Work management device and work management system for work machines

Abstract

To provide a work management device capable of suppressing a decrease in work efficiency in the work management device for a work machine applied to the work machine provided with a travel vehicle automatically operation-controlled to go along a set travel route.SOLUTION: A work management device 100 includes a work plan setting part 110A and a work plan change part 110C. The work plan setting part 110A sets a work plan including at least a workplace to be an object of work by the work machine 101 and a travel planned route L1 for a tractor 1 to arrive at the workplace. The work plan change part 110C changes the set work plan on the basis of the workplace within a range of an area observed by an observation satellite or observation information about a passage R corresponding to the travel planned route L1.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a work management device for managing the work of work machines including, for example, agricultural machines, construction machines, etc., and a work management system.

Background Art

[0002] Conventionally, in work machines, there is known a device for creating a work plan for agricultural work etc. performed at a work site such as a farm field, as described in Patent Document 1. The work plan includes information indicating which work is to be performed at which work site. Before the actual work is executed, a displayed work site map etc. is used, and among a plurality of work sites, the work site to be worked on is selected and set.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] On the other hand, technologies for driving the traveling vehicle of a work machine by automatic driving control have been developed. For example, it is also conceivable to set the route from a position separated from the work site through a passage (public road, farm road, etc.) to the set work site as a traveling route, and to automatically drive and control the traveling vehicle to travel along the traveling route. When executing such automatic driving control, the set work site may actually be in a state unsuitable for the work of the work machine, or an event may occur in the set traveling route where the actual passage is in a state unsuitable for the traffic of the traveling vehicle.

[0005] In this case, if automatic driving control is implemented, it may become difficult to travel along the designated route, or even if the vehicle reaches the designated work area, it may become difficult to perform work at the work area using the work equipment. In other words, when automatically controlling the vehicle's driving based on the set work plan, there was a risk of reduced work efficiency.

[0006] Therefore, in view of the above, the present invention aims to provide a work management device and a work management system for a work machine that are applicable to a work machine equipped with a vehicle that is automatically controlled to follow a set driving route, and that can suppress a decrease in work efficiency. [Means for solving the problem]

[0007] The technical means of the present invention for solving this technical problem is characterized by the following points. The work management device for a work machine of the present invention is applied to a work machine comprising a traveling vehicle and an automatic driving control unit that causes the traveling vehicle to automatically drive along a travel route. The work management device for a work machine of the present invention comprises at least a work plan setting unit that sets a work plan including a workplace to be worked on by the work machine and the travel route for the traveling vehicle to reach the workplace, and a work plan changing unit that modifies the set work plan based on observation information of the workplace or a passage corresponding to the travel route within the range of an area observed by an observation satellite.

[0008] In the work management device for a work machine of the present invention, the work plan change unit changes the set travel route if it is determined, based on the observation information of the passage, that the travel route set by the work plan setting unit is unsuitable for the traffic of the vehicle.

[0009] In the work management device for a work machine of the present invention, the work plan change unit, based on observation information of the work area, changes the set work area and the set travel route if it determines that the work area set by the work plan setting unit is unsuitable for the work of the work machine.

[0010] The work management device for work machines of the present invention includes an observation information storage unit that stores observation information of the passage corresponding to the travel route so that it can be shared among multiple work machines.

[0011] The work management system for a work machine of the present invention comprises a work machine and a work management device for managing the work of the work machine. The work machine comprises a vehicle and an automatic driving control unit that causes the vehicle to automatically drive along a route, and the work management device comprises a work plan setting unit that sets a work plan including at least a workplace to be worked on by the work machine and a route for the vehicle to reach the workplace, and a work plan modification unit that modifies the set work plan based on observation information of the workplace or a path corresponding to the route within the area observed by the observation satellite.

[0012] In the work management system for the work machine of the present invention, the work plan change unit changes the set travel route if it determines, based on the observation information of the passage, that the travel route set by the work plan setting unit is unsuitable for the traffic of the vehicle.

[0013] In the work management system for the work machine of the present invention, the work plan change unit, based on observation information of the work area, changes the set work area and the set travel route if it determines that the work area set by the work plan setting unit is unsuitable for the work machine.

[0014] In the work management system for work machines of the present invention, the work management device includes an observation information storage unit that stores observation information of the passage corresponding to the travel route so that it can be shared by multiple work machines. [Effects of the Invention]

[0015] According to the present invention, it is possible to suppress the decrease in the work efficiency of the work machine. [Brief explanation of the drawing]

[0016] [Figure 1] This is an overall diagram showing a work management system, including a work management device for a work machine according to the first embodiment of the present invention. [Figure 2] Figure 1 is a functional block diagram of the implement (tractor). [Figure 3] Figure 1 is a perspective view of the lifting device provided by the work machine shown. [Figure 4] Figure 1 is a diagram illustrating the automatic operation of the work machine shown. [Figure 5] Figure 1 shows an example of a setting screen displayed on the display unit of an external device, and is a diagram used to explain the setting of the work area and planned travel route as part of the work plan. [Figure 6] Figure 1 shows an example of a setting screen displayed on the display unit of the external device shown, and is a diagram used to explain the settings for the observation area and period. [Figure 7] This figure shows an example of the observation area and planned route area set by the work management device shown in Figure 1. [Figure 8] This figure shows an example of an image of the observation area, including the work area, passageway, and obstacles, converted by the work management device shown in Figure 1, and is intended to explain the setting of the planned travel route. [Figure 9] This figure shows an example of an image of the observation area, including the work area, passageway, and obstacles, converted by the work management device shown in Figure 1, and is intended to explain the setting of the planned travel route. [Figure 10] This figure shows an example of an image of the observation area, including the work area, passageway, and obstacles, converted by the work management device shown in Figure 1, and is intended to explain the setting of the planned travel route. [Figure 11] This figure shows an example of an image of the observation area, including the work area, passageway, and obstacles, converted by the work management device shown in Figure 1, and is intended to explain the setting of the planned travel route. [Figure 12]It is a flowchart showing the setting of a work plan and the flow of changes to the work plan by the work management device shown in FIG. 1. [Figure 13] It is a diagram showing an example of an observation area and a work area set by a work management device for a work machine according to a second embodiment of the present invention. [Figure 14] It is a diagram showing an example of an image of an observation area including a work area, a passage, and a work-inappropriate part, which is converted by a work management device for a work machine according to a second embodiment of the present invention, and is a diagram for explaining the setting of the work area and the planned travel route. [Figure 15] It is a diagram showing an example of an image of an observation area including a work area, a passage, and a work-inappropriate part, which is converted by a work management device for a work machine according to a second embodiment of the present invention, and is a diagram for explaining the setting of the work area and the planned travel route. [Figure 16] It is a flowchart showing the setting of a work plan and the flow of changes to the work plan by the work management device for a work machine according to a second embodiment of the present invention. [Figure 17] It is an overall side view of the work machine shown in FIG. 1. [Embodiments for Carrying Out the Invention]

[0017] Hereinafter, each embodiment of the present invention will be described based on the drawings.

[0018] [First Embodiment] <Work Management System> FIG. 1 is an overall schematic diagram of a work management system S including a work management device 100 according to an embodiment of the present invention. The work management system S is a system for managing the work of the work machine 101, and has a work management device 100, a positioning satellite 102, an observation satellite 103, a base station 104, and an external device 70. In the work management system S, the work management device 100, the work machine 101, the base station 104, and the external device 70 can communicate information via the information communication network N.

[0019] Positioning satellite 102 is a satellite compatible with satellite positioning systems such as D-GPS, GPS, GLONASS, BeiDou, Galileo, and Michibiki. Positioning satellite 102 transmits satellite signals to the work machine 101 via radio wave transmission directed toward the Earth's surface. Based on these satellite signals, the work machine 101 on the Earth's surface can be positioned.

[0020] Observation satellite 103 is an artificial satellite used for observing the Earth's surface, such as an information gathering satellite, weather observation satellite, and commercial satellite. Observation satellite 103 is capable of observing the Earth's surface in various wavelength ranges, including radio waves, infrared, and visible light. Observation satellite 103 acquires observation data (observation information) of the Earth's surface in a predetermined area using, for example, synthetic aperture radar and optical sensors. The acquired observation data is transmitted from observation satellite 103 to the work management device 100 via base station 104. On the other hand, instruction signals related to observation from the work management device 100 are also transmitted to observation satellite 103 via base station 104. Observation satellite 103 acquires observation data of the Earth's surface in a preset area in response to instructions from the work management device 100.

[0021] The work management device 100 and the external device 70 are stationary computers such as servers, portable computers such as smartphones, tablets, and laptops, and are applied to the work machine 101. In this embodiment, the work management device 100 is assumed to be a server and the external device 70 is assumed to be a tablet. The work management device 100 allows setting the work plan for the work machine 101, the observation area on the observation satellite 103, and the observation data acquisition cycle via the screen of the external device 70. The work management device 100 converts the observation data transmitted from the observation satellite 103 into an image and reflects it in the work plan for the work machine 101. The work management device 100 also transmits the work plan information to the work machine 101.

[0022] In this context, the work plan includes the work area (such as a field) to be operated by the implement 101, the route taken by the implement 101 from its current location to the work area, and the work to be performed by the implement 101 at the work area. The work plan is set in advance before the actual work is performed, for example, to achieve the optimal work efficiency of the implement 101 according to various conditions. The process for setting the work plan will be described in detail later.

[0023] In other words, in the work management system S, observation data from the observation satellite 103 is collected by the work management device 100 and reflected in the work plan. The work plan information is sent from the work management device 100 to the work machine 101. Based on the sent information, the work machine 101 performs automatic operation control, etc.

[0024] <Working equipment> Figure 17 shows an overall side view of the implement 101. The implement 101 comprises a vehicle 1 and a work device 2. In this embodiment, the vehicle 1 is a tractor, so the vehicle 1 will be described as tractor 1 below. However, the vehicle 1 is not limited to a tractor, and may be an agricultural vehicle such as a combine harvester or rice transplanter, or a construction vehicle, etc.

[0025] As shown in Figure 17, the tractor 1 comprises a vehicle body 3 having a running gear 7, a prime mover 4, and a transmission 5. The running gear 7 is a device having front wheels 7F and rear wheels 7R. The front wheels 7F may be of the tire type or crawler type. Similarly, the rear wheels 7R may also be of the tire type or crawler type. The prime mover 4 is a diesel engine, an electric motor, etc. The prime mover 4 is located at the front of the vehicle body 3, and the transmission 5 can switch the propulsion force of the running gear 7 by changing the gear, and can also switch the running gear 7 between forward and reverse. The vehicle body 3 is provided with a cabin 9, and a driver's seat 10 is provided inside the cabin 9.

[0026] Furthermore, a lifting device 8, composed of a three-point linkage mechanism, is provided at the rear of the vehicle body 3. The work device 2 can be attached to and detached from the lifting device 8. By connecting the work device 2 to the lifting device 8, the work device 2 can be towed by the vehicle body 3. The work device 2 includes a tilling device for cultivating, a fertilizer spreading device for spreading fertilizer, a transplanting device for planting seedlings, an irrigation device for watering, a pesticide spreading device for spraying pesticides, a seed sowing and spreading device for scattering seeds, a mowing device for cutting hay, a spreading device for spreading hay, a hay collecting device for gathering hay, and a shaping device for shaping hay.

[0027] As shown in Figure 3, the lifting device 8 includes a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e. The front end of the lift arm 8a is supported on the upper rear of the case (transmission case) housing the transmission 5 so as to be able to swing upward or downward. The lift arm 8a swings (rises and falls) by the drive of the lift cylinder 8e. The lift cylinder 8e is made of a hydraulic cylinder. The lift cylinder 8e is connected to a hydraulic pump via a control valve 36 (see Figure 2). The control valve 36 is a solenoid valve or the like, which extends and retracts the lift cylinder 8e.

[0028] The front end of the lower link 8b is supported at the rear lower part of the transmission 5 so as to be able to swing upward or downward. The front end of the top link 8c is supported at the rear of the transmission 5, above the lower link 8b, so as to be able to swing upward or downward. The lift rod 8d connects the lift arm 8a and the lower link 8b. The working device 2 is connected to the rear of the lower link 8b and the rear of the top link 8c. When the lift cylinder 8e is driven (extends), the lift arm 8a moves up and down, and the lower link 8b, which is connected to the lift arm 8a via the lift rod 8d, also moves up and down. As a result, the working device 2 swings (moves up and down) up or down, using the front of the lower link 8b as a pivot point.

[0029] As shown in Figure 2, the tractor 1 is equipped with a steering system 29. The steering system 29 includes a steering wheel 30, a steering shaft 31 that rotates in conjunction with the rotation of the steering wheel 30, and an auxiliary mechanism (power steering mechanism) 32 that assists in steering the steering wheel 30. The auxiliary mechanism 32 includes a hydraulic pump 33, a control valve 34 to which hydraulic fluid discharged from the hydraulic pump 33 is supplied, and a steering cylinder 35 that is operated by the control valve 34. The control valve 34 is a solenoid valve that operates based on a control signal from the control device 60. The control valve 34 is a three-position changeable valve that can be switched by, for example, the movement of a spool. The control valve 34 can also be switched by steering the steering shaft 31. The steering cylinder 35 is connected to an arm (knuckle arm) that changes the direction of the front wheel 7F.

[0030] Therefore, by operating the handle 30, the switching position and opening degree of the control valve 34 are switched according to the handle 30, and the steering cylinder 35 extends or retracts to the left or right according to the switching position and opening degree of the control valve 34, thereby changing the steering direction of the front wheel 7F. Note that the steering device 29 described above is just one example and is not limited to the above configuration.

[0031] As shown in Figure 2, the transmission 5 comprises a main shaft (drive shaft) 5a, a main transmission unit 5b, a sub-transmission unit 5c, a shuttle unit 5d, a PTO power transmission unit 5e, and a front transmission unit 5f. The drive shaft 5a is rotatably supported in the housing case (transmission case) of the transmission 5, and power from the crankshaft of the prime mover 4 is transmitted to the drive shaft 5a. The main transmission unit 5b has multiple gears and a shifter that changes the connection of these gears. The main transmission unit 5b changes the rotation input from the drive shaft 5a and outputs it (changes speed) by appropriately changing the connection (meshing) of the multiple gears with the shifter.

[0032] The auxiliary transmission unit 5c, like the main transmission unit 5b, has multiple gears and a shifter that changes the connection of these gears. The auxiliary transmission unit 5c changes the rotation input from the main transmission unit 5b and outputs it (changes speed) by appropriately changing the connection (meshing) of the multiple gears with the shifter. The shuttle unit 5d has a shuttle shaft 12 and a forward / reverse switching unit 13. Power output from the auxiliary transmission unit 5c is transmitted to the shuttle shaft 12 via gears, etc. The forward / reverse switching unit 13 is composed of, for example, a hydraulic clutch, and the rotation direction of the shuttle shaft 12, i.e., the forward and reverse of the tractor, is switched by engaging and disengaging the hydraulic clutch. The shuttle shaft 12 is connected to the rear wheel differential device 20R. The rear wheel differential device 20R rotatably supports the rear axle 21R to which the rear wheels 7R are attached.

[0033] The PTO power transmission unit 5e includes a PTO drive shaft 14 and a PTO clutch 15. The PTO drive shaft 14 is rotatably supported and capable of receiving power from the drive shaft 5a. The PTO drive shaft 14 is connected to the PTO shaft 16 via gears or the like. The PTO clutch 15 is, for example, a hydraulic clutch, and by engaging and disengaging the hydraulic clutch, it switches between a state in which power from the drive shaft 5a is transmitted to the PTO drive shaft 14 and a state in which power from the drive shaft 5a is not transmitted to the PTO drive shaft 14.

[0034] The front transmission unit 5f has a first clutch 17 and a second clutch 18. The first clutch 17 and the second clutch 18 are capable of receiving power from the drive shaft 5a, and for example, the power of the shuttle 12 is transmitted via the gears and the transmission shaft. The power from the first clutch 17 and the second clutch 18 can be transmitted to the front axle 21F via the front transmission shaft 22. Specifically, the front transmission shaft 22 is connected to the front differential device 20F, and the front differential device 20F rotatably supports the front axle 21F to which the front wheels 7F are attached.

[0035] The first clutch 17 and the second clutch 18 are composed of hydraulic clutches, etc. An oil passage is connected to the first clutch 17, and this oil passage is connected to a first operating valve 25 to which hydraulic fluid discharged from a hydraulic pump is supplied. The first clutch 17 switches between an engaged state and an engaged state depending on the opening degree of the first operating valve 25. An oil passage is connected to the second clutch 18, and this oil passage is connected to a second operating valve 26. The second clutch 18 switches between an engaged state and an engaged state depending on the opening degree of the second operating valve 26. The first operating valve 25 and the second operating valve 26 are, for example, two-position switching valves with solenoid valves that operate based on a control signal from a control device 60, and switch between an engaged state and an engaged state by energizing or demagnetizing the solenoid of the solenoid valve.

[0036] When the first clutch 17 is disengaged and the second clutch 18 is engaged, power from the shuttle shaft 12 is transmitted to the front wheel 7F through the second clutch 18. This results in four-wheel drive (4WD) with the front wheel 7F and rear wheel 7R driven by power, and the rotational speeds of the front wheel 7F and rear wheel 7R are approximately the same (4WD constant speed state). On the other hand, when the first clutch 17 is engaged and the second clutch 18 is disengaged, it becomes four-wheel drive, and the rotational speed of the front wheel 7F is faster than the rotational speed of the rear wheel 7R (4WD increased speed state). Furthermore, when both the first clutch 17 and the second clutch 18 are disengaged, power from the shuttle shaft 12 is not transmitted to the front wheel 7F, resulting in two-wheel drive (2WD) with the rear wheel 7R driven by power.

[0037] As shown in Figure 2, a side brake 11 is provided at the axle support of the rear axle 21R in the transmission case of the transmission unit 5. The side brake 11 can independently brake the left and right rear wheels 7R. This side brake 11 is connected to the brake pedal 12 via an operating cylinder 13 and a linkage rod 14, and can be operated by operating the brake pedal 12. The brake pedal 12 is equipped with a spring 12a and a stopper 12b. The brake pedal 12 is biased toward the release position by the spring 12a, and the stopper 12b is designed to stop the brake pedal 12 in the release position. The operating cylinder 13 has a spring 13a inside. The operating cylinder 13 is biased toward the extension position by the spring 13a, and is designed to contract when hydraulic fluid is supplied. The hydraulic fluid of the operating cylinder 13 is supplied and discharged by a control valve 21. The control valve 21 operates based on a control signal from the control device 60.

[0038] As shown in Figures 1 and 2, the tractor 1 is equipped with a positioning device 40. The positioning device 40 can detect its own position (positioning information including latitude and longitude) using satellite positioning systems such as D-GPS, GPS, GLONASS, Beidou, Galileo, and Michibiki (positioning satellite 102). That is, the positioning device 40 receives satellite signals transmitted from the positioning satellite 102 (position of the positioning satellite 102, transmission time, correction information, etc.) and detects the position of the tractor 1 (e.g., latitude and longitude), i.e., the vehicle position, based on the satellite signals. The positioning device 40 has a receiving device 41 and an inertial measurement unit (IMU) 42.

[0039] The receiving device 41 is a device that has an antenna and the like to receive satellite signals transmitted from positioning satellites, and is mounted on the vehicle body 3 separately from the inertial measuring device 42. In this embodiment, the receiving device 41 is mounted on the vehicle body 3, i.e., the cabin 9. Note that the mounting location of the receiving device 41 is not limited to this embodiment. The inertial measuring device 42 has an acceleration sensor to detect acceleration, a gyro sensor to detect angular velocity, and the like. It is installed on the vehicle body 3, for example, below the driver's seat 10, and the inertial measuring device 42 can detect the roll angle, pitch angle, yaw angle, etc. of the vehicle body 3.

[0040] As shown in Figures 1 and 2, the tractor 1 is equipped with a storage device 50, which is composed of non-volatile memory and the like. When information corresponding to the work plan is transmitted from the work management device 100 to the implement 101, this information is stored in the storage device 50 via the communication device 45A. The work plan stored in the storage device 50 is read by the control device 60, and the control of the travel system and the control of the work system are executed based on the work plan.

[0041] As shown in Figures 1 and 2, the tractor 1 is equipped with a communication device 45A. The communication device 45A is connected to the positioning device 40, the storage device 50, and the control device 60 via a vehicle communication network N1 such as CAN. Various signals and data from the tractor 1 can be sent to the communication device 45A via the vehicle communication network N1. The communication device 45A is also connected to the work management device 100 and the external device 70 via an external information communication network N, enabling information communication with these devices. The communication device 45A can perform wireless communication using, for example, Wi-Fi (Wireless Fidelity, registered trademark), BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wide Area), LPWAN (Low-Power Wide-Area Network), etc., which are communication standards of the IEEE 802.11 series. The communication device 45A can also perform wireless communication using, for example, LTE (Long term evolution), 4th and 5th generation communication systems, or other mobile phone communication networks or data communication networks.

[0042] <Automatic driving control> Next, we will describe the automatic driving control in detail. As shown in Figure 1, the tractor 1 is equipped with a control device 60. The control device 60 is a device that controls the driving system, work system, etc. of the tractor 1, and consists of electrical and electronic circuits, a CPU, and programs stored in it.

[0043] As shown in Figure 2, the control device 60 is connected to an operation changeover switch 65 and a sensor 67. The operation changeover switch 65 is a switch that can be switched ON / OFF. When it is ON, the control device 60 can be set to automatic operation mode, and when it is OFF, the control device 60 can be set to manual operation mode.

[0044] Sensor 67 is a non-contact sensor that detects the surrounding conditions of the tractor 1. Sensor 67 is located in front of the vehicle body 3, ahead of the front wheels 7F (see Figure 17). In this embodiment, sensor 67 is a laser sensor (LiDAR: Light Detection and Ranging) that emits millions of pulsed infrared rays forward per second and measures the time it takes for the rays to bounce back to the sensor 67. As a result, sensor 67 can detect obstacles that obstruct the movement of the tractor 1, and when the distance between the tractor 1 and the obstacle is less than or equal to a predetermined distance. Note that sensor 67 is not limited to a laser sensor; for example, other types of optical sensors such as CCD cameras, CMOS cameras, and infrared cameras may be used, or sonar may be provided in addition to optical sensors in front of and to the sides of the vehicle body 3.

[0045] As shown in Figure 2, the control device 60 includes an automatic driving control unit 63 and a braking control unit 64. The automatic driving control unit 63 and the braking control unit 64 are composed of electrical and electronic circuits, a CPU, and programs stored in the CPU, etc.

[0046] The automatic driving control unit 63 controls the automatic driving of the vehicle body 3. The automatic driving control unit 63 starts automatic driving when it is in automatic driving mode. As shown in Figure 4, when the tractor 1 is performing automatic driving, if the deviation between the vehicle body position and the planned route L1 is less than a threshold, the automatic driving control unit 63 maintains the rotation angle of the steering shaft (rotation axis) 31. If the deviation between the vehicle body position and the planned route L1 is greater than or equal to the threshold, and the tractor 1 is positioned to the left of the planned route L1, the automatic driving control unit 63 rotates the steering shaft 31 so that the steering direction of the tractor 1 is to the right. If the deviation between the vehicle body position and the planned route L1 is greater than or equal to the threshold, and the tractor 1 is positioned to the right of the planned route L1, the automatic driving control unit 63 rotates the steering shaft 31 so that the steering direction of the tractor 1 is to the left.

[0047] In the above-described embodiment, the steering angle of the steering device 29 was changed based on the deviation between the vehicle body position and the planned route L1. However, if the direction of the planned route L1 and the direction of travel of the tractor 1 (vehicle body 3) are different, that is, if the angle of the vehicle body direction relative to the planned route L1 is greater than or equal to a threshold, the automatic driving control unit 63 may set the steering angle so that the angle becomes zero (vehicle body direction F1 coincides with the direction of the planned route L1). Alternatively, the automatic driving control unit 63 may set the final steering angle in automatic steering based on the steering angle obtained based on the deviation (position deviation) and the steering angle obtained based on the direction (direction deviation). The setting of the steering angle in automatic steering in the above-described embodiment is just an example and is not limited to this.

[0048] Furthermore, if the planned driving route L1 is associated with the vehicle speed, the automatic driving control unit 63 automatically changes the gear of the transmission 5, the rotational speed of the prime mover 4, etc., so that the current vehicle speed of the tractor 1 matches the vehicle speed corresponding to the planned driving route L1.

[0049] In this embodiment, the planned route L1 may be a route along a path (public road, farm road, etc.) for the tractor 1 located at a predetermined location to reach the work area, or a route for the implement 101 to perform work in the work area (field, etc.). Automatic driving control may be performed even when the driver is not on board the tractor 1, and even when the driver is not on board, the automatic driving control unit 63 enables the tractor 1 to drive automatically along the aforementioned route. Alternatively, the control may be performed even when the driver is not on board the tractor 1.

[0050] The braking control unit 64 brakes the tractor 1 (vehicle body 3) when the sensor 67 determines that an obstacle has been detected while the tractor 1 is in automatic driving mode. Here, an obstacle is, for example, an object that obstructs the movement of the tractor 1, and if it collides with the moving tractor 1, it may cause the tractor 1 to have difficulty continuing to move or to deviate from the planned route L1 and have difficulty returning. Another example of an obstacle is an object that makes it difficult for the moving tractor 1 and the obstacle to pass each other. More specifically, an obstacle may be, for example, unevenness on the ground (such as a field), objects placed on the ground, or a moving object such as a vehicle other than the tractor 1.

[0051] In this embodiment, the braking control unit 64 stops the tractor 1 by activating the side brakes 11 on the left and right rear wheels 7R. More specifically, when the braking control unit 64 determines that the sensor 67 has detected an obstacle, it sends a control signal to the control valve 21 so that the operating cylinder 13 is operated in the braking direction (see Figure 2). Alternatively, instead of activating the side brakes 11, or in addition to activating the side brakes 11, the transmission 5 may be controlled to shift in the deceleration direction. In this case, when the braking control unit 64 determines that the sensor 67 has detected an obstacle, it sends control signals to the first operating valve 25 and the second operating valve 26. Furthermore, when the braking control unit 64 determines that the sensor 67 has detected an obstacle, it may control the engine 4 to stop.

[0052] <Setting up a work plan> As shown in Figure 1, the work management device 100, which is a server, sets the work plan for the work implement 101, stores the information of the set work plan, and sends the work plan from the work management device 100 to the work implement 101 via the information communication network N. In this embodiment, the work plan can be set in the management work device 100 via input from an external device 70, which is a tablet. The tractor 1 can acquire the work plan set from the management work device 100.

[0053] As shown in Figure 1, the work management device 100 comprises a work plan setting unit 110A and a storage unit 112B. The work plan setting unit 110A is composed of electrical and electronic circuits provided in the work management device 100, a program stored in the work management device 100, etc. The storage unit 112B is composed of non-volatile memory, a program stored in the work management device 100, etc. The work plan setting unit 110A sets the work plan. In this embodiment, the work plan includes information such as the work area to be worked on by the implement 101, the planned route L1 for the tractor 1 to reach the work area, and which tractor 1 will perform which task.

[0054] As shown in Figure 5, when an external device 70, which is a tablet, is connected to the work management device 100, and a predetermined operation is performed on the external device 70, the setting screen M1 is displayed on the display unit 70A of the external device 70. The setting screen M1 displays a work location input unit 110 for inputting the work location, a work input unit 111 for inputting the work, a machine input unit 112 for inputting the work device 2, and a time input unit 113 for inputting the time.

[0055] The workplace input unit 110 allows input of specific information to identify a workplace. This specific information can include, for example, the name of the workplace, its location (latitude, longitude), and its management number. Alternatively, as shown in Figure 5, a workplace map can be displayed on the setting screen M1, and the workplace can be identified by selecting a specific workplace from the workplaces on the map.

[0056] The work area map is a map that includes, for example, roads, farm roads, fields, and other work areas, as well as buildings, and includes location information such as latitude and longitude. The map may be obtained from a map provider that provides map data, or it may be created by an external device 70, etc., and is not limited to such maps. The map is a two-dimensional map viewed from above the ground surface, and it is possible to select a range by scanning, or to enlarge or reduce the selected range by operating the display unit 70A of the external device 70.

[0057] More specifically, the work area input unit 110 may be configured in a rectangular shape, for example, and within its inner area, a work area map is displayed, showing multiple work areas (work area A, work area B, work area C), a work machine 101, and a passage R including roads and farm roads on which the work machine 101 travels. When the work area map is displayed in the work area input unit 110, the selected and identified work area from among the multiple work areas is displayed in a way that distinguishes it from the other work areas. In this embodiment, if the selected and identified work area is, for example, work area A, then work area A becomes the target of work by the work machine 101 and is the location of the work scheduled to be included in the work plan. The color of work area A may be made different from the colors of the other work areas B and C to make work area A distinguishable.

[0058] Furthermore, the vehicle position information determined by the positioning device 40 is sent from the tractor 1 to the work management device 100 via the communication device 45A. The work area input unit 110 references the determined vehicle position and displays the tractor 1 (a figure D1 representing the tractor 1) at the position corresponding to the vehicle position on the work area map. The planned route L1 in the passage R is set based on the position (latitude, longitude) of work area A and the position (latitude, longitude) of tractor 1 displayed in the work area input unit 110.

[0059] More specifically, in this embodiment, the shortest route from the position of figure D1 to the entrance A1 of work area A in the pathway displayed in the work area input unit 110 is set as the planned travel route L1. That is, the planned travel route L1 is automatically set to be the shortest route from D1 to A1. Alternatively, the planned travel route L1 may be selected and specified from among multiple routes from D1 to A1 in the work area input unit 110.

[0060] The work input unit 111 is used to input tasks such as soil preparation, levee construction, tilling, sowing, fertilization, rice planting, puddling, furrowing, weeding, top dressing, and harvesting. The machine input unit 112 allows input of the model number, type, name, etc., of the work device 2. The time input unit 113 is used to input the time, such as the work day and work time. After inputting the work area, work, work device 2, time, etc., on the setting screen M1 and performing the prescribed operation, the work plan setting unit 110A sets the work area, work, work device 2, time, planned route L1, etc., entered on the setting screen M1 as a work plan, and stores the set work plan (work area, work, work device, time, planned route L1, etc.) in the storage unit 112B.

[0061] <Changes to the work plan> As described above, the planned route L1 as part of the work plan is set by the work plan setting unit 110A using a work site map such as a map. In the planned route L1 set in this way, there may be events in the actual passage R that make it unsuitable for the tractor 1 to travel. In this case, it is difficult to detect or determine events that make the planned route L1 unsuitable for the tractor 1 to travel based solely on the work plan setting by the work plan setting unit 110A. Considering such events, it is preferable to change the work plan as needed. Accordingly, in this embodiment, the planned route L1 set by the work plan setting unit 110A can be changed based on observation information of the passage R obtained by the observation satellite 103.

[0062] As shown in Figure 1, the work management device 100 includes a work plan change unit 110C, an observation area setting unit 111C, and an observation instruction unit 113C. The work plan change unit 110C, the observation area setting unit 111C, and the observation instruction unit 113C are each composed of electrical and electronic circuits provided in the work management device 100, programs stored in the work management device 100, and so on.

[0063] The work plan modification unit 110C modifies the set work plan based on observation information of the work area or passage R within the area observed using the observation satellite 103 capable of observing the Earth's surface. More specifically, in this embodiment, if the work plan modification unit 110C determines, based on the observation information of passage R, that the planned travel route L1 set by the work plan setting unit 110A is unsuitable for the tractor 1's traffic, it modifies the set planned travel route L1.

[0064] Examples of situations where the planned route L1 is unsuitable for tractor 1 include cases where obstacles are present in the passage R corresponding to the planned route L1, or where the passage R (farm road) collapses, hindering tractor 1's movement, or where parked vehicles are present in passage R, making it difficult for tractor 1 to pass. Another example of a situation where the planned route L1 is unsuitable for tractor 1 is when a parking area is provided in the passage R corresponding to the planned route L1, and tractor 1 is planning to park there, but that area is already occupied by another vehicle.

[0065] The observation area setting unit 111C sets the ground surface observation area 150 by the observation satellite 103, and the period t for acquiring observation data. Furthermore, the observation area setting unit 111C also sets the planned route area corresponding to the planned route L1 (see the dashed-dotted area in Figure 7). Specifically, as shown in Figure 6, when the external device 70 is connected to the work management device 100, and the work plan is set in the work plan setting unit 110A, and a predetermined operation is performed on the external device 70, the setting screen M2 is displayed on the display unit 70A instead of the setting screen M1.

[0066] As shown in Figure 6, the settings screen M2 includes a map display unit 125 that displays a map and an observation timing input unit 126. The map displayed by the map display unit 125 may be the same as the work area map set in the settings screen M1 described above, or it may be different. In this embodiment, the same map set in the settings screen M1 is continuously displayed on the map display unit 125. The observation timing input unit 126 allows input of the acquisition period t of observation data.

[0067] The observation area setting unit 111C determines the latitudes and longitudes LA1-LO1, LA2-LO2, LA3-LO3, and LA4-LO4 corresponding to the four corners of the map displayed on the map display unit 125. The rectangular area defined by the determined latitudes LA1-LA4 and longitudes LO1-LO4 is set as the observation area 150. The observation area setting unit 110B also stores the latitudes LA1-LA4 and longitudes LO1-LO4 determined from the map display unit 125, as well as the period t input to the observation timing input unit 126, in the storage unit 112B.

[0068] Furthermore, the observation area setting unit 111C sets the planned travel route area within the observation area 150. As shown in Figure 7, for example, a two-dimensional coordinate system may be constructed with one of the four corners (for example, the lower left endpoint) of the map display unit 125 of the setting screen M2 as the origin O, with the horizontal axis being X and the vertical axis being Y, and the area surrounding the passage R which will be the planned travel route of the tractor 1 may be set as the planned travel route area. In this case, the outline of the planned travel route area may be defined based on the coordinates (X1, Y1) corresponding to the entrance A1 of the work area A in the two-dimensional coordinate system, the coordinates (X2, Y2) corresponding to the figure D1 of the tractor 1, and the coordinates of the distance, width, and corners of the passage R.

[0069] The planned route area may be set to correspond to multiple routes that the tractor 1 can travel along in the pathway R of the work area map. In this embodiment, the destination is the entrance A1 (X1, Y1) of work area A, and the starting point is D1 (X1, Y2). As shown in the area enclosed by the dashed lines in Figures 7(a), (b), (c), and (d), four planned route areas L1a, L1b, L1c, and L1d corresponding to different routes are set. In this embodiment, the planned route area L1a is assumed to be the shortest distance and corresponds to the planned route L1 set in the work plan setting unit 110A. The contours and positions of each planned route area L1a to L1d within the observation area 150 set in this way are stored in the storage unit 112B.

[0070] The observation instruction unit 113C reads the latitudes LA1-LA4, longitudes LO1-LO4, and period t stored in the memory unit 112B, and sends this information as an instruction signal to the base station 104 via the information communication network N. The instruction signal is sent from the base station 104 to the observation satellite 103, which then images and acquires the Earth's surface in a rectangular area defined by the four points of latitude and longitude LA1-LO1, LA2-LO2, LA3-LO3, and LA4-LO4 at set periods t. The acquired observation data of the Earth's surface is sequentially sent from the observation satellite 103 to the work management device 100 via the base station 104 each time it is acquired, i.e., at each period t. The observation data is then sequentially stored in the memory unit 112B.

[0071] The observation data sequentially stored in the memory unit 112B includes data corresponding to each planned route area L1a to L1d (see Figure 7). That is, observation data for the passage R corresponding to the planned route L1 is also stored in the memory unit 112B. The memory unit 112B (corresponding to the observation information storage unit) stores the observation data in a way that allows it to be shared by multiple work machines. The processing for storing observation data from the observation satellite 103, and the processing for sharing the stored observation data are performed in the memory unit 112B.

[0072] More specifically, as shown in Figure 1, in the work management system S, multiple work machines 101a, separate from the work machine 101, may be connected to the information and communication network N via multiple corresponding terminals 100a. Terminals 100a may be servers (such as cloud servers) that set work plans for work machines 101a and can transmit the set work plans to work machines 101a. Terminals 100a can access the work management device 100 via the information and communication network N, and when accessed from terminal 100a, the work management device 100 provides observation data stored in the storage unit 112B to terminal 100a. Terminal 100a then reflects this observation data in the work plan, similar to the work management device 100, and transmits the work plan to the work machines 101a. In this way, the observation data is shared among the multiple work machines 101a after being reflected in the work plan by terminal 100a. Alternatively, observation data may be provided from the work management device 100 to the work machine 101a without going through the terminal 100a.

[0073] As shown in Figures 8 to 11, the work plan change unit 110C converts the observation data sequentially sent to the work management device 100 into images. These images are represented by shapes corresponding to the rectangular sections, and a two-dimensional coordinate system is fitted to the image, with one of the four corners (for example, the lower left endpoint) as the origin O, and the horizontal axis being X and the vertical axis being Y. Next, the work plan change unit 110C superimposes the areas of the planned travel route areas L1a, L1b, L1c, and L1d, set by the observation area setting unit 111C, onto the converted image. The images corresponding to the areas of the planned travel route areas L1a to L1d are used to make decisions regarding changes to the planned travel route L1. Then, by applying predetermined image processing such as binarization to these images, the area corresponding to the contour of the obstacle O1 is identified, and coordinates (X3, Y3) in the two-dimensional coordinate system are assigned to the central position of the obstacle O1.

[0074] More specifically, for example, the work plan change unit 110C uses machine learning on images of the planned route areas L1a, L1b, L1c, and L1d in the images of the observation area 150 generated at each period t. As shown in Figures 7(a), (b), (c), and (d), images where there is no obstacle O1 in the passage R and there is little change in the recognized state from the images of the planned route areas L1a to L1d are used as training data. The work plan change unit 110C compares the results of machine learning with the latest images of the planned route areas L1a to L1d to determine whether or not there is a change in the recognized state from the images of the planned route areas L1a to L1d.

[0075] Alternatively, instead of determining changes in the image state, the work plan change unit 110C may determine, for example, whether the coordinates (X3, Y3) of the obstacle O1 are within the areas of the planned travel route areas L1a, L1b, L1c, and L1d in a two-dimensional coordinate system.

[0076] As shown in Figure 8, in a two-dimensional coordinate system, suppose that obstacle O1 exists within the areas of the planned route L1a and L1b, but outside the areas of L1c and L1d. In this case, as shown in Figures 8(a) and 8(b), in the planned route areas L1a and L1b, a change occurs in the pixels near coordinate (X3, Y3) from the state shown in Figures 7(a) and 7(b), and the planned route L1 from D1(X2, Y2) to A1(X1, Y1) is not set.

[0077] On the other hand, as shown in Figures 8(c) and 8(d), in the planned route areas L1c and L1d, assuming that no change has occurred in the image from the state shown in Figures 7(c) and 7(d), the planned route L1 from D1(X2,Y2) to A1(X1,Y1) is set. In this case, the work plan setting unit 110A had set the planned route L1 corresponding to the planned route area L1a, but the work plan modification unit 110C changes the planned route L1 so that it corresponds to L1c or L1d.

[0078] As shown in Figure 9, in a two-dimensional coordinate system, suppose that obstacle O1 exists within the areas of the planned route areas L1a and L1d, but outside the areas of the planned route areas L1b and L1c. In this case, as shown in Figures 9(a) and 9(d), in the planned route areas L1a and L1d, a change occurs in the pixels near coordinate (X3, Y3) from the state shown in Figures 7(a) and 7(d), and the planned route L1 from D1(X2, Y2) to A1(X1, Y1) is not set.

[0079] On the other hand, as shown in Figures 9(b) and (c), in the planned route areas L1b and L1c, assuming that no change has occurred in the image from the state shown in Figures 7(b) and (c), the planned route L1 from D1(X2,Y2) to A1(X1,Y1) is set. In this case, the work plan setting unit 110A had set the planned route L1 corresponding to the planned route area L1a, but the work plan modification unit 110C changes the planned route L1 so that it corresponds to L1b or L1c.

[0080] As shown in Figure 10, in a two-dimensional coordinate system, suppose that obstacle O1 exists at a location within the areas of the planned route L1a, L1b, and L1d, but outside the area of ​​the planned route L1c. In this case, as shown in Figures 10(a), (b), and (d), in the planned route areas L1a, L1b, and L1d, a change occurs in the pixels near coordinate (X3, Y3) from the state shown in Figures 7(a), (b), and (d), and the planned route L1 from D1(X2, Y2) to A1(X1, Y1) is not set.

[0081] On the other hand, as shown in Figure 10(c), in the planned route area L1c, assuming that no change has occurred in the image from the state shown in Figure 7(c), the planned route L1 from D1(X2,Y2) to A1(X1,Y1) is set. In this case, the work plan setting unit 110A had set the planned route L1 corresponding to the planned route area L1a, but the work plan modification unit 110C changes the planned route L1 so that it corresponds to L1c.

[0082] As shown in Figure 11, in a two-dimensional coordinate system, suppose that obstacle O1 exists within the areas of the planned route areas L1b, L1c, and L1d, but outside the area of ​​the planned route area L1a. In this case, as shown in Figures 11(b), (c), and (d), in the planned route areas L1b, L1c, and L1d, a change occurs in the pixels near coordinate (X3, Y3) from the state shown in Figures 7(b), (c), and (d), and the planned route L1 from D1(X2, Y2) to A1(X1, Y1) is not set.

[0083] On the other hand, as shown in Figure 10(a), in the planned route area L1a, the setting of the planned route L1 from D1(X2,Y2) to A1(X1,Y1) is maintained, assuming that no change has occurred in the image from the state shown in Figure 7(a).

[0084] <Actual Operation> Figure 12 is a flowchart illustrating the operation of the work management device 100. Positioning satellites 102 and observation satellites 103 are assumed to be constantly operating, and the work management device 100, work machine 101, base station 104, and external device 70 are assumed to be already connected to the information and communication network N and capable of information communication (see Figure 1). Furthermore, it is assumed that the tractor 1 is located on a passageway R away from the work area (see Figure 5, etc.).

[0085] The positioning device 40 detects the vehicle position of the tractor 1 (S1), and the detected vehicle position is transmitted from the communication device 45A to the work management device 100 (S2). The work plan setting unit 110A, via the setting screen M1 displayed on the display unit 70A of the external device 70, sets the target work area to work area A as the work plan, and sets the planned travel route L1 from the figure D1 corresponding to the vehicle position of the tractor 1 to the entrance A1 of work area A (S3, see Figure 5). The observation area setting unit 111C, via the setting screen M2 displayed on the display unit 70A of the external device 70, sets the ground observation area 150 by the observation satellite 103, the period t for acquiring observation data, and the planned travel route areas L1a, L1b, L1c, L1d (S4, see Figures 6 and 7).

[0086] At the observation instruction unit 113C, an instruction signal based on the set observation area 150 and period t is sent to the observation satellite 103 via the base station 104 (S5). Observation data corresponding to the observation area 150, including the tractor 1, work area A, and planned travel route areas L1a to L1d, is acquired from the observation satellite 103 at each period t (S6). The acquired observation data is sequentially transmitted to the work management device 100 and stored in the storage unit 112B so that it can be shared by multiple work machines 101 and 101a (S7).

[0087] Next, in the work plan change unit 110C, the transmitted observation data is converted into an image, and the images of the above-set planned travel route areas L1a, L1b, L1c, and L1d are subjected to machine learning (S8, see Figure 7). It is determined whether the passage R corresponding to the above-set planned travel route L1 is suitable for the traffic of the tractor 1 (S9). More specifically, the learning results for the image of the planned travel route area L1a are compared with the latest image of the planned travel route area L1a to determine whether there has been a change in the image of the planned travel route area L1a.

[0088] If "No" is determined in step S9, it is determined that an obstacle O1 exists in the area of ​​the planned travel route L1a, and the passage R corresponding to the set planned travel route L1 is not suitable for the tractor 1's traffic. In this case, the work plan change unit 110C changes the planned travel route L1 (see S10, Figures 8, 9, and 10).

[0089] More specifically, while the image of the planned route area L1a changes, the planned route L1 is set for the planned route areas L1b, L1c, and L1d where no change in image is observed (Figures 8(c), (d), 9(b), (c), and 10(c)). In other words, the planned route L1 corresponding to the planned route area L1a is changed to one corresponding to one of the planned route areas L1b, L1c, or L1d. If there are multiple planned route areas where no change in image is observed, the planned route area may be selected and the planned route L1 may be set such that, for example, the route from D1(X2,Y2) to A1(X1,Y1) is the shortest distance.

[0090] The work plan, including the modified travel route L1, is transmitted from the work management device 100 to the implement 101 (S11), and the tractor 1 is automatically controlled to travel along the travel route L1 based on the transmitted work plan.

[0091] On the other hand, if "Yes" is determined in step S9, it is determined that there is no obstacle O1 in the area of ​​the planned route area L1a, and the passage R corresponding to the set planned route L1 is suitable for the tractor 1's traffic, so the planned route L1 corresponding to the planned route area L1a is maintained as is (see Figure 11).

[0092] In this case, the work plan, including the planned route L1 set in the work plan setting unit 110A, is transmitted from the work management device 100 to the implement 101 (S11), and the tractor 1 is automatically controlled to travel along the planned route L1 based on the transmitted work plan.

[0093] [Second Embodiment] In the first embodiment described above, the work plan change unit 110C determines whether or not there is a change in the image of the planned route area L1a converted from the observation data. If an obstacle O exists in the area of ​​the planned route area L1a and it is determined that there is a change in the image of the planned route area L1a, the corresponding passage R is deemed unsuitable for the tractor 1, and the planned route L1 is changed.

[0094] Similar to the first embodiment described above, in the second embodiment as well, the work area to be set as part of the work plan is set by the work plan setting unit 110A using a work area map such as a map (see Figure 5). In a work area set in this manner, there may be events in the actual work area that make it unsuitable for the work machine 101 to operate. In this case, it is difficult to detect or determine events that make the work area unsuitable for the work machine 101 to operate based solely on the work plan setting by the work plan setting unit 110A. Considering such events, it is preferable that the work plan be modified as needed.

[0095] Accordingly, in the work management device 100 according to the second embodiment of the present invention, if the work plan setting unit 110A determines, based on observation data of the work area, that the work area set by the work plan setting unit 110A is unsuitable for the work of the work machine 101, the set work area and the set planned travel route L1 are changed, respectively. This is the only point in which it differs from the first embodiment. The differences between the second embodiment and the first embodiment will be described below.

[0096] As shown in Figure 13, the observation area setting unit 111C of the second embodiment sets a work area within the observation area 150 instead of setting a planned driving route area. For example, a two-dimensional coordinate system may be constructed with one of the four corners (for example, the lower left endpoint) of the map display unit 125 of the setting screen M2 as the origin O, with the horizontal axis being X and the vertical axis being Y, and the area surrounding the work area may be set as the work area.

[0097] The work area may be set in the work area map to correspond to multiple work areas A, B, and C that can be the target of work by the work machine 101. In this embodiment, work area areas F1a, F1b, and F1c corresponding to three work areas A, B, and C are set, as shown by the area enclosed by the dashed lines in Figures 13(a), (b), and (c). In this embodiment, work area F1a corresponds to work area A set in the work plan setting unit 110A. The contours and positions of each work area F1a to F1c within the observation area 150 set in this way are stored in the storage unit 112B.

[0098] As shown in Figures 14 and 15, the work plan modification unit 110C converts the observation data sequentially sent to the work management device 100 into images. These images are represented by shapes corresponding to the rectangular sections, and a two-dimensional coordinate system is fitted to the image, with one of the four corners (for example, the lower left endpoint) as the origin O, and the horizontal axis being X and the vertical axis being Y. Next, the work plan modification unit 110C superimposes the areas of the work area F1a, F1b, and F1c set by the observation area setting unit 111C onto the converted images. The images corresponding to the areas of work area F1a to F1c are used to make decisions regarding changes to the work area and the planned travel route L1.

[0099] Then, by applying predetermined image processing such as binarization to the image, the region corresponding to the contour of the unsuitable work area O2 is identified, and coordinates (X4, Y4) in a two-dimensional coordinate system are assigned to the central position of the unsuitable work area O2. The unsuitable work area O2 is a part of the work area, for example, a muddy area. If an unsuitable work area O2 occurs in the work area, the work area including the unsuitable work area O2 can be said to be an unsuitable work area for work by the work machine 101.

[0100] More specifically, for example, the work plan change unit 110C uses machine learning on images of work areas F1a, F1b, and F1c in the images of the observation area 150 generated at every period t. As shown in Figures 13(a), (b), and (c), images where the unsuitable work area O2 does not exist within work areas A, B, and C, and where there is little change in the recognized state from the images of work areas F1a to F1c, are used as training data. The work plan change unit 110C compares the results of machine learning with the latest images of work areas F1a to F1c to determine whether or not there is a change in the recognized state from the images of work areas F1a to F1c.

[0101] Alternatively, instead of determining the state of the image, the work plan change unit 110C may determine, for example, whether the coordinates (X4, Y4) of the unsuitable work area O2 are within the areas of the work area F1a, F1b, and F1c in a two-dimensional coordinate system.

[0102] As shown in Figure 14, in a two-dimensional coordinate system, for example, suppose there is an unsuitable work area O2 located within the area of ​​work area F1a but outside the areas of F1b and F1c. In this case, as shown in Figure 14(a), in work area F1a, a change occurs in the pixels near coordinate (X4, Y4) from the state in Figure 13(a), so work area A is not set as the work target, and the planned travel route L1 from D1(X2, Y2) to A1(X1, Y1) (from the figure D1 of tractor 1 to the entrance A1 of work area A) is not set.

[0103] On the other hand, as shown in Figure 14(a), in the work area F1b and F1c, assuming that no change has occurred in the image from the state in Figures 13(b) and (c), work area B or work area C is set as the work target. If work area B is set, the planned travel route L1 is set from D1(X2,Y2) to B1(X5,Y5) (from the shape D1 of tractor 1 to the entrance B1 of work area B). If work area C is set, the planned travel route L1 is set from D1(X2,Y2) to C1(X6,Y6) (from the shape D1 of tractor 1 to the entrance C1 of work area C).

[0104] Thus, although work area A was set in the work plan setting unit 110A, the work plan modification unit 110C changes work area A, which was set as the target of work by the work machine 101, to work area B or work area C. Also, although the planned travel route L1 from D1(X2,Y2) to A1(X1,Y1) was set in the work plan setting unit 110A, the work plan modification unit 110C changes the planned travel route L1 to D1(X2,Y2) to B1(X5,Y5) or D1(X2,Y2) to C1(X6,Y6) in accordance with the change in work area.

[0105] If there are multiple work area areas where no change is observed in the image, for example, the work area to be worked on and the planned travel route L1 may be set by selecting the work area with the shortest route from D1 (X2, Y2) to the entrances of each work area B1 (X5, Y5) and C1 (X6, Y6). Alternatively, multiple work areas to be worked on may be selected, and multiple planned travel routes L1 and L2 may be set so that tractor 1 reaches the selected work areas in order.

[0106] For example, as shown in Figures 14(b) and (c), in the work area F1b and F1c, assuming that there has been no change in the image from the state shown in Figures 13(b) and (c), both work area B and work area C may be set as the work target. If the work machine 101 is to work first in work area B and then in work area C, then, as shown in Figure 14(b), the planned travel route L1 from D1(X2,Y2) to B1(X5,Y5) (from the figure D1 of the tractor 1 to the entrance B1 of work area B) and the planned travel route L2 from B2(X7,Y7) to C1(X6,Y6) (from the exit B2 of work area B to the entrance C1 of work area C) may be set. On the other hand, if the implement 101 is to be operated first in work area C and then in work area B, then, as shown in Figure 14(C), a planned travel route L1 from D1(X2,Y2) to C1(X6,Y6) (from the shape D1 of the tractor 1 to the entrance C1 of work area C) and a planned travel route L2 from C2(X8,Y8) to B1(X5,Y5) (from the exit C2 of work area C to the entrance B1 of work area B) may be set.

[0107] Furthermore, as shown in Figure 15, in a two-dimensional coordinate system, assume that unsuitable work areas O2 and O3 exist within two of the work area areas F1a, F1b, and F1c. As shown in Figure 15(a), assume that unsuitable work areas O2 and O3 exist in work area areas F1a and F1c, and that a change has occurred in the pixels near coordinates O2(X4,Y4) and O3(X9,Y9) from the state shown in Figures 13(a) and (c). In this case, since only work area F1b has not changed from the state shown in Figure 13(b), work area A, which was set in the work plan setting unit 110A, is changed to work area B in the work plan change unit 110C. The route of the planned travel route L1 is also changed from D1(X2,Y2)~A1(X1,Y1) to D1(X2,Y2)~B1(X5,Y5).

[0108] As shown in Figure 15(b), unsuitable work areas O2 and O3 exist in work area F1a and F1b, and a change has occurred in the pixels near coordinates O2(X4,Y4) and O3(X9,Y9) from the state shown in Figures 13(a) and (b). In this case, since only work area F1c has not changed from the state shown in Figure 13(c), work area A, which was set in the work plan setting unit 110A, is changed to work area C in the work plan change unit 110C. The route of the planned travel route L1 is also changed from D1(X2,Y2)~A1(X1,Y1) to D1(X2,Y2)~C1(X6,Y6).

[0109] As shown in Figure 15(c), unsuitable work areas O2 and O3 exist in work area F1b and F1c, and a change has occurred in the pixels near coordinates O2(X4,Y4) and O3(X9,Y9) from the state shown in Figures 13(b) and (c). In this case, only work area F1a remains unchanged from the state shown in Figure 13(a), and work area A and travel route L1, which were set in the work plan setting unit 110A, are maintained without change.

[0110] As shown in Figure 16, in the flowchart illustrating the operation of the second embodiment, instead of step S4 in Figure 12, the observation area setting unit 111C sets the ground observation area 150 by the observation satellite 103, the period t for acquiring observation data, and the work areas F1a, F1b, F1c via the setting screen M2 displayed on the display unit 70A of the external device 70 (S13). Instead of step S8 in Figure 12, the work plan change unit 110C converts the transmitted observation data into an image, and the images of the set work areas F1a, F1b, F1c are used for machine learning (S14, see Figure 13).

[0111] Next, instead of step S9 in Figure 12, the work plan change unit 110C determines whether the workspace set in step S3 (workspace A in this embodiment) is suitable for the work of the work machine 101 (S15). More specifically, the learning result in the image of workspace area F1a is compared with the latest image of workspace area F1a to determine whether there has been a change in the image of workspace area F1a.

[0112] If "No" is determined in step S15, it is determined that there is an unsuitable work area O2 in the work area F1a and that the set work area A is unsuitable for work by the work machine 101. In this case, the work plan change unit 110C changes the work area to be worked on and the planned travel route L1 (see S16, Figure 14, and Figures 15(a) and (b)).

[0113] More specifically, while the image of work area F1a is changing, the work area corresponding to the one in work areas F1b and F1c whose image is not changing is set as the work target. At the same time, the planned travel route L1 is set so that tractor 1 can reach the set work area (see Figures 14 and 15(a) and (b)). In other words, work area A, which corresponds to work area F1a, is changed to the work area (work area B or work area C) corresponding to the one in work areas F1b and F1c whose image is not changing.

[0114] If there are multiple work area areas where no change is observed in the image, for example, the work area to be worked on and the planned travel route L1 may be set by selecting the work area with the shortest route from D1 (X2, Y2) to the entrances of each work area B1 (X5, Y5) and C1 (X6, Y6). Alternatively, multiple work areas to be worked on may be selected, and multiple planned travel routes L1 and L2 may be set so that tractor 1 reaches the selected work areas in order (see Figures 14(b) and (c)).

[0115] On the other hand, if "Yes" is determined in step S15, it is determined that there is no unsuitable work area O2 in the area of ​​work area F1a, and that the work area set in step S3 (work area A in this embodiment) is suitable for the work of the work machine 101, and work area A corresponding to work area F1a is maintained as the work target (see Figure 15(c)). Note that in Figure 16, steps that are the same as those shown in Figure 12 are given the same reference numerals, and the explanation of their operation is omitted.

[0116] <Summary> As described above, the work management device 100 (work management system S) according to an embodiment of the present invention comprises a work plan setting unit 110A and a work plan modification unit 110C. The work plan setting unit 110A sets a work plan that includes at least the work area to be worked on by the work implement 101 and the planned route L1 for the tractor 1 to reach the work area. The work plan modification unit 110C modifies the set work plan based on observation information of the work area within the range of the observation area 150 observed using the observation satellite 103 capable of observing the Earth's surface, or of the passage R corresponding to the planned route L1.

[0117] According to this, observation information of the actual work area or actual pathway can be easily obtained by using the observation satellite 103. Therefore, it is possible to easily detect or determine when the work area set in the work plan setting unit 110A is unsuitable for the work of the implement 101, or when the planned travel route L1 set in the work plan setting unit 110A is unsuitable for the tractor 1's traffic. Consequently, it is possible to exclude work areas or planned travel routes L1 that are unsuitable for the work from the work plan and change them to appropriate work areas or planned travel routes L1, thereby suppressing a decrease in work efficiency.

[0118] If the work plan modification unit 110C determines, based on observation information of the passage R, that the planned travel route L1 set by the work plan setting unit 110A is unsuitable for the tractor 1's traffic, it modifies the set planned travel route L1.

[0119] In this context, a situation where the planned route L1 is unsuitable for tractor 1's travel includes, for example, cases where obstacles exist in the passage R corresponding to the planned route L1, or where the passage R (farm road) collapses, hindering tractor 1's movement, or cases where parked vehicles are present in passage R, making it difficult for tractor 1 to pass. Another example of a situation where the planned route L1 is unsuitable for tractor 1's travel includes cases where a parking area is provided in the passage R corresponding to the planned route L1, and tractor 1 is scheduled to park there, but that area is already occupied by another vehicle. With the above configuration, a planned route L1 that is unsuitable for tractor 1's travel can be excluded from the work plan and changed to an appropriate planned route L1.

[0120] If the work plan modification unit 110C determines, based on observation information of the work area, that the work area set by the work plan setting unit 110A is unsuitable for the work of the work machine 101, it modifies the set work area and the set planned travel route L1, respectively.

[0121] In this context, a workplace unsuitable for the operation of the work machine 101 may include, for example, the presence of obstacles in the workplace or a part of the workplace being unsuitable for operation. An unsuitable part of the workplace is, for example, a muddy area. With the above configuration, a workplace unsuitable for the operation of the work machine 101 can be excluded from the work plan and replaced with a suitable workplace.

[0122] The work management device 100 is equipped with a storage unit 112B (observation information storage unit) that stores observation information of the passage R corresponding to the planned travel route L1 so that it can be shared among multiple work machines 101, 101a. As a result, multiple work machines 101, 101a can utilize the observation information of the observation satellite 103. Therefore, the observation information of the observation satellite 103 can be reflected in each work plan of multiple work machines 101, 101a, and a decrease in work efficiency can be suppressed for each work machine 101, 101a.

[0123] The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the foregoing description, and all modifications within the meaning and scope equivalent to the claims are intended to be included. [Explanation of symbols]

[0124] 1: Tractor 29: Steering gear 40: Positioning device 45A: Communication equipment 60: Control device 63: Automated Driving Control Unit 64: Brake Control Unit 65: Operation selector switch 70: External device 100: Work management device 101: Work Machine 102: Positioning Satellite 103: Observation satellite 110: Workplace Input Section 110A: Work Plan Setting Section 110C: Work Plan Change Department 111C: Observation area setting unit 112B: Storage section 113C: Observation Instruction Unit 150: Observation Area A: Workshop A1: Entrance to the workshop B: Workshop B1: Entrance to the workshop B2: Exit to the workshop C: Workshop C1: Entrance to the workshop C2: Exit to the workshop D1: Tractor shape F1a: Work area F1b: Work area F1c: Work area L1: Planned route L2: Planned route L1a: Planned driving route area L1b: Planned driving route area L1c: Planned driving route area L1d: Planned driving route area N: Information and communication network N1: Vehicle communication network O1: Obstacle O2: Unsuitable work area O3: Unsuitable work area R: Aisle S: Work Management System t :period

Claims

1. Vehicles in motion and An automatic driving control unit that causes the vehicle to automatically drive itself so that it follows the driving route, Applicable to work machines equipped with, A work plan setting unit sets a work plan that includes at least the work area to be worked on by the work machine and the travel route for the vehicle to reach the work area. A work plan modification unit modifies the set work plan based on observation information of the pathway corresponding to the travel route within the area observed by the observation satellite, Equipped with, The aforementioned work plan change unit is: Based on the observation information of the aforementioned passage, if a parking area is provided in the passage corresponding to the travel route set by the work plan setting unit, and the vehicle is scheduled to park or stop there, and the area is already occupied by another vehicle, the set travel route will be changed. A work management device for work machines.

2. Vehicles in motion and An automatic driving control unit that causes the vehicle to automatically drive itself so that it follows the driving route, Applicable to work machines equipped with, A work plan setting unit sets a work plan that includes at least the work area to be worked on by the work machine and the travel route for the vehicle to reach the work area. A work plan modification unit modifies the set work plan based on observation information of the workplace within the area observed by the observation satellite, Equipped with, The aforementioned work plan change unit is: Based on the observation information of the aforementioned work area, if an obstacle exists in the work area set by the work plan setting unit, or if a part of the work area is unsuitable for work, the set work area is excluded from the work plan. A work management device for work machines.

3. In the work management device for a work machine according to claim 1 or 2, Observation information storage unit that stores observation information of the passage corresponding to the aforementioned travel route so that it can be shared by multiple work machines. A work management device for a vehicle-mounted work machine.

4. Work equipment and A work management device for managing the work of the aforementioned work machine, In a work management system for a work machine equipped with the following features, The aforementioned work machine is, Vehicles in motion and An automatic driving control unit that causes the vehicle to automatically drive itself so that it follows the driving route, Equipped with, The aforementioned work management device is A work plan setting unit sets a work plan that includes at least the work area to be worked on by the work machine and the travel route for the vehicle to reach the work area. A work plan modification unit modifies the set work plan based on observation information of the pathway corresponding to the travel route within the area observed by the observation satellite, Equipped with, The aforementioned work plan change unit is: Based on the observation information of the aforementioned passage, if a parking area is provided in the passage corresponding to the travel route set by the work plan setting unit, and the vehicle is scheduled to park or stop there, and the area is already occupied by another vehicle, the set travel route will be changed. Work management system for work machines.

5. Vehicles in motion and An automatic driving control unit that causes the vehicle to automatically drive itself so that it follows the driving route, Applicable to work machines equipped with, A work plan setting unit sets a work plan that includes at least the work area to be worked on by the work machine and the travel route for the vehicle to reach the work area. A work plan modification unit modifies the set work plan based on observation information of the workplace within the area observed by the observation satellite, Equipped with, The aforementioned work plan change unit is: Based on the observation information of the aforementioned work area, if an obstacle exists in the work area set by the work plan setting unit, or if a part of the work area is unsuitable for work, the set work area is excluded from the work plan. Work management system for work machines.

6. In the work management system for the work machine described in Claim 4, The aforementioned work management device is Observation information storage unit that stores observation information of the passage corresponding to the aforementioned travel route so that it can be shared by multiple work machines. A work management system for vehicle-mounted work equipment.

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