predetermined field F that the tractor 10 can safely travel unmanned without deviating from the outermost edge of the available cultivated land (work area) in each field F. W This information includes:

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

[0023] In the information processing device 40, a farm work support server 41, a personal computer (hereinafter referred to as PC) 42, and the like are connected to the work control device 30 via a communication network N. In this embodiment, a single information processing device 40 consisting of the farm work support server 41, the PC 42, and the like is installed in a management building H that manages multiple fields F. The PC 42 of the information processing device 40 is a control means that functions to assign tractors 10 to fields F where work will be performed in the work vehicle management system 1.

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

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

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

[0027] The automatic travel mode includes a work mode in which work is performed by automatic travel within the field F, and an inter-field movement mode in which movement between fields is performed by automatic travel. The control unit 31 switches between these modes in accordance with instructions from the information processing device 40.

[0028] In addition, the control unit 31 controls the tractor 10 along a pre-registered travel route R based on the position information from the GNSS control device 20, which is a positioning device. W (See FIG. 1) Furthermore, the control unit 31 sets a work area setting mode for setting a work area in the field F in which the tractor 10 can automatically travel, and executes the work area setting mode.

[0029] 3, the field-related information acquired from the information processing device 40 and stored in the memory unit 32 of the work control device 30 includes field map information indicating the locations of fields F, each assigned with field identification information 100a-100i, and work-related information associated with the field map information. For example, the work-related information for multiple divided fields A0-A2, B0-B3, and C0-C1, each divided into fields F in area A, F in area B, and F in area C, is compiled into a database as necessary information and stored in the memory unit 32.

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

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

[0032] Furthermore, since the information processing device 40 also stores information about areas where automatic driving is possible, work can be carried out by automatic driving in any of the multiple fields F that are the work target.

[0033] In addition, in the work vehicle management system 1 according to this embodiment, a travel route R for automatically traveling the tractor 10 is set. W (see FIG. 1) is generated by the work control device 30. For example, when the tractor 10 is driven (manually driven) in the field F, the work control device 30 (control unit 31) generates the travel route R W and obtain the route R W Based on this, travelable area information is generated.

[0034] The work control device 30 (memory unit 32) stores the working width W W (See FIG. 6) and work vehicle information (work vehicle data) including horsepower, wheelbase, tread, tire width, and other various specifications are stored.

[0035] In this way, the tractor 10, each part of which is electronically controlled, can perform predetermined work in a predetermined work area by autonomous driving even when the tractor 10 is not being driven. In this case, the autonomously driving tractor 10 can travel safely without straying from the work area in the field F (see FIG. 1).

[0036] The work control device 30 is provided with a processing device (control unit 31) having a CPU and the like, storage devices (storage unit 32) such as ROM, RAM, and HDD, and input / output devices, just like the information processing device 40. Note that each device is interconnected so that signals can be exchanged between them.

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

[0038] The various actuators 112 include, for example, various cylinders such as an elevation cylinder that raises and lowers the work machine 12 (see FIG. 1), and a throttle motor (electric motor) that adjusts the amount of intake air for the engine.

[0039] The various sensors 113 include, for example, a till depth sensor that detects the till depth of the field F, a fertility sensor that detects the fertilizer concentration in the field F, a weight sensor such as a load cell that detects the weight of harvested crops such as rice grains or the weight of seedlings, a rotation sensor that detects the rotation speed of the rear wheels, an inclination sensor that detects the inclination of the traveling body 11, a work clutch sensor, a temperature sensor, and other various sensors.

[0040] A plurality of cameras 114 are provided at appropriate locations on the traveling vehicle body 11. Image data captured by the cameras 114 can be confirmed, for example, via an information processing device 40 installed in the management building H shown in Fig. 1. The work control device 30 can also determine the growth status of crops and the work status from the image data captured by the cameras 114.

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

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

[0043] When the automatic driving mode of the tractor 10 is executed, the automatic steering device 115 is controlled by the control unit 31 based on the position information acquired by the GNSS control device 20. That is, the control unit 31 automatically operates a steering handle provided on the traveling body 11, and the traveling body 11 is automatically driven. As shown in Fig. 4, the automatic steering device 115 includes a steering motor 115a that applies a desired rotational force to rotate the steering handle, and a steering potentiometer 115b that detects the rotation angle of the steering handle.

[0044] It is also possible to use an unmanned aerial vehicle known as a drone as the work vehicle management system 1. The unmanned aerial vehicle may be equipped with an imaging device similar to the camera 114 provided on the tractor 10, and may also be provided with an antenna that can form part of the GNSS control device 20.

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

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

[0047] The control unit 31 also controls the field work of the tractor 10 and the automatic driving of the tractor 10 when moving between fields, in accordance with instructions from the information processing device 40. The control unit 31 switches between a work mode, an inter-field movement mode, and a standby mode in the automatic driving mode, in accordance with instructions from the information processing device 40.

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

[0049] The memory unit 32 stores various types of information as well as various programs required for control processing by the control unit 31. That is, the memory unit 32 has a farm field database 321, a work vehicle database 322, a work database 323, a route database 324, and further a program unit 325 in which various programs are stored.

[0050] In the storage unit 32, work-related information is stored as field-related information, which is independent information for each of the multiple fields FA, FB, and FC, in association with field map information indicating the locations of the fields FA, FB, and FC (see FIG. 1), each of which has been assigned field identification information 100a to 100i. That is, necessary information for each of the multiple divided fields A0 to A2, B0 to B3, and C0 to C1 divided into the fields FA, FB, and FC, which are divided into districts, is organized into a database and stored in the storage unit 32.

[0051] For example, the farm field database 321 includes management information such as the location information, name, and owner of the farm field F, as well as shape information indicating the shape of the farm field F. The work vehicle database 322 includes information such as the working width (plowing width) W of the tractor 10, which is a work vehicle. W The database 323 includes information about the work process in the field F. For example, the work database 323 includes information about work that has been done in the past and work that is scheduled to be done in the future. The route database 324 includes information about the work area and the travel route (work route) R set in the work area. W Contains information about:

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

[0053] Furthermore, each database stored in the storage unit 32 can be sorted according to a predetermined sorting method. For example, when selecting a past field F, the fields F are displayed in a list on the monitor of the information processing device 40 (see FIG. 2) in order of the field F closest to the current position (for example, the representative point). Alternatively, the fields are displayed in order of the work carried out last year. The fields F may also be displayed in order of their registration.

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

[0055] The work route generation program includes, for example, a self-position acquisition step of acquiring information indicating the self-position of the tractor 10 measured by the GNSS control device 20, which is a positioning device, and a travel route R including information on a travelable area where the tractor 10 can automatically travel, based on the acquired self-position information and pre-stored farm field map information. W (See FIG. 1) W In addition, a transmission step is included in which various types of work-related information are generated and the generated information is transmitted to the information processing device.

[0056] 3 is stored in the field database 321 of the storage unit 32. The field-related information is generated by, for example, the control unit 31, and includes field identification information 100a to 100i that identifies the field F, field map information consisting of image data that shows the position of the field F on a map, work-related information, and the like.

[0057] Here, in the work vehicle management system 1, for example, the information processing device 40 stores the work capacities of a plurality of tractors 10 and a plurality of candidate work sites (fields F), extracts a prioritized field F from the candidate work sites based on the work capacity of the tractor 10, transmits map information (location information) of the field F where work will be performed to the tractor 10, and directs the tractor 10 to the field F. The work capacity of the tractor 10 is, for example, the working width (tilling width) W W (See Figure 6).

[0058] However, the working width W W The large tractor 10 also has a large body, and depending on the shape of the field F, residual tillage may occur. Specifically, there may be narrow areas in the field F where the large tractor 10 cannot work, so-called narrow areas F. S In the case where the narrow section F (see FIG. 5) exists, the tractor 10 with a large body cannot perform the work, and residual tillage may occur. S In the field F where there is a narrow area F S The tractor 10 capable of the above work is allocated.

[0059] Next, a method for allocating the work vehicles (tractors) 10 will be described with reference to Figures 5 to 9. Figure 5 is an explanatory diagram of the shape of the field F. Figure 6 is an explanatory diagram of the working width W of the work vehicles (tractors) 10. W 7 is a diagram illustrating an example of allocating work vehicles (tractors) 10 to a field F to be worked on. FIGS. 8 and 9 are flowcharts showing an example of the processing procedure for controlling the allocation of work vehicles (tractors) 10.

[0060] As described above, the information processing device 40 (PC 42) (see FIG. 2 ), which is the control means, has field data and work vehicle data. The field data is data related to a plurality of fields F, and includes shape information of these plurality of fields F. The work vehicle data is data related to a plurality of tractors 10, and includes information on the working width of the work implements 12 of these plurality of tractors 10. The work vehicle data also includes horsepower information of the plurality of tractors 10.

[0061] The information processing device 40 selects, from among the multiple tractors 10, a tractor 10 that corresponds to the field F to be worked on (also referred to as the work target field) based on the field data and the work vehicle data, and directs the selected tractor 10 to the work target field F. The tractor 10 selected by the information processing device 40 heads toward the work target field F, which is its destination, by automatically traveling on farm roads R or the like.

[0062] In this embodiment, the narrow portion F S The present invention is configured to include an information processing device 40 as a control means for allocating the tractor 10 to the field F where the narrow area F exists. S In order to allocate the tractor 10 to the field F where the tractor 10 exists, a configuration may be adopted in which AI (artificial intelligence) is utilized instead of a control device (PC 42 of the information processing device 40).

[0063] As shown in Figure 5, the field F has right-angled or obtuse-angled corners F C (F C1 ) (left side in the figure), as well as shapes with at least one acute corner F C (F C2 ) (right side in the figure). C2 The part of the field F where the tractor 10 with a large body cannot work is called a narrow part F. S The work control device 30 may be configured to detect narrow areas F in the field F. S In the field F where there is a working width W W A small tractor 10 is sent.

[0064] Therefore, the information processing device 40 is C1 For a field F having a shape with only a corner F, the tractor 10 is selected according to the size (area) of the field as usual, and the acute corner F C2 The field F (i.e., the narrow part F S In the field F where there is a narrow area F S The tractor 10 capable of the above work is selected and directed to the field F to be worked on.

[0065] As shown in FIG. 6, the work vehicle management system 1 (see FIG. 1) is equipped with a plurality of tractors 10 of different vehicle classes (classifications determined by the size of the vehicle body, engine displacement, etc.). The information processing device 40 divides the plurality of tractors 10 into a plurality of classes according to the vehicle class. Specifically, the information processing device 40 calculates the working width W of the work implement 12. W The tractors 10 are divided into four classes, for example, "Class A" to "Class D", according to the working width W W The largest tractor in the world is the 100m, and "Class B" has the second largest working width W after "Class A". W The largest tractor is 10 (tractor group 10), and "Class C" has the largest working width W after "Class B". W The large tractor 10, "Class D" has a working width W W It is the smallest Tractor 10 (Tractor 10 group).

[0066] In this embodiment, the "Class C" and "Class D" tractors 10 are S The tractor 10 is responsible for work in a field F where there are four types of tractors. The tractor 10 is not limited to being classified into four levels, but may be classified into two levels, "large" and "small", or into three levels, "large", "medium", and "small". The tractor 10 may also be classified into five or more levels. Even in such a classification, the working width W W The small tractor 10 (tractor group 10) is in the narrow area F S He is responsible for working in field F, where

[0067] The information processing device 40 determines from the field data whether the work target field F has a narrow area F S If there is a narrow part F S Depending on the degree of narrowness of this narrow part F S Below, we rank the narrow part F S As shown in Figure 5, the rank of the narrow part F S is the corner F of field F CThe smaller the angle, the greater the degree of narrowness. The narrowness rank is set, for example, as the degree of narrowness increases, a higher rank is set, and as the degree of narrowness decreases, a lower rank is set.

[0068] Furthermore, the information processing device 40 calculates the working width W of the tractor 10 from the work vehicle data. W Depending on the working width W W Below, we will rank the working width W W As shown in FIG. 6, the larger the class of the tractor 10, the larger the working width W W The working width rank is, for example, W The larger the value, the higher the rank. W The smaller the value, the lower the rank.

[0069] When the information processing device 40 directs the tractor 10 to the work target field F, it assigns the tractor 10 to the work target field F by matching the narrowness rank and the working width rank. S If there is a narrow part F S In this case, the information processing device 40 determines whether the work target field F has a narrow section F or not, and then directs the tractor 10 having a working width rank corresponding to the narrow section rank to the work target field F so that the work target field F can be performed. S The narrower the working width W W In other words, the higher the narrowness rank, the lower the working width rank of the tractor 10 that is assigned.

[0070] Also, for example, corner F C Narrow section F with an angle of 60° or more S A medium-sized tractor 10 such as class C is assigned to the field F where the corner F exists. C Narrow section F with an angle of 60° or more S A small tractor 10 such as class D is assigned to the field F where the narrow area F is located. S The above conditions can be set by an operator or the like.

[0071] In addition, the information processing device 40 is S For the work field F where there is a work width W W In this case, it is preferable to assign a plurality of tractors 10 including a tractor 10 with a small working width (low working width rank) to the tractor 10 other than the tractor 10 with a low working width rank, and to assign a tractor 10 with a working width rank corresponding to the size (area) of the field F to be worked, and to assign a tractor 10 with a low working width rank to the tractor 10 with a small ... S The other tractor 10 is in charge of the work in the narrow area F S Responsible for the remaining work.

[0072] As shown in Figure 7, the narrow section F S When a plurality of tractors 10 are sent to a work target field F where there are many tractors 10, the information processing device 40 may, for example, assign a tractor 10 with a low work width rank to a narrow part F of the work target field F in order to prevent imbalance in the work load of each tractor 10. S The workload of each tractor 10 is balanced by having one tractor 10 work (circumferential plowing) the peripheral portion F1 including the narrow portion F1, and having the other tractor 10 work the portion F2 other than the peripheral portion F1 of the work target field F. S When the work area of ​​the tractor 10 in charge of the work is likely to become large, the work load of each tractor 10 is balanced by automatically calculating that tractor 10 is to be in charge of only the work (circumferential plowing) of the peripheral portion F1.

[0073] Each tractor 10 is controlled so as not to start work unless the operator approves the distribution of the workload. Even if the workload is distributed approximately evenly, if a large tractor 10 is working in a field F that requires tight turning radius, the operator can request a recalculation that allows for the imbalance in the workload. Furthermore, tractors 10 of classes A to D may be assigned to the field F according to the area of ​​the field F.

[0074] Specifically, the information processing device 40 determines the work width W assigned to the work target field F from the work vehicle data.W The information processing device 40 also calculates the horsepower ratio of the smallest tractor 10 compared to the other tractors 10. The information processing device 40 also calculates the working width W of the total area S of the work target field F from the work vehicle data and the field data. W The proportion of the work area S1 of the tractor 10 having the smallest size is calculated.

[0075] The information processing device 40 calculates the work width W assigned to the work target field F. W The ratio of horsepower of the small tractor 10 compared to other tractors 10 and the working width W of the total area S of the work field F W The ratio of the work target area S1 of the tractor 10 is compared with that of the smaller tractor 10.

[0076] The information processing device 40 calculates the work width W assigned to the work target field F. W The ratio of horsepower of the small tractor 10 compared to other tractors 10 and the working width W of the total area S of the work field F W When the ratio of the ratio of the work area S1 of the small tractor 10 to the ratio of the work area S2 of the small tractor 10 is equal to or greater than a predetermined value, the area (total area) S of the work field F is divided, and the narrow part F S The area S1 of the peripheral part F1 including the working width W W Assigned to small tractor 10, narrow area F S The area S2 of the portion F2 that does not include is assigned to the other tractor 10.

[0077] In the example shown in FIG. 7, for example, in the work target field F, S The peripheral portion F1 (area S1) including the narrow portion F is handled by a class C or D tractor 10. S The part F2 (area S2) not including the above is assigned to a class A or B tractor 10.

[0078] For example, if the total area S of the work field F is 300m 2When working with a 150 horsepower tractor 10, a 100 horsepower tractor 10, and a 50 horsepower tractor 10 (for example, a class C or D tractor 10), the 150 horsepower tractor 10 can move 150m 2 100 horsepower tractor 100m 2 10 tractors with 50 horsepower cover an area of ​​50m 2 If the work target area S1 of the class C or D tractor 10 is too large, that is, if the load on the class C or D tractor 10 is too great, the work efficiency will decrease, so by having the class A or B tractor 10 take charge (share) of the work in the same work target field F, the decrease in work efficiency can be suppressed.

[0079] In addition, when multiple tractors 10 work on one work target field F, if they work together, other tractors 10 will enter from adjacent work such as adjacent plowing, so the working width W W By having the smaller tractor 10 work first, the tractor 10 can work in the narrow area F without being disturbed by the other tractors 10. S The following work can be performed.

[0080] In addition, the working width W for acute angles W Small tractor 10 in narrow area F S If you are only responsible for the work in the narrow area F S The working width W of the sharp angle worker who completed the work W Small tractor 10 in narrow area F S You may return to work on areas other than the narrow area F. S If work on acute angles becomes necessary, the working width W W Small tractor 10 in narrow area F S Put the system to work.

[0081] The information processing device 40 also initially sets evaluation points (for example, 10 points) for each field F, subtracts points depending on the conditions, and adjusts the working width W of the acute angle worker according to the remaining points. WIn this case, the information processing device 40 may, for example, deduct points based on the size (area) of the field F (the smaller the size, the greater the deducted points), deduct points based on the shape of the field F (for example, "triangle > trapezoid > other shapes", with triangles being deducted the most points, followed by trapezoids, etc.), and assign points based on the corners F. C If the shape is curved (rounded), points are subtracted, and if the remaining points are below a predetermined threshold, the working width W W Allocate 10 small tractors.

[0082] As shown in Fig. 8, in the allocation control of the tractor 10, the information processing device 40 specifies a work target field F from among a plurality of fields F (step S101). Next, the information processing device 40 determines whether a narrow portion F is included in the specified work target field F based on the field data. S It is determined whether or not there exists (step S102).

[0083] In the process of step S102, the information processing device 40 determines whether there is a narrow portion F in the work target field F. S If it is determined that there is a working width rank corresponding to the narrow rank (step S102: Yes), a tractor having a working width rank corresponding to the narrow rank is determined (step S103).

[0084] Next, the information processing device 40 selects a tractor 10 having the determined working width rank from the plurality of tractors 10 (step S104). Then, the information processing device 40 directs the selected tractor 10 to the work target field F (step S105), and ends the processing.

[0085] In the process of step S102, the information processing device 40 determines whether the work target field F has a narrow portion F S If it is determined that there is no such tractor 10 (step S102: No), a tractor 10 with a working width rank corresponding to the size (area S) of the field F to be worked on is selected (step S106), the selected tractor 10 is sent to the field F to be worked on (step S105), and the processing is terminated.

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

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

[0088] If the information processing device 40 determines in the process of step S204 that the ratio between the horsepower ratio of the tractor 10 and the ratio of the work target area S1 of the tractor 10 is equal to or greater than a predetermined value (step S204: Yes), the information processing device 40 divides the work target field F (total area S) (step S205). S The working width W is included in the part F1. W A small tractor 10 is allocated to the narrow area F S The other tractors 10 are assigned to the portion F2 that does not include (step S206), and the process ends.

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

[0090] 10 is a diagram showing a modified example of allocating a work vehicle (tractor) 10 to a work target field F. As shown in FIG. 10, when the shape of the field (work target field) F is not rectangular, the information processing device 40 divides the rectangular area (rectangular portion F3) that has the largest area in the field F and the acute corner F C (Narrow part F S ) and set the part F4 containing

[0091] The information processing device 40 divides the rectangular portion F3 into the acute angle work width W W The area other than the rectangular area F3 (narrow area F S Including part F4) for acute angle work width W W In the example shown in FIG. 10, the information processing device 40 assigns the rectangular portion F3 in the field F to the tractor 10 of class A or B, and assigns the portion other than the rectangular portion F3 (narrow portion F S The part F4) including the above is handled by a class C or D tractor 10.

[0092] Figures 11 and 12 show the corner F of field F. C As shown in FIG. 11, when one side of the field F is curved, the information processing device 40 C The tangent (virtual line) L1 of the curve is set, and the angle F is determined by the slope of the tangent L1. C As shown in FIG. 12, the angle of the corner F of the field F is set. C When the corner F is a curved shape (rounded shape), the information processing device 40 C Set the extension lines (virtual lines) L2 of the two sides that form the corner F. C Set as the angle.

[0093] Figure 13 shows the corner F of field F. C As shown in FIG. 13, when the corner F of the work target field F is C When the corner F is a curved shape (rounded shape), the information processing device 40 C The angle formed by the extension lines (imaginary lines) L2 of the two sides forming the work width W is an acute angle.W The small tractor 10 is directed to the corner F C If the radius of curvature of the corner F is sufficiently large (greater than or equal to a predetermined value), the corner F is not determined to be an acute angle. In this case, the information processing device 40 sets a lower limit value of the radius of curvature that can be turned while working for the tractor 10 of classes A to D (see FIGS. 7 and 10), for example, and determines the corner F C The tractor 10 having a lower limit value smaller than the radius of curvature of the tractor 10 is assigned.

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

[0095] It is also preferable to simulate all patterns of the dividing line L3 in one field F and select the one that maximizes the difference between the two divided areas. In this case, the ratio of large areas worked by the larger tractor 10 can be increased, thereby improving work efficiency. In addition, if the field F has an entrance / exit (entrance F), IN , Exit F OUT ) is provided, the entrance / exit (entrance F IN , Exit F OUT It is preferable to plan the work so that the side with the larger width W is worked on later. W It is preferable to create a work plan so that the smaller tractor 10 works later. If a tractor 10 that enters the field F later plowing into the work (plowing) tracks of a tractor 10 that entered the field F earlier, the tractor 10 that entered the field F later is made to work (plow) the part that it entered again to erase the tracks.

[0096] Furthermore, when one field F is divided into two by a dividing line L3, if two tractors 10 enter one field F due to various disturbances as a result of work according to a work plan, the information processing device 40 makes the tractor 10 that enters later wait outside the field F until the tractor 10 that entered earlier finishes work and leaves the field F. Furthermore, the information processing device 40 gives priority to the work of one of the larger tractors 10, and makes the other tractor 10 wait while the other tractor 10 is working.

[0097] As shown in FIG. 15, when the shape of the field F is not rectangular, the information processing device 40 sets a rectangular region (rectangular portion Fc) having the largest area in the field F using a dividing line (virtual line) L4, and performs work in the rectangular portion Fc by dividing the work width W W In this case, if the area of ​​the portion Fd other than the rectangular portion Fc is equal to or smaller than a preset threshold, work efficiency is emphasized and no work is performed on this portion Fd.

[0098] As shown in Figure 16, when the tractor 10 in charge of the work arrives at the work target field F, if there is an inoperable portion Fe in the field F due to obstructing factors that were not included in the previous map information, such as materials being placed within the field F or puddles, the tractor 10 in charge of the work transmits information to the information processing device 40 or the like by transmitting images from the camera 114 (see Figure 4). If the information processing device 40 determines from the received images or the like that it would be better to use a smaller tractor 10 for the work, it sends the smaller tractor 10 to the work target field F to take over for the tractor 10 in charge of the work that has arrived at the work target field F. In this case, the work target field F is divided using a dividing line (virtual line) L5, excluding the inoperable portion Fe, and the tractors 10 are made to work on each of the portions Ff and Fg.

[0099] As shown in FIG. 17, in actual work by the tractor 10, a corner F of a work target field F is C (Narrow part F SWhen residual tillage Fh occurs in the field F to be worked, the tractor 10 in charge of the work transmits information to the information processing device 40 by sending images from the camera 114, etc. If the information processing device 40 determines that it would be better to use a smaller tractor 10 based on the size of the residual tillage Fh, it sends the small tractor 10 to the field F to be worked on to take over from the tractor 10 in charge of the work that has arrived at the field F to be worked on.

[0100] As described above, according to the management system 1 for work vehicles according to the embodiment, for example, when the field F is wide, the working width W W In this case, even in the large field F, a large tractor 10 is assigned to the narrow part F. S If there is a narrow part F S The working width W W In this way, the field F has a narrow area F. S If there is a narrow part F S The working width W that can be accommodated W By allocating the tractors 10, it is possible to create a work plan suited to the shape of the field F, for example, to prevent the occurrence of leftover tillage (residual tillage) in the field F.

[0101] In addition, field F has narrow areas F S The narrower the working width W W Since the tractor 10 having a small size is assigned, the occurrence of residual tillage can be more reliably suppressed.

[0102] Also, the narrow part F S For field F where there is a narrow part F S The working width W that can be accommodated W The tractor 10 of this embodiment is also applicable to other tractors 10, i.e., those with a working width W W Therefore, the working width W W This makes it possible to suppress the decline in work efficiency that occurs when working with a small tractor 10.

[0103] In addition, the working width W WThe working area S1 of the small tractor 10 is too large (working width W W Since the work efficiency decreases when the load on the small tractor 10 is too great, the decrease in work efficiency can be suppressed by having another tractor 10 take charge of (share) the work in the same "field F."

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

[0105] (1) The system includes a work vehicle (10) that performs work in a field (F) while automatically traveling, field data relating to a plurality of fields (F) including shape information of the field (F), and work vehicle data relating to a plurality of work vehicles (10) including working width information of the work vehicle (10), and a control means (40) that directs a work vehicle (10) corresponding to a work target field (F) to the work target field (F) based on the field data and the work vehicle data, and the control means (40) determines from the field data whether there is a narrow portion (F) in the field (F), S If there is a narrow part F S Depending on the degree of narrowness of the narrow part F S From the work vehicle data, the working width W of the work vehicle 10 is determined. W Depending on the working width W W The narrow part F S Rank and working width W W The work vehicle management system 1 assigns the work vehicle 10 to the field F by matching the ranks.

[0106] According to such a work vehicle management system 1, for example, when the field F is wide, the working width W W In this case, even in a large field F, a large work vehicle 10 is allocated to the narrow part F. S If there is a narrow part F S The working width W W In this way, the field F is allocated to a small work vehicle 10. S If there is a narrow part F S The working width W that can be accommodated WBy allocating the work vehicles 10, it is possible to create a work plan that is suited to the shape of the field F, for example, to prevent the occurrence of leftover tillage (residual tillage) in the field F.

[0107] (2) In the above (1), the narrow part F S is the corner F of field F C The angle is an acute angle, and the corner F C The smaller the angle, the greater the degree of narrowness. S The narrower the working width W W A work vehicle management system 1 for allocating small work vehicles 10.

[0108] According to such a work vehicle management system 1, in addition to the effect of (1) above, the field F has a narrow area F S The narrower the working width W W Since a work vehicle 10 with a small size is assigned, the occurrence of residual tillage can be more reliably suppressed.

[0109] (3) In the above (2), the control means 40 S For a field F where there is a working width W W A work vehicle management system 1 allocates a plurality of work vehicles 10 including a small work vehicle 10.

[0110] According to such a work vehicle management system 1, in addition to the effect of (2) above, S For field F where there is a narrow part F S The working width W that can be accommodated W Not only the work vehicle 10 but also other work vehicles 10, i.e., the working width W W Therefore, the working width W W This makes it possible to suppress the decline in work efficiency that accompanies work using a small work vehicle 10.

[0111] (4) In the above (3), the work vehicle data includes horsepower information of the work vehicle 10, and the control means 40 determines the work width W assigned to the field F to be worked from the work vehicle data and the field data. W The ratio of horsepower of the small work vehicle 10 compared to other work vehicles 10, and the working width W of the total area S of the field F to be worked on W When the ratio of the ratio of the work target area S1 of the small work vehicle 10 to the ratio of the work target area S2 of the small work vehicle 10 is equal to or greater than a predetermined value, the work target field F is divided, and the narrow part F of the divided field F is S A work vehicle management system (1) allocates the portion not including the work vehicle (10) to another work vehicle (10).

[0112] According to this type of work vehicle management system 1, in addition to the effect of (3) above, the working width W W The working area S1 of the small working vehicle 10 is too large (working width W W If too much load is placed on a small work vehicle 10, work efficiency will decrease, so the decrease in work efficiency can be prevented by having other work vehicles 10 take on (share) the work in the same field F.

[0113] Further advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents. [Explanation of symbols]

[0114] 1. Work vehicle management system 10 Work vehicles (tractors) 40 Control means (information processing device) F field F S Narrow area S total area S1 Working area W W Working width

Claims

1. A work vehicle that works in the field while driving automatically, a control means having field data relating to a plurality of said fields and including shape information of said fields, and work vehicle data relating to a plurality of said work vehicles and including work width information of said work vehicles, and which directs said work vehicle corresponding to said field to be worked on, to said field based on said field data and said work vehicle data; Equipped with The control means If a narrow portion is present in the field based on the field data, the narrow portion is ranked according to the degree of narrowness of the narrow portion; Ranking the working width of the work vehicle based on the work vehicle data according to the working width of the work vehicle; The rank of the narrow portion and the rank of the working width are made to correspond to each other, and the work vehicle is assigned to the field. A work vehicle management system characterized by:

2. The narrow portion is a portion where the angle of a corner of the field is an acute angle, and the smaller the angle of the corner, the greater the degree of narrowness, The control means The work vehicle having a smaller working width is assigned to the field as the degree of narrowness of the narrow portion increases.

2. The work vehicle management system according to claim 1.

3. The control means Allocating a plurality of work vehicles, including the work vehicle with the small working width, to the field where the narrow portion exists.

3. The work vehicle management system according to claim 2.

4. the work vehicle data includes horsepower information of the work vehicle, The control means If, based on the work vehicle data and the field data, the ratio of the horsepower of the work vehicle with the small working width assigned to the field to be worked on compared to the other work vehicles and the ratio of the area to be worked on by the work vehicle with the small working width to the total area of ​​the field to be worked on is equal to or greater than a predetermined value, the field to be worked on is divided, and the portion of the divided field that does not include the narrow portion is assigned to the other work vehicles.

4. The work vehicle management system according to claim 3.

Images