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

Abstract

To efficiently calculate a work progress rate in conformity with a real work condition.SOLUTION: A work progress management method comprises the steps of: (S2) setting a plurality of determination regions (80, 81, 82, 83, 84) in farm fields (9, 90); (S3) acquiring first position information of a first work device (20) that performs the first work while moving in the farm fields (9, 90); (S4) detecting the determination region through which the first work device has passed as a work-finished determination region (81) in the plurality of determination regions (80, 81, 82, 83, 84) on the basis of the first position information; (S5) of calculating the progress rate of the first work on the basis of the first total number of the plurality of determination regions (80, 81, 82, 83, 84) and the second total number of the work-finished determination region (81); and (S6) outputting information expressing the progress rate.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a work progress management method, a work progress management system, and a work progress management program, and is suitably used, for example, for managing the progress rate of agricultural work. [Background technology]

[0002] When multiple workers perform agricultural tasks in multiple fields, there is a need to understand the progress of work in each field and to comprehensively manage the overall agricultural work.

[0003] In relation to the above, Patent Document 1 (Japanese Patent No. 5522785) discloses an agricultural vehicle operation management system. This agricultural vehicle operation management system displays the work status in color based on the overlap ratio between the area of ​​the field and the area of ​​the work completed by the agricultural vehicle. The work completed area is determined based on the positional information of the path the agricultural vehicle traveled while performing the work and the width of the agricultural vehicle. [Prior art documents] [Patent Documents]

[0004] [Patent Document 1] Patent No. 5522785 [Overview of the project] [Problems that the invention aims to solve]

[0005] However, when calculating the work progress rate as the ratio of the area worked on by the implement to the total area of ​​the field, the work progress rate may not reach 100% even after the work on that field is completed. For example, when multiple parallel furrows are made in a field and work is performed on these furrows, the area between adjacent furrows is not included in the work. In such cases, even if work is completed on all the furrows in the field, the work progress rate will remain as the ratio of the furrow area to the total area of ​​the field, and the calculated work progress rate will deviate from the actual situation.

[0006] In light of the above circumstances, one of the objectives of this disclosure is to provide a work progress management method, a work progress management system, and a work progress management program for efficiently calculating a work progress rate that is in line with actual work conditions. Other issues and novel features will become apparent from the description herein and the accompanying drawings. [Means for solving the problem]

[0007] The means for solving the problem are described below using the numbers and symbols used in the embodiments for carrying out the invention. These numbers and symbols are added in parentheses for reference to show an example of the correspondence between the claims and the embodiments for carrying out the invention. Therefore, the claims should not be interpreted restrictively because of the parenthetical statements.

[0008] According to one embodiment, the work progress management method includes setting up multiple determination areas (82, 83, 84) within a field (9, 90) (S2), acquiring first position information of a first work device (20) that performs the first work while moving within the field (9, 90) (S3), detecting the determination areas that the first work device (20) has passed through as completed determination areas (81) based on the first position information (S4), calculating the progress rate of the first work based on the first total number of multiple determination areas (82, 83, 84) and the second total number of completed determination areas (81) (S5), and outputting information representing the progress rate (S6).

[0009] According to one embodiment, the work progress management system (1) comprises a setting unit (522), an acquisition unit (521), a detection unit (523), a calculation unit (524), and an output unit (525). The setting unit (522) sets a plurality of judgment areas (82, 83, 84) within the field (9, 90). The acquisition unit (521) acquires first position information of the first work device (20) that performs the first work while moving within the field (9, 90). Based on the first position information, the detection unit (523) detects the judgment areas (82, 83, 84) that the first work device (20) has passed through as completed judgment areas (81). The calculation unit (524) calculates the progress rate of the first work based on the first total number of the plurality of judgment areas (82, 83, 84) and the second total number of completed judgment areas (81). The output unit (525) outputs information representing the progress rate.

[0010] According to one embodiment, the work progress management program is designed to perform predetermined processing by execution. This processing includes setting up a plurality of determination areas (82, 83, 84) within a field (9, 90) (S2), acquiring first position information of a first work device (20) that performs first work while moving within the field (9, 90) (S3), detecting the determination areas that the first work device (20) has passed through as completed determination areas (81) based on the first position information (S4), calculating the progress rate of the first work based on the first total number of determination areas (82, 83, 84) and the second total number of completed determination areas (81) (S5), and outputting information representing the progress rate (S6). [Effects of the Invention]

[0011] According to one embodiment, the work progress rate can be efficiently calculated in accordance with the actual situation. [Brief explanation of the drawing]

[0012] [Figure 1] Figure 1 shows an example configuration of a work progress management system according to one embodiment. [Figure 2] FIG. 2 is a block circuit diagram showing a configuration example of a work progress management device according to an embodiment. [Figure 3] FIG. 3 is a diagram for explaining the working area and non-working area of a work machine. [Figure 4] FIG. 4 is a diagram for explaining the concept of calculating the work progress rate. [Figure 5] FIG. 5 is a flowchart showing an example of the processing of a work progress management method according to an embodiment. [Figure 6] FIG. 6 is a diagram for explaining a method of acquiring the position information of ridges. [Figure 7] FIG. 7 is a diagram for explaining a method of setting a determination area. [Figure 8] FIG. 8 is a diagram for explaining a method of setting a determination area. [Figure 9] FIG. 9 is a diagram for explaining a method of setting a determination area. [Figure 10] FIG. 10 is a diagram for explaining a method of setting a determination area. [Figure 11] FIG. 11 is a diagram for explaining a method of calculating work position information based on the position information of a work vehicle. [Figure 12] FIG. 12 is a diagram for explaining a method of calculating work position information based on the position information of a work vehicle. [Figure 13] FIG. 13 is a diagram for explaining a method of calculating work position information based on the position information of a work vehicle. [Figure 14] FIG. 14 is a diagram showing an example of the positional relationship between a ridge, a first determination area group, and a second determination area group. [Figure 15] FIG. 15 is a diagram showing an example of the positional relationship between a first determination area group and a second determination area group corresponding to one measurement point. [Figure 16] FIG. 16 is a diagram showing an example of the positional relationship between a first determination area group and a second determination area group corresponding to two measurement points respectively. [Figure 17]Figure 17 is a part of a flowchart showing an example of the processing of a work progress management method according to one embodiment. [Figure 18] Figure 18 is a diagram illustrating an example of the relationship between the direction of travel of the work device, the positioning reference position, and the work reference position. [Figure 19] Figure 19 is a diagram illustrating an example of the relationship between the direction of travel of the work device, the positioning reference position, and the work reference position. [Modes for carrying out the invention]

[0013] Referring to the attached drawings, the forms for implementing the work progress management method, work progress management system, and work progress management program described herein are explained below.

[0014] (First Embodiment) As shown in Figure 1, one embodiment of the work progress management system 1 includes a work progress management device 5. The work progress management device 5 receives positioning information acquired via a network 4 or the like from an in-vehicle terminal 3 mounted on the work vehicle 2 when the work vehicle 2 moves through the field 9 and performs agricultural work or other tasks.

[0015] The work vehicle 2 is, for example, a tractor, and performs various tasks depending on the type of implement 20 attached to it, with the tractor and the implement detachably attached to it constituting a work device. As another example, the work vehicle 2 may be integrated with the implement 20 to form a single work device, such as a combine harvester. The onboard terminal 3 measures the position of the work vehicle 2 using GNSS (Global Navigation Satellite System), generates positioning information that associates position information representing the measured position with time information representing the measured time, and transmits the positioning information to the work progress management device 5 via wireless communication and / or wired communication over the network 4.

[0016] The work progress management device 5 calculates a work progress rate representing the progress of work in field 9 based on positioning information received from the in-vehicle terminal 3 and field information representing the location and extent of field 9, and outputs work progress rate information to an external device. For example, the work progress rate information may be output by an external terminal 6 used by the user. In this case, the work progress management device 5 may transmit the work progress rate information to the external terminal 6 via wireless communication and / or wired communication via a network 4 or the like.

[0017] As shown in Figure 2, the work progress management device 5 according to one embodiment may be configured like a computer. In the example in Figure 2, the work progress management device 5 includes a bus 51, an arithmetic unit 52, a storage device 53, a communication device 54, and an input / output device 55. The bus 51 connects the arithmetic unit 52, the storage device 53, the communication device 54, and the input / output device 55 so that they can communicate with each other.

[0018] The arithmetic unit 52 includes an acquisition unit 521, a setting unit 522, a detection unit 523, a calculation unit 524, and an output unit 525. The storage device 53 includes a work progress management program storage unit 531. The work progress management program storage unit 531 stores the work progress management program.

[0019] The arithmetic unit 52 reads and executes the work progress management program, thereby realizing the functions of the acquisition unit 521, setting unit 522, detection unit 523, calculation unit 524, and output unit 525. Each of the acquisition unit 521, setting unit 522, detection unit 523, calculation unit 524, and output unit 525 is a virtual functional block that executes processing realized through the cooperation of the arithmetic unit 52 and the storage device 53. The processing of these functional blocks will be described later.

[0020] The work progress management program may be read from an external recording medium 530 and stored in the work progress management program storage unit 531. The recording medium 530 may be a non-transitory and tangible medium.

[0021] The communication device 54 communicates with external devices, including the in-vehicle terminal 3 and the external terminal 6, via wireless communication and / or wired communication over the network 4, under the control of the acquisition unit 521 and / or the output unit 525. The work progress management program may be received from an external source by the communication device 54 and stored in the work progress management program storage unit 531.

[0022] The input / output device 55 outputs information to the user and accepts user input. For example, the input / output device 55 includes a display device that outputs images, a keyboard and / or mouse that accept input.

[0023] Referring to Figure 3, the working area and non-working area of ​​the implement 20 will be explained. Depending on the type of crop being grown in field 9, ridges may be made in field 9. In such cases, the area of ​​the ridges in field 9 is the working area where the implement 20 will perform its work, while the area other than the ridges, for example, the area between two adjacent ridges, is the non-working area where the implement 20 will not perform its work. In the example in Figure 3, the area with width W1 where the work vehicle 2 and implement 20 perform their work while moving in the first direction of travel D1 along the first ridge, and the area with width W3 where the work vehicle 2 and implement 20 perform their work while moving in the second direction of travel D2 along the second ridge, are the working areas, and the area with width W2 between the first and second ridges is the non-working area. Here, the widths W1 and W3 of the working areas may also be the width of the implement 20.

[0024] Referring to Figure 4, the concept of calculating the work progress rate will be explained. As an example, multiple meshes 80 are set up by dividing field 9 vertically and horizontally. When the implement 20 passes through a certain mesh 80, that mesh 80 is determined to be a completed mesh 81. The work progress rate is obtained by calculating the ratio of the total number of completed meshes 81 to the total number of meshes 80 included in field 9. Here, by dividing field 9 so that all meshes 80 include at least one work area, and every non-work area is included in at least one mesh 80, a work progress rate that reflects the actual work situation can be obtained. In the example in Figure 4, multiple meshes 80 and 81 are set up by dividing field 9 into a first direction, which is the longitudinal direction of the ridges, and a second direction, which is the width direction of the ridges. Also, completed meshes 81 that have been passed by the work vehicle 2 and untouched meshes 80 that have not yet been passed by the work vehicle 2 are distinguished by the presence or absence of diagonal lines. In the example in Figure 4, the dimension W in the width direction of the ridges for meshes 80 and 81. 10 , W 20 The working area is made wider than the working widths W1 and W2 shown in Figure 3, so that all of the non-working area with a width of W2 between the ridges is included in either mesh 80 or 81.

[0025] However, in one embodiment, instead of the rectangular mesh 80 described above, a determination area having a different shape, such as a circle or an ellipse, may be set. Details of this will be described later.

[0026] The flowchart in Figure 5 shows an example of the processing of a work progress management method according to one embodiment. The processing of the work progress management method may start when the work progress management device 5 is started up. At this time, the processing of the work progress management method is realized when the arithmetic unit 52 of the work progress management device 5 executes the work progress management program.

[0027] When the flowchart in Figure 5 starts, step S1 is executed. In step S1, the acquisition unit 521 of the work progress management device 5 acquires the position information of the furrows.

[0028] As an example, the acquisition unit 521 controls the communication device 54 to receive and acquire positioning information generated by the in-vehicle terminal 3. This positioning information includes position information representing the location of positioning points 71 that the work vehicle 2, which is performing work while moving along the ridges of the field 90, has passed through at each of several time points, as shown in the example in Figure 6. Here, the work performed by the work vehicle 2 using the implement 20 is, for example, sowing seeds.

[0029] The acquisition unit 521 acquires the location information of the furrows based on the location information of the positioning points 71 included in the positioning information. More specifically, the acquisition unit 521 extracts a straight line or a curved portion that can be approximated as a straight line from the movement path 72 connecting two positioning points 71 positioned at two consecutive positioning times, excluding the curved portion where the work vehicle 2 turns when moving from one furrow to the next, as a straight line representing the shape of the furrow. The acquisition unit 521 extracts the positioning points 71 included in this straight line as the location information of the furrows. In the example shown in Figure 6, the location information of the furrow 91 shown in Figure 7 is obtained.

[0030] After step S1 in Figure 5, step S2 in Figure 5 is executed. In step S2, the setting unit 522 of the work progress management device 5 sets a determination area in the field 90. As described above, the determination area is a virtual area used as a criterion for determining that the work in the work area of ​​the field 90 associated with that area has been completed when the work vehicle 2 passes through that area.

[0031] The setting unit 522 sets a corresponding determination area for each of the positioning points 71 included in the furrow 91. As an example, as shown in Figure 8, the shape of this determination area 82 may be a rectangle. The length d1 of the first side of this rectangle is the average value of the distance between two adjacent furrows 91, and the length d2 of the second side perpendicular to the first side of this rectangle is the average value of the distance between two adjacent positioning points 71 included in one furrow 91.

[0032] For example, for all judgment regions 82, the second sides of the rectangles representing their shape are parallel to each other. In this case, the angle of inclination of the direction of the second side with respect to an arbitrary reference direction is the average value of the angle of inclination of the ridges 91 included in the field 90 with respect to this reference direction. In the example in Figure 8, when the north-south direction or the direction of longitude is used as the reference direction Y, the inclination of the second side of the rectangle representing the judgment region 82 with respect to the reference direction Y is the angle θ.

[0033] Furthermore, as shown in the example in Figure 8, another reference direction X may be used, such as the east-west direction or the direction of the parallel. In this case, the direction of the first side of the rectangle representing the determination area 82 may be set to have the same angle of inclination with respect to the reference direction X. However, in this case, the shape representing the determination area 82 does not have to be strictly a rectangle.

[0034] The center of the rectangle representing the determination area 82 may coincide with the positioning point 71 corresponding to this determination area 82. In this case, multiple determination areas 82 are set to be aligned along the longitudinal direction of each of the multiple furrows 91. Furthermore, a determination area 82 corresponding to one positioning point 71 may be adjacent to, partially overlap, or separate from another determination area 82 corresponding to another positioning point 71.

[0035] As another example, as shown in Figure 9, the shape of the determination area 83 set in the field 90 may be a circle. In this case, the center of the circle representing the determination area 83 may coincide with the positioning point 71 corresponding to this determination area 83. The diameter of the circle representing the determination area 83 may be the average length d1 of the distance between two adjacent furrows 91, the average length d2 of the distance between two adjacent positioning points 71 contained within one furrow 91, or the average of lengths d1 and d2. A determination area 83 corresponding to one positioning point 71 may be adjacent to, partially overlap, or separate from another determination area 83 corresponding to another positioning point 71.

[0036] As yet another example, as shown in Figure 10, the shape of the determination area 84 set in the field 90 may be an ellipse. In this case, the major axis (or minor axis) of the ellipse representing the determination area 84 is the average length d3 of the distance between two adjacent furrows 91, and the minor axis (or major axis) of this ellipse is the average length d2 of the distance between two adjacent positioning points 71 contained within one furrow 91.

[0037] Furthermore, similar to the case of the rectangle in Figure 8, the minor axes (or major axes) of the ellipses representing the shape of all determination regions 84 may be parallel to each other. In this case, the angle of inclination of the minor axis (or major axis) with respect to an arbitrary reference direction is the average value of the angles of inclination of the ridges 91 included in the field 90 with respect to this reference direction.

[0038] The center of the ellipse representing the determination region 84 may coincide with the positioning point 71 corresponding to this determination region 84. A determination region 84 corresponding to one positioning point 71 may be touching, partially overlapping, or separate from another determination region 84 corresponding to another positioning point 71.

[0039] In either case, the location and extent of the determination areas 82, 83, and 84 set in the field 90 are determined based on the location of the positioning point 71, the average value of the intervals between adjacent positioning points 71, the average value of the intervals between adjacent furrows 91, and the average value of the angle of inclination with respect to any reference direction, at least in part.

[0040] After step S2, step S3 in Figure 5 is executed. In step S3, the acquisition unit 521 of the work progress management device 5 acquires the position information of the work machine 20.

[0041] As an example, the acquisition unit 521 controls the communication device 54 to receive and acquire positioning information generated by the in-vehicle terminal 3, similar to the example in step S1 described above. However, the work performed by the work vehicle 2 at this time is a later operation performed on the same furrow 91 in the same field 90 as the work performed in step S1. As an example, the work performed in step S3 is harvesting. Here, the implement 20 that performs the work in step S1 and the implement 20 that performs the work in step S3 may be different from each other.

[0042] After step S3, step S4 in Figure 5 is executed. In step S4, the detection unit 523 of the work progress management device 5 detects the completed work area from among the multiple determination areas 82, 83, and 84 set in the field 90, which the work machine 20 has passed through. More specifically, the detection unit 523 determines whether each of the positioning points 71 represented by the position information of the work vehicle 2 acquired in step S3 is inside one of the multiple determination areas 82, 83, and 84 set in step S2. Alternatively, the detection unit 523 determines whether each of the multiple determination areas 82, 83, and 84 set in step S2 contains the positioning point 71 represented by the position information of the work vehicle 2 acquired in step S3. As a result of this determination, the detection unit 523 detects the determination areas 82, 83, and 84 in which the positioning point 71 has been located inside at least once as completed work areas. In this case, in order to improve the detection accuracy of the completed work area, the GNSS antenna used for positioning in step S3 may be installed at the working position of the implement 20 in relation to the field 90. Alternatively, if the work vehicle 2 and the implement 20 are integrated as a work device, such as in a combine harvester, the GNSS antenna may be installed at the working position of the work device in relation to the field 90.

[0043] After step S4, step S5 in Figure 5 is executed. In step S5, the calculation unit 524 of the work progress management device 5 calculates the work progress rate for the field 90. More specifically, the work progress rate is calculated by dividing the total number of completed determination areas detected in step S4 by the total number of determination areas 82, 83, and 84 set in the field 90 in step S2.

[0044] After step S5, step S6 in Figure 5 is executed. In step S6, the output unit 525 of the work progress management device 5 outputs progress rate information representing the work progress rate. More specifically, the output unit 525 of the work progress management device 5 controls the communication device 54 to output the progress rate information to the external terminal 6 via communication over the network 4. The external terminal 6 outputs the work progress rate represented by the received progress rate information by displaying it on a screen so that the user can confirm it. Here, multiple fields 90 may be displayed in different colors based on the calculated work progress rate. For example, if the work progress rate of the field 90 of interest is less than 25%, it may be displayed in green; if it is 25% or more but less than 50%, it may be displayed in yellow-green; if it is 50% or more but less than 75%, it may be displayed in yellow; if it is 75% or more but less than 100%, it may be displayed in orange; and if it is 100%, it may be displayed in red. In this way, the work progress rates of multiple fields 90 can be grasped and managed more easily.

[0045] Once step S6 is completed, the process shown in the flowchart in Figure 5 is finished.

[0046] As described above, according to one embodiment, multiple determination areas 82, 83, and 84 can be set in the field 90, and the work progress rate can be calculated as the percentage of these multiple determination areas 82, 83, and 84 that have been worked on by the work implement 20. As a result, a work progress rate that reflects the actual work situation can be efficiently calculated.

[0047] (Variation 1) In the above embodiment, in step S1 of Figure 5, a configuration was described in which the acquisition unit 521 of the work progress management device 5 uses positioning information generated by an on-board terminal 3 mounted on the work vehicle 2 to acquire the position information of the furrow 91. As a modification of this configuration, a case in which the position information of the furrow 91 is pre-stored in the storage device 53 of the work progress management device 5 will be described.

[0048] In this modified example, in step S1 of Figure 5, the acquisition unit 521 of the work progress management device 5 acquires the location information of the furrows 91 by reading it from the storage device 53. Here, the location information of the furrows 91 stored in the storage device 53 may be data input by the user, for example, by operating an external terminal 6, or it may be data generated by image processing of a photograph taken from the field information 90.

[0049] (Modified version, part 2) In the above embodiment, a configuration was described in which sowing is performed when acquiring the position information of the ridge in step S1 of Figure 5, and harvesting is performed when detecting the completed work area in step S3. However, the combination of the work in step S1 and the work in step S3 is not limited to the above configuration. For example, if ridge making is performed in step S1, any of the work from sowing or planting to harvesting may be performed in step S3. As another example, if sowing or planting is performed in step S1, any of the work such as fertilizing, pest control, or harvesting may be performed in step S3.

[0050] (Variation 3) In the above embodiment, in step S2 of Figure 5, a configuration was described in which the lengths of each side of the rectangle defining the dimensions of the determination area, the diameter of the circle, or the major and minor axes of the ellipse are calculated based on the average length d1 of the distance between two adjacent furrows 91 and the average length d2 of the distance between two adjacent positioning points 71 contained within one furrow 91. As a variation of this configuration, lengths d1 and d2 may be determined in a different way than described above. For example, at least one of lengths d1 and d2 may be set to a predetermined fixed value, or it may be calculated based on the distance between two adjacent furrows 91 and / or the distance between two adjacent positioning points 71 contained within one furrow.

[0051] (Modification, part 4) In the above embodiment, the configuration for setting a rectangular determination area in step S2 of Figure 5 was described. As a variation of this configuration, the determination area may be a square. For example, the length of the sides of this square may be the length d1 calculated as the average value of the distance between two adjacent furrows 91, or the length d2 calculated as the average value of the distance between two adjacent positioning points 71 contained within one furrow 91, or the average value of these lengths d1 and d2.

[0052] (Variation 5) In the above embodiment, the configuration described is for setting determination areas 82, 83, and 84 corresponding to each of the positioning points 71 in step S2 of Figure 5. As a variation of this configuration, the total number of determination areas 82, 83, and 84 set along each furrow 91 may be increased or decreased from the total number of positioning points 71 included in that furrow 91. For example, to increase the total number of determination areas 82, 83, and 84, a virtual positioning point 71 may be set between two existing positioning points 71 with consecutive positioning times, and determination areas 82, 83, and 84 corresponding to the existing positioning points 71 and the virtual positioning point 71 may be set. Conversely, to decrease the total number of determination areas 82, 83, and 84, determination areas 82, 82, and 84 corresponding to only one of the two existing positioning points 71 with consecutive positioning times may be set. In this way, regardless of the combination of the vehicle speed of the work vehicle 2 at the time of positioning and the sampling period, the interval between the determination areas 82, 83, and 84 in the longitudinal direction of the furrow 91 can be adjusted to an appropriate distance based on the position of the positioning point 71. Alternatively, multiple determination areas 82, 83, and 84 may be set to each include at least a portion of the positions of multiple positioning points 71.

[0053] (Modification, part 6) In the above embodiment, a configuration was described in which the GNSS antenna that performs positioning in step S3 of Figure 5 is installed at the work position of the implement 20 when it performs work on the field 90. As a modification of this configuration, a method for calculating work position information based on the position information of the work vehicle 2 will be described with reference to Figure 11. As shown in the example in Figure 11, the position information of the work vehicle 2 represents the positioning position 21 of the GNSS antenna of the on-board terminal 3 mounted on the work vehicle 2. The work position 201 in which the work vehicle 2 performs work on the field 90 is a predetermined reference position of the implement 20. The positioning position 21 and the work position 201 do not necessarily coincide, but if the GNSS antenna is fixed to the work vehicle 2 and the implement 20 is fixed to the work vehicle 2, then the positional relationship between the positioning position 21 and the work position 201 is also fixed. Therefore, by pre-measuring the relative position of the work position 201 with respect to the positioning position 21, the work position 201 can be calculated based on the positioning position 21 and the direction of travel D1 of the work vehicle 2. The direction of travel D1 at a given positioning point 71 can be calculated based on the position information of that positioning point 71 and the position information of a positioning point 71 that was positioned before or after that positioning point 71.

[0054] This modification is also applicable when the working position 202 of the work machine 20 is offset in a direction perpendicular to the direction of travel D1 of the work vehicle 2, as shown in the example in Figure 12. Furthermore, this modification is also applicable when the work machine 20 has multiple working positions 201, 202, and 203, as shown in the example in Figure 13. In such cases, in step S4, among the multiple determination regions 82, 83, and 84, determination regions 82, 83, and 84 in which at least one of the working positions 201, 202, and 203 has existed at least once are detected as completed determination regions. In this case, the total number of GNSS antennas used can be reduced compared to the case where a GNSS antenna is provided for each of the working positions 201, 202, and 203, and communication costs for transmitting positioning information from the in-vehicle terminal 3 to the work progress management device 5 can also be reduced.

[0055] (Variation 7) In the above embodiment, in step S4 of Figure 5, the detection unit 523 of the work progress management device 5 detects as completed work areas 82, 83, and 84 among a plurality of determination areas 82, 83, and 84 in which a positioning point 71 has existed inside at least once. As a modification of this configuration, determination areas 82, 83, and 84 in which a virtual straight line connecting two positioning points 71 with consecutive positioning times overlap at least once may be detected as completed work areas. In this case, the possibility that determination areas 82, 83, and 84 corresponding to the location where the work vehicle 2 and / or work machine 20 actually passed cannot be detected due to a combination of the vehicle speed of the work vehicle 2, the sampling period, and the positional relationship of the determination areas 82, 83, and 84 can be reduced.

[0056] (Variation 8) In the above embodiment, the configuration described is one in which, in step S6 of Figure 5, the output unit 525 of the work progress management device 5 transmits progress rate information to an external terminal 6 in order to output progress rate information representing the work progress rate. As a modification of this configuration, the output unit 525 may transmit the progress rate information to a terminal or server other than the external terminal 6. Furthermore, as a further modification, the output unit 525 may control the input / output device 55 to output the work progress rate represented by the progress rate information to a display device included in the input / output device 55, so that the user can confirm it.

[0057] (Second Embodiment) In the "Modification, No. 6" of the first embodiment described above, as shown in Figure 12, a configuration was described in which the work area can be accurately detected by acquiring position information of the work area 202 even when the work position 202 of the work machine 20 is offset from the positioning position 21 of the work vehicle 2 in a direction perpendicular to the direction of travel D1 of the work vehicle 2. In this embodiment, a configuration is described in which the work area can be accurately detected based on the positioning position 21 even when the work area 202 is offset from the positioning position 21 in a direction perpendicular to the direction of travel D1.

[0058] The work progress management system 1 according to this embodiment is the same as the work progress management system 1 according to the first embodiment. However, in the work device according to this embodiment, similar to the example in Figure 12, the work position 202 of the work machine 20 is offset from the positioning position 21 of the work vehicle 2 in a direction perpendicular to the direction of travel D1 of the work vehicle 2. The direction perpendicular to the direction of travel D1 as seen from the work vehicle 2 will be referred to as the offset direction. The offset direction includes two types of offset directions: left and right with respect to the direction of travel D1. When distinguishing between these two types of offset directions, they will be referred to as the first direction or the second direction of the offset direction. Furthermore, the distance from the positioning position 21 of the work vehicle 2 to the work position 202 of the work machine 20 in the offset direction will be referred to as the offset length.

[0059] The work progress management method and inter-work direct management program according to this embodiment can be obtained by modifying the following points in each step of the flowchart in Figure 5, respectively, compared to the work progress management method and inter-work direct management program according to the first embodiment.

[0060] In this embodiment, step S1 in the flowchart of Figure 5 is the same as in the first embodiment. However, in step S1, the acquisition unit 521 of the work progress management device 5 selects one of the first longitudinal direction (for example, the direction from south to north) and the second longitudinal direction (for example, the direction from north to south) included in the longitudinal direction of the furrow 91 as the reference direction. As an example, here, as shown in Figure 14, the reference direction D R Let's explain the case where you choose to travel from south to north.

[0061] In this embodiment, in step S2 of the flowchart in Figure 5, the setting unit 522 of the work progress management device 5 sets two types of determination areas 83A and 83B along both the left and right sides of the furrow 91, as shown in Figure 14. More specifically, the setting unit 522 sets a pair of determination areas 83A and 83B for each of the positioning points 71 of the furrow 91, as shown in Figure 15. At this time, for each of the positioning points 71 acquired in step S1 of the flowchart in Figure 5, the setting unit 522 sets determination areas 83A and 83B centered at a position a predetermined distance away from the positioning point 71 of interest, for each of the first and second directions included in the direction perpendicular to the longitudinal direction of the furrow 91. Hereafter, when the determination areas 83A and 83B are not distinguished, they will be collectively referred to as determination area 83.

[0062] Furthermore, as shown in Figure 15, the determination areas 83A and 83B set at the same positioning point 71 may partially overlap. In addition, as shown in Figure 16, the determination area 83A set at the first positioning point 71A included in the first furrow 91A and the determination area 83B set at the second positioning point 71B included in the second furrow 91B adjacent to the first furrow 91A may partially overlap.

[0063] The dimensions of the determination areas 83A and 83B, and the distance from the center of the determination areas 83A and 83B to the corresponding positioning point 71, may be appropriately determined based on the distance between two adjacent furrows 91, the offset length of the work device, and so on.

[0064] In this embodiment, after step S2 in the flowchart of Figure 5, instead of step S3, the acquisition unit 521 of the work progress management device 5 executes steps S31 to S33 of the flowchart shown in Figure 17. In step S31, the acquisition unit 521 controls the communication device 54 to receive positioning information generated by the in-vehicle terminal 3.

[0065] After step S31 in Figure 17, step S32 is executed. In step S32, the acquisition unit 521 of the work progress management device 5 acquires offset information of the work machine 20 relative to the work vehicle 2. The offset information includes information representing the offset direction and information representing the offset length. The offset information may be pre-stored in the storage device 53 of the work progress management device 5. In this case, the acquisition unit 521 acquires the offset information by reading it from the storage device 53. Alternatively, the offset information may be pre-stored in the storage device of the on-board terminal 3 of the work vehicle 2. In this case, the acquisition unit 521 acquires the offset information by receiving it from the on-board terminal 3. As an example, here we will describe the case where the offset direction is to the right with respect to the travel directions D1 and D2 of the work vehicle 2, as shown in Figures 18 and 19.

[0066] After step S32 in Figure 17, step 33 is performed. In step S33, the acquisition unit 521 of the work progress management device 5 calculates the direction of movement of the work vehicle 2 based on the positioning information of the work vehicle 2. More specifically, it calculates the direction of movement of the work vehicle 2 at the position represented by the positioning information of interest, based on the position represented by the position represented by the positioning information of interest and the position represented by the positioning information before and / or after the positioning information of interest.

[0067] After step S33 in Figure 17, step S4 in Figure 5 is executed. In step S4, the detection unit 523 of the work progress management device 5 detects the area corresponding to the positioning point 71 of the furrow 91 that the work machine 20 has worked on, out of the determination areas 83A and 83B that the work vehicle 2 has passed through, as the area where work has been completed. This detection will be explained with reference to Figure 16. In the example in Figure 16, there are two positioning points 71A and 71B, with determination area 83A set to correspond to one positioning point 71A and determination area 83B set to correspond to the other positioning point 71B. These two positioning points 71A and 71B are, respectively, in the reference direction D RIt extends along and is included in two adjacent ridges 91 (not shown). Here, these two determination regions 83A and 83B at least partially overlap. When the positioning position 21 of the work vehicle 2 passes through this overlapping region, based on the traveling directions D1 and D2 of the work vehicle 2 and the reference direction D of the ridge 91, it is determined whether the work vehicle 2 has performed work on which of the two ridges 91 including the measurement points 71A and 71B. R Based on the offset information, the detection unit 523 makes a determination. Based on the result of this determination, the detection unit 523 determines, as the worked determination region, the determination region 83 set for the ridge 91 on which the working machine 2 has performed work among the determination regions 83A and 83B through which the work vehicle 2 has passed.

[0068] As shown in the example of FIG. 18, when the traveling direction D1 of the work vehicle 2 corresponding to the position represented by the positioning information of interest and the reference direction D of the ridges 91A and 91B R are in the same direction, the detection unit 523 detects, as the worked determination region, the determination region 83 in the same direction as the offset direction of the working machine with respect to the traveling direction D1 of the work vehicle 2 with respect to the reference direction D. Note that when the angle between the traveling direction D1 and the reference direction D R is smaller than a predetermined threshold value, the detection unit 523 may determine that the traveling direction D1 and the reference direction D R are in the same direction. R are in the same direction.

[0069] Conversely, as shown in the example of FIG. 19, when the traveling direction D2 of the work vehicle 2 corresponding to the position represented by the positioning information of interest and the reference direction D of the ridges 91A and 91B R are in opposite directions, the detection unit 523 detects, as the worked determination region, the determination region 83 in the direction opposite to the offset direction of the working machine with respect to the traveling direction D2 of the work vehicle 2 with respect to the reference direction D. Note that when the angle between the direction opposite to the traveling direction D2 and the reference direction D R is smaller than a predetermined threshold value, the detection unit 523 may determine that the traveling direction D1 and the reference direction D R are in opposite directions. R are in opposite directions.

[0070] After step S4 in Figure 5, step S5 is executed. In step S5, the calculation unit 524 of the work progress management device 5 calculates the work progress rate for the field 90. However, in this embodiment, since the total number of determination areas 83A and 83B is twice that of the first embodiment, the work progress rate is calculated by dividing the total number of completed determination areas detected in step S4 by half the total number of determination areas 83A and 83B.

[0071] The processing after step S5 in Figure 5 is the same as in the first embodiment.

[0072] As described above, according to this embodiment, even when the work position 202 is offset from the positioning position 21 in a direction perpendicular to the direction of travel D1, the work completion determination area can be accurately detected based on the positioning position 21.

[0073] (Modification, No. 9) In the second embodiment described above, the configuration in which the determination regions 83A and 83B are circular was explained, as shown in Figures 14 and 15. As a modification of this configuration, the determination regions 83A and 83B may have an ellipse, a square, a rectangle, or other shape.

[0074] (Modification, No. 10) In the second embodiment described above, the flowchart in Figure 17 describes a configuration in which step S32 is executed first, followed by step S33. As a variation of this configuration, step S33 may be executed first, followed by step S32, or steps S32 and S33 may be executed in parallel.

[0075] The invention made by the inventor has been described in detail based on embodiments above, but it goes without saying that the present invention is not limited to these embodiments and can be modified in various ways without departing from its essence. Furthermore, the features described in the embodiments can be freely combined within a range that does not contradict the technical aspects.

[0076] (Note) The work progress management method, work progress management system, and work progress management program described in each embodiment can be described as follows:

[0077] The work progress management method relating to the first aspect is: Setting up multiple judgment areas within the field, To acquire first position information of a first work device that performs the first operation while moving within the aforementioned field, Based on the first position information, the determination area that the first work device has passed through among the plurality of determination areas is detected as a completed determination area, Based on the first total number of the multiple determination areas and the second total number of completed determination areas, the progress rate of the first operation is calculated. Outputting information representing the progress rate Includes.

[0078] The work progress management method relating to the second aspect is the work progress management method relating to the first aspect, The field comprises a plurality of ridges formed such that each ridge extends parallel to the others. The above setting means The plurality of determination areas are set to be aligned in the longitudinal direction of each of the plurality of ridges. Includes.

[0079] The work progress management method relating to the third aspect is the work progress management method described relating to the second aspect, The above setting means The group of first determination regions included in the plurality of determination regions is set on the side of each of the plurality of ridges in the first direction perpendicular to the longitudinal direction, The second group of determination regions included in the plurality of determination regions is set on the side of each of the plurality of ridges in the second direction which is perpendicular to the longitudinal direction and opposite to the first direction. It further includes, The first working device acquires offset information representing the offset direction and offset length in an offset direction perpendicular to the direction of travel of the first working device, for a working position in which the working machine of the first working device performs work on at least one of the plurality of furrows, with respect to the positioning position in which the first working device receives a positioning signal. Based on the first position information, the direction of movement of the first work device for each positioning position is calculated. It further includes, The above detection means that Based on the offset direction and the offset length, for each positioning position, when the first work device is moving in the same direction as a predetermined reference direction included in the longitudinal direction, a determination area included in either the first determination area group or the second determination area group is detected as the completed determination area, and when the first work device is moving in the direction opposite to the reference direction, a determination area included in the other of the first determination area group or the second determination area group is detected as the completed determination area. Includes.

[0080] The work progress management method relating to the fourth aspect is the work progress management method relating to the third aspect, The above setting means The arrangement is such that at least a portion of the first determination area group and at least a portion of the second determination area group overlap between the first and second adjacent furrows included in the aforementioned plurality of furrows. It also includes.

[0081] The work progress management method relating to the fifth aspect is a work progress management method relating to any of the first to fourth aspects, Before performing the first operation, the second position information of the second work device, which performs the second operation while moving within the field, is acquired. It further includes, The above setting means Setting the multiple determination areas based on the second position information. Includes.

[0082] The work progress management method relating to the sixth aspect is the work progress management method relating to the fifth aspect, Setting the positions of the plurality of determination regions means The plurality of determination regions are set to each include at least a portion of the positions of the plurality of positioning points included in the second position information. Includes.

[0083] The work progress management method relating to the seventh aspect is the work progress management method relating to the fifth aspect, Setting the dimensions of the multiple determination regions means The dimensions are set based on the distance between two adjacent furrows among the plurality of furrows and / or the distance between two adjacent positioning points included in one furrow among the plurality of furrows. Includes.

[0084] The work progress management method relating to the eighth aspect is a work progress management method relating to any one of the first to seventh aspects, Obtaining the aforementioned first location information means To acquire third position information of the work vehicle that moves the first work machine as the first work device, The first position information is calculated based on the third position information, the direction of travel of the work vehicle, and the positional relationship between the work position where the work machine performs the first work on the field and the reference position of the work vehicle, which is the position where the third position information is acquired. Includes.

[0085] The work progress management method relating to the ninth aspect is a work progress management method relating to any one of the first to eighth aspects, The shape of each of the aforementioned multiple determination regions is either a circle or an ellipse.

[0086] The work progress management method relating to the 10th aspect is a work progress management method relating to any one of the 1st to 9th aspects, The above detection means that Among the multiple positioning points represented by the first position information, a determination area in which a virtual straight line connecting two positioning points with consecutive positioning times overlaps at least once is detected as the completed determination area. Includes.

[0087] The work progress management system relating to the 11th aspect is: A setting unit for setting multiple judgment areas within the field, An acquisition unit that acquires first position information of a first work device that performs the first operation while moving within the field, A detection unit that, based on the first position information, detects the determination area that the first work device has passed through among the plurality of determination areas as a completed determination area, A calculation unit that calculates the progress rate of the first operation based on the first total number of the plurality of determination areas and the second total number of completed determination areas, An output unit that outputs information representing the progress rate, It is equipped with.

[0088] The work progress management program relating to the 12th aspect is: A work progress management program for achieving predetermined processing by execution, The aforementioned process is, Setting up multiple judgment areas within the field, To acquire first position information of a first work device that performs the first operation while moving within the aforementioned field, Based on the first position information, the determination area that the first work device has passed through among the plurality of determination areas is detected as a completed determination area, Based on the first total number of the multiple determination areas and the second total number of completed determination areas, the progress rate of the first operation is calculated. Outputting information representing the progress rate Includes. [Explanation of Symbols]

[0089] 1. Work progress management system 2 Work vehicles 20. Work equipment (working devices) 21 Positioning location 201, 202, 203 working position 3. In-vehicle terminals 4 Network 5. Work progress management device 51 Bus 52 Arithmetic unit 521 Acquisition Department 522 Settings Section 523 Detection unit 524 Calculation Unit 525 Output section 53 Storage device 530 Recording media 531 Work progress management program storage unit 54 Communication equipment 55 Input / Output Devices 6. External terminals 71 positioning points 72 Travel Paths 80, 81 mesh 82, 83, 84 Judgment area 83A 1st judgment area 83B 2nd judgment area 9, 90 fields 91 ridge Lengths d1 and d2 D1, D2 direction of travel D R Reference direction W1, W2, W3 widths W 10 , W 20 size X, Y reference direction θ angle

Claims

1. The work progress management device sets up multiple determination areas within the field, The work progress management device acquires first position information of the first work device that performs the first work while moving within the field, The work progress management device detects, based on the first position information, the determination area that the first work device has passed through among the plurality of determination areas as a completed determination area. The work progress management device calculates the progress rate of the first work based on the first total number of the plurality of determination areas and the second total number of completed determination areas. The work progress management device outputs information representing the progress rate. Includes, The field comprises a plurality of ridges formed such that each ridge extends parallel to the others. The above setting means The plurality of determination areas are set to be aligned in the longitudinal direction of each of the plurality of ridges, The group of first determination regions included in the plurality of determination regions is set on the side of each of the plurality of ridges in the first direction perpendicular to the longitudinal direction, The second group of determination regions included in the plurality of determination regions is set on the side of each of the plurality of ridges in the second direction which is perpendicular to the longitudinal direction and opposite to the first direction, The arrangement is such that at least a portion of the first determination area group and at least a portion of the second determination area group overlap between the first and second adjacent furrows included in the aforementioned plurality of furrows, Includes, The work progress management device acquires offset information representing the offset direction and offset length in an offset direction perpendicular to the direction of travel of the first work device, for the work position in which the work machine of the first work device performs work on at least one of the plurality of furrows, with respect to the positioning position in which the first work device receives a positioning signal. The work progress management device calculates the direction of movement of the first work device for each positioning location based on the first position information, It further includes, The above detection means that Based on the offset direction and the offset length, for each positioning position, when the first work device is moving in the same direction as a predetermined reference direction included in the longitudinal direction, a determination area included in either the first determination area group or the second determination area group is detected as the completed determination area, and when the first work device is moving in the direction opposite to the reference direction, a determination area included in the other of the first determination area group or the second determination area group is detected as the completed determination area. including, Methods for managing work progress.

2. In the work progress management method described in claim 1, Before performing the first operation, the second position information of the second work device, which performs the second operation while moving within the field, is acquired. It further includes, The above setting means The position and dimensions of the multiple determination areas are set based on the second position information. including Methods for managing work progress.

3. In the work progress management method described in claim 2, Setting the positions of the plurality of determination regions means The plurality of determination regions are set to each include at least a portion of the positions of the plurality of positioning points included in the second position information. including Methods for managing work progress.

4. In the work progress management method described in claim 2, The field comprises a plurality of ridges formed such that each ridge extends parallel to the others. Setting the dimensions of the multiple determination regions means The dimensions are set based on the distance between two adjacent furrows among the plurality of furrows and / or the distance between two adjacent positioning points included in one furrow among the plurality of furrows. including Methods for managing work progress.

5. In the work progress management method described in claim 1, Acquiring the first location information means To acquire third position information of the work vehicle that moves the first work machine included in the first work device, The first position information is calculated based on the third position information, the direction of travel of the work vehicle, and the positional relationship between the work position where the first implement performs the first work on the field and the reference position of the work vehicle, which is the position where the third position information is acquired. including Methods for managing work progress.

6. In the work progress management method described in claim 1, The shape of each of the aforementioned multiple determination regions is either a circle or an ellipse. Methods for managing work progress.

7. In the work progress management method described in claim 1, The above detection means that Among the multiple positioning points represented by the first position information, a determination area in which a virtual straight line connecting two positioning points with consecutive positioning times overlaps at least once is detected as the completed determination area. including Methods for managing work progress.

8. A setting unit for setting multiple judgment areas within the field, An acquisition unit that acquires first position information of a first work device that performs the first operation while moving within the field, A detection unit that, based on the first position information, detects the determination area that the first work device has passed through among the plurality of determination areas as a completed determination area, A calculation unit calculates the progress rate of the first operation based on the first total number of the plurality of determination areas and the second total number of completed determination areas. An output unit that outputs information representing the progress rate, Equipped with, The field comprises a plurality of ridges formed such that each ridge extends parallel to the others. The setting unit is, The multiple determination areas are set to be aligned in the longitudinal direction of each of the multiple furrows, The group of first determination regions included in the plurality of determination regions is set on the side of each of the plurality of ridges in the first direction perpendicular to the longitudinal direction, The second group of determination regions included in the plurality of determination regions is set on the side of each of the plurality of ridges in the second direction which is perpendicular to the longitudinal direction and opposite to the first direction, The above-mentioned plurality of furrows are set such that at least a portion of the first determination area group and at least a portion of the second determination area group overlap between the adjacent first furrow and second furrow, The acquisition unit further acquires offset information representing the offset direction and offset length in the offset direction perpendicular to the direction of travel of the first work device, for the work position in which the work machine of the first work device performs work on at least one of the plurality of ridges, with respect to the positioning position in which the first work device receives the positioning signal. The calculation unit calculates the direction of movement of the first work device for each positioning position based on the first position information. Based on the offset direction and the offset length, the detection unit detects, for each positioning position, a determination area included in either the first determination area group or the second determination area group as the completed determination area when the first work device is moving in the same direction as a predetermined reference direction included in the longitudinal direction, and a determination area included in the other of the first determination area group or the second determination area group as the completed determination area when the first work device is moving in the direction opposite to the reference direction. Work progress management system.

9. A work progress management program for achieving predetermined processing by execution, The aforementioned process is, Setting up multiple judgment areas within the field, To acquire first position information of a first work device that performs the first operation while moving within the aforementioned field, Based on the first position information, the determination area that the first work device has passed through among the plurality of determination areas is detected as a completed determination area, Based on the first total number of the plurality of determination areas and the second total number of completed determination areas, the progress rate of the first operation is calculated. Outputting information representing the progress rate Includes, The field comprises a plurality of ridges formed such that each ridge extends parallel to the others. The above setting means The plurality of determination areas are set to be aligned in the longitudinal direction of each of the plurality of ridges, The group of first determination regions included in the plurality of determination regions is set on the side of each of the plurality of ridges in the first direction perpendicular to the longitudinal direction, The second group of determination regions included in the plurality of determination regions is set on the side of each of the plurality of ridges in the second direction which is perpendicular to the longitudinal direction and opposite to the first direction, The arrangement is such that at least a portion of the first determination area group and at least a portion of the second determination area group overlap between the first and second adjacent furrows included in the aforementioned plurality of furrows, Includes, The first working device acquires offset information representing the offset direction and offset length in an offset direction perpendicular to the direction of travel of the first working device, for a working position in which the working machine of the first working device performs work on at least one of the plurality of furrows, with respect to the positioning position in which the first working device receives a positioning signal. Based on the first position information, the direction of movement of the first work device for each positioning position is calculated, It further includes, The above detection means that Based on the offset direction and the offset length, for each positioning position, when the first work device is moving in the same direction as a predetermined reference direction included in the longitudinal direction, a determination area included in either the first determination area group or the second determination area group is detected as the completed determination area, and when the first work device is moving in the direction opposite to the reference direction, a determination area included in the other of the first determination area group or the second determination area group is detected as the completed determination area. including, A work progress management program.

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