JP2021002397A - Work management system - Google Patents

Abstract

To provide a work management system which can more properly manage works done by a work vehicle which works while moving according to a travel route map.SOLUTION: In a general terminal device 6 as a type of a work management system, a data management unit 66 extracts the content of work from a work history storage unit 69 storing the contents of work of a work vehicle in a work site, using a travel route map as a search condition. A display data generation unit 64 generates display data for displaying the extracted content of work in a display device 60.SELECTED DRAWING: Figure 3

Description

The present invention relates to a work management system that manages work by a work vehicle that travels along a travel route map.

The field management system according to Patent Document 1 has a map data recording unit having a field map layer for recording field map data, and a field work data recording for recording field work data generated for each work on a field in a field work layer for each model. It is provided with a unit, a data management unit that manages field map data and field work data at a common coordinate position, and an evaluation unit that evaluates farming of the field based on the field work data. Further, a traveling locus data generation unit is provided which processes the own vehicle position calculated by using the GPS unit over time and generates traveling locus data indicating the traveling locus of the work vehicle, and the generated traveling locus data is generated. Incorporated into field work data. A more appropriate farming plan is planned by referring to the farming evaluation of each field obtained from this field work data.

The agricultural support system according to Patent Document 2 includes a work plan setting means for setting a work plan relating the agricultural work and the agricultural work period for each field, a work plan storage means for storing the work plan, and completion or incompleteness of the agricultural work. It is provided with a work record storage means for storing each field, a calculation means for calculating the progress status with respect to the work plan, and a progress display means for displaying the progress status. The calculation means calculates the completion rate of the fields where the farm work is completed in the field group extracted from the work plan storage means for the fields where the same farm work is performed, and the progress display means sets the completion rate of the fields as the progress status. Display as. This makes it easy to grasp the progress of the work plan for each field.

JP-A-2017-68533 JP-A-2015-4971

The systems disclosed in Patent Document 1 and Patent Document 2 realize computer management of agricultural work in each field and open the way for computer use in agriculture. However, in each system, farm work is computer-managed on a field-by-field basis. However, in reality, there are many large fields and fields with complicated polygonal shapes, and in such fields, the fields are divided into a plurality of sections, and farm work is performed for each section. Moreover, when the farm work is performed by a work vehicle that automatically travels along the set travel route map (travel route map data), the travel route map is set for each divided section. In particular, if the field has a complicated polygonal shape, even if the area is small, it is divided into a plurality of sections having a relatively simple geometric shape, and a traveling route map is set in the sections. In addition, if the condition of the field is not uniform and it has unique local characteristics (soft soil, hard soil, sloping ground, etc.), the field is divided according to the characteristics, and each divided section is used. The work running of the work vehicle must also be changed.

From the above-mentioned actual situation, there is a demand for a work management system capable of managing work by a work vehicle that runs based on a travel route map in a more appropriate form.

The work management system according to the present invention manages work by a work vehicle that travels on a work site along a travel route map, and has a work history storage unit that stores the work contents of the work vehicle at the work site. A data management unit that extracts the work content from the work history storage unit and a display data generation unit that generates display data for displaying the extracted work content on a display device using the travel route map as a search condition. And have.

According to this configuration, one or more travel route maps can be set in the work area to be worked, and the work contents when the work travels along the set travel route map is stored in the work history storage unit. It is stored. The work content stored in the work history storage unit can be extracted from the travel route map as a search condition and can be displayed on the display device. That is, it is possible to extract the work content by using one or more travel route maps set for the work travel in the field as a search condition instead of the field unit. For example, even if the work vehicle performs work travel with different work parameters according to the travel route map set in each division, the work content (work history) of each division, in other words, the work of each travel route map unit. The content is extracted and displayed.

In one of the preferred embodiments of the present invention, the travel route map is superimposed on the map image of the work area and displayed on the display device, and one of the displayed travel route maps can be selected. It is regarded as an input operation using the travel route map as the search condition. In this configuration, when searching for the work contents performed in the work area, not only the work area is displayed on the search screen, but also the travel route map set in the work area is displayed together with the work area. .. By selecting and operating a desired travel route map from the displayed travel route map, the work contents performed by the work vehicle along the travel route map are extracted.

In one of the preferred embodiments of the present invention, the work content representing the work performed by the work travel based on the travel route map selected and operated is displayed on the display device together with the travel route map. In this configuration, not only the traveling route but also the work contents of the work traveling carried out along the traveling route are displayed at the same time, so that it becomes easy to grasp the work vehicle on which the work traveled.

The geology and shape of the work site do not change over time, but the travel route map set for the work site may change for each work. Especially when the work area is a field and the work vehicle is an agricultural work vehicle, the work is carried out every season and every year. Therefore, in order to extract a travel route map for a specific work period, it is necessary to add a time stamp such as a date to the attribute value of the travel route map. For that purpose, if a method such as adding the work date for which the travel route map is set to the attribute value of the travel route map stored in the travel route map storage unit is adopted, the travel route map can be created according to the work date. It is convenient because it can be identified. Therefore, in one of the preferred embodiments of the present invention, the travel route map is stored in the travel route map storage unit in a form identified in time series, and the data management unit is used for the work period ( It is configured to extract the travel route map from the travel route map storage unit by using (working date, etc.) as a search condition.

In one of the preferred embodiments of the present invention, the data is used in order to output the work contents in the work place in chronological order, determine the history of past work, and refer to it for a future work plan. The management unit is configured to extract the work content from the work history storage unit using the work time as a search condition.

It is a side view which shows the tractor which can run automatically as an example of the work vehicle which adopted the work management system. It is a schematic diagram which shows an example of two traveling route maps set in the field as a work place. It is a functional block diagram for demonstrating the function of the control system of a tractor. It is a schematic diagram explaining the data structure in a database module and the display of the work history of a travel route map unit. It is a screen view which shows an example of the screen displayed on a display device. It is a screen view which shows an example of the screen displayed on a display device. It is a screen view which shows an example of the screen displayed on a display device. It is a screen view which shows an example of the screen displayed on a display device.

Next, one embodiment of the work vehicle incorporating the work management system according to the present invention will be described with reference to the drawings. The work vehicle of this embodiment is a tractor that works and travels along a travel route map set in a field as a work site. FIG. 1 is a side view of such a tractor. As shown in FIG. 1, this tractor is provided with a driver's cab 20 at the center of a vehicle body 10 supported by front wheels 11 and rear wheels 12. The rear part of the vehicle body 10 is equipped with a rotary type tilling device 30 as a working device for performing ground work via a hydraulic lifting mechanism 31. Therefore, the field is cultivated by the work running of this tractor. The front wheels 11 function as steering wheels, and the traveling direction of the tractor is changed by changing the steering angle thereof. The steering angle of the front wheels 11 is changed by the operation of the steering mechanism 13. The steering mechanism 13 includes a steering motor 14 for automatic steering. During manual driving, the front wheels 11 are steered by operating the steering wheel 22 arranged in the driver's cab 20. This tractor is provided with a satellite positioning module 80 in the cabin 21 of the tractor in order to realize the own vehicle position detection function. As a component of the satellite positioning module 80, a satellite antenna for receiving GNSS (global navigation satellite system) signals (including GPS signals) is attached to the ceiling area of the cabin 21. Further, in order to complement the satellite navigation by the satellite positioning module 80, an inertial navigation module 81 incorporating a gyro acceleration sensor and a magnetic compass sensor is provided. The satellite positioning module 80 and the inertial navigation module 81 can be incorporated in the same unit housing. In the driver's cab 20, in this embodiment, a general-purpose terminal device 6 configured by a tablet computer is mounted on a cradle installed in the cockpit. This general-purpose terminal device 6 has a wireless data transmission function, and even if it is removed from the cradle and taken out of the work vehicle by the observer, data communication is possible with the control system of the tractor. The general-purpose terminal device 6 has a function of providing information to a driver or an administrator and a function of inputting information from the driver or the administrator.

FIG. 2 shows a plurality of fields, and the fields targeted for this work are surrounded by a thick line frame. This field is a modified hexagon, but is divided into a first section and a second section, which are simple quadrangles, with a section line set in the center. In the first section, a travel route map having a travel route connecting long straight routes with a U-turn route is set. In the second section, a travel route map having a quadrangular spiral travel route is set. In this example, a travel route map having a different shape is set for the first section and the second section, but of course, a travel route map having the same shape may be set, or a travel route map having a different shape may be set. May be set. In addition, when the field is divided into a plurality of sections due to the difference in the ground condition (hardness, slope, etc.) of the field, even if a traveling route map having the same shape is set, the work travels along the traveling route map. The control parameters (vehicle speed, tillage depth, etc.) of the tractor as one of the work contents recorded at the time are set differently.

FIG. 3 shows a functional block diagram of the control system of the work vehicle. The control system of this embodiment includes a control unit 5 including one or more ECUs, a wireless module 70, a satellite positioning module 80, an inertial navigation module 81, and a general-purpose terminal device 6. The control unit 5 is fixedly connected to the vehicle-mounted LAN of the tractor. The general-purpose terminal device 6 is connected to the control unit 5 via a cradle and an in-vehicle LAN. However, the general-purpose terminal device 6 removed from the cradle and taken out of the vehicle can be connected to the control unit 5 via the wireless module 70. The satellite positioning module 80 and the inertial navigation module 81 are connected to the control unit 5 via an in-vehicle LAN.

The general-purpose terminal device 6 is substantially a computer having a wireless communication function such as a tablet computer, and is provided with a touch panel 60, an input / output processing unit 61, and the like as standard functions. The touch panel 60 has a graphic interface function and is used as a display device or an input device. The input / output processing unit 61 processes data input wirelessly or wiredly and data output wirelessly or wiredly. Further, a computer program that realizes the travel route generation unit 62 and the work travel management module 63 is installed in the general-purpose terminal device 6. The work travel management module 63 includes a display data generation unit 64 and a database module 65. The database module 65 uses the memory of the general-purpose terminal device 6 to create a database of information related to work travel. The display data generation unit 64 generates display data for displaying information on the work running managed by the database module 65 on the touch panel 60.

The travel route generation unit 62 generates a travel route map based on the field outline data and the entrance / exit position data indicating the position and shape of the entrance / exit of the field. At that time, when the field is divided into a plurality of sections based on the user's instruction or the like, the travel route generation unit 62 generates a travel route map for each division. The field map data, the field outline data, and the like necessary for creating the travel route map are input by downloading from the cloud computer 9 or reading from a portable memory or the like.

The control unit 5 includes an output processing unit 7 and an input processing unit 8 as input / output interfaces. The output processing unit 7 is connected to the vehicle traveling equipment group 71 and the working equipment group 72. The vehicle traveling device group 71 includes control devices related to vehicle traveling, such as an engine control device, a shift control device, a braking control device, and a steering control device. The working equipment group 72 includes a power control device such as a PTO clutch that turns on and off the power transmission to the cultivating device 30, an elevating cylinder control device of an elevating mechanism 31 that raises and lowers the cultivating device 30 and the like.

A traveling system detection sensor group 82, a working system detection sensor group 83, a traveling mode switch 84, and the like are connected to the input processing unit 8. The travel mode switch 84 is a switch that selects either an automatic travel mode in which the vehicle travels by automatic steering or a manual steering mode in which the vehicle travels by manual steering.
For example, by operating the travel mode switch 84 while traveling in the automatic steering mode, it is possible to switch to traveling by manual steering, and by operating the travel mode switch 84 while traveling in manual steering, automatic steering is performed. Can be switched to running. The traveling system detection sensor group 82 includes sensors that detect the state of operating tools such as an engine speed adjuster, an accelerator pedal, a brake pedal, and a steering wheel 22. The work system detection sensor group 83 includes a sensor that detects the driving state and the posture of the tilling device 30.

The control unit 5 includes a work travel control module 50, a vehicle position calculation unit 57, and a work content recording unit 58. The own vehicle position calculation unit 57 calculates the own vehicle position, which is the coordinate position (map coordinates or field coordinates) of the vehicle body 10, based on the positioning data sequentially sent from the satellite positioning module 80. At that time, if the positioning data is missing or a positioning data error occurs, the position of the own vehicle is calculated based on the measurement data from the inertial navigation module 81.

The work content recording unit 58 uses the travel system detection sensor group 82, the work system detection sensor group 83, the signal from the travel mode switch 84, the internal data handled by the work travel control module 50, and the manual operation input by the driver or the observer. Based on the above, the work contents including various information in the work running of this tractor are recorded in a timely manner (giving a type stamp or the like). Further, the work content recorded by the work content recording unit 58 includes warning information for the driver or the observer. The warning information includes tilting of the vehicle body 10 more than allowed, misalignment of the vehicle position with respect to the target traveling path more than allowed, engine trouble such as overheating, running out of fuel, running out of battery, and the like.

The work travel control module 50 includes a travel control unit 51, a work control unit 52, an engine control unit 53, an automatic work travel command unit 54, a travel route setting unit 55, and a cooperative travel management unit 56. The travel control unit 51 controls the vehicle travel equipment group 71 such as the steering motor 14. This work vehicle can travel in both automatic driving (automatic steering) and manual driving (manual steering). Therefore, the travel control unit 51 has a manual travel control function and an automatic travel control function. When the manual driving control function is executed, the vehicle traveling device group 71 is controlled based on the operation by the driver.
When the automatic travel control function is executed, the travel control unit 51 controls the vehicle travel equipment group 71 based on the automatic steering command given from the automatic work travel command unit 54. The work control unit 52 gives a work control signal to the work device group 72 in order to control the movement of the tilling device 30.
The engine control unit 53 gives an engine control signal to the operating equipment of the engine.

The travel route setting unit 55 takes in the travel route map generated by the travel route generation unit 62 of the general-purpose terminal device 6 and expands it in the memory as a target travel route for the automatic travel of the tractor. In the case of manual driving, this travel route map can be used for guidance for the work vehicle to travel along the travel route.

The automatic work travel command unit 54 calculates the directional deviation and the position deviation between the travel route map set as the target travel route by the travel route setting unit 55 and the vehicle position calculated by the vehicle position calculation unit 57. Then, an automatic steering command for eliminating the directional deviation and the positional deviation is generated and given to the traveling control unit 51. Further, the automatic work travel command unit 54 gives a work device operation command to the work control unit 52 according to the position of the own vehicle and the travel state of the own vehicle.

The cooperative travel management unit 56 has a function of acquiring the traveling state and working state of the tractor of the cooperating partner and controlling the working traveling of the tractor of the cooperating partner, and a function of controlling its own work traveling from the working vehicle of the cooperating partner. Have. Before the cooperative travel is performed, the travel route generation unit 62 generates a travel route map of the tractor participating in the cooperative travel based on the instructed cooperative travel pattern.
That is, the travel route map is generated for each tractor participating in the cooperative travel.

The database module 65 of the general-purpose terminal device 6 includes a data management unit 66, a work location information storage unit 67, a travel route map storage unit 68, and a work history storage unit 69. In this embodiment, the work site information storage unit 67 stores information about the field such as the map position and outer shape data of the field, and the type of grown agricultural products. The travel route map storage unit 68 stores one or more travel route maps generated by the travel route generation unit 62 and set by the travel route setting unit 55 in each field (work area). The travel route map may be set in the same work area or a division of the work area in different forms depending on the time. Therefore, the travel route map is stored in the travel route map storage unit 68 in a form identified in time series. As a result, the data management unit 66 can extract the travel route map using, for example, the work date as a search condition. The work history storage unit 69 stores the work content recorded in the work content recording unit 58 in the work travel based on the travel route map in a form linked to the corresponding travel route map. This work content is also stored in the work history storage unit 69 in a form identified in time series. Therefore, the data management unit 66 can extract the work content by using the work date as a search condition.

The data management unit 66 extracts data matching the search conditions input by the user from the work location information storage unit 67, the travel route map storage unit 68, and the work history storage unit 69, and gives the data to the display data generation unit 64. .. Further, the data management unit 66 distributes and stores various types of information to the work location information storage unit 67, the travel route map storage unit 68, and the work history storage unit 69. The data given to the display data generation unit 64 is converted into display data using the preset template and format, and is displayed on the touch panel 60.

The data structure in the database module 65 and the display of the work history for each travel route map will be described with reference to FIG. As shown in FIG. 4, in the work area information storage unit 67, the work area information (field information) is stored by linking with the work area image showing the position and outer shape of the work area. In the travel route map storage unit 68, the travel route map is stored by linking with the work area or, when the work area is divided into a plurality of sections, by linking with the divided sections. The work history storage unit 69 links the work content with the corresponding travel route map and stores it.

In the example of FIG. 4, the touch panel 60, which is a display device, shows a process of displaying the work history in a section further selected from a plurality of sections in the work area. First, a map image showing the periphery of the work site to be processed is cut out from the map image data. Next, using the work area to be processed as a search condition, the work area image of the work area linked to the work area information extracted by the work area information storage unit 67 is assigned to the map image around the work area. At that time, if the work area is divided, the division line is also assigned. Further, display data is generated such that the two travel route maps belonging to the selected work area are superimposed on the work area image, and displayed on the touch panel 60. When the user selects a desired one from the two travel route maps displayed on the touch panel 60, the corresponding work history is extracted from the work history storage unit 69 using the selected travel route map as a search condition. Is displayed on the touch panel 60. When another travel route map is selected, the work content linked to the travel route map is displayed. That is, the work content representing the work performed by the work travel based on the selected travel route map is displayed on the touch panel 60 together with the travel route map.

5 to 8 show the transition of the screen of the touch panel 60 in the process of extracting the work history in the desired work area from the database module 65 and displaying it on the touch panel 60.

FIG. 5 is a start screen for activating the management program used for field management by the work travel management module 63 by using the graphic interface constructed on the touch panel 60. When the history button is clicked on this start screen, the search condition screen shown in FIG. 6 is displayed. On this search condition screen, a map image of a field group in the area to which the user belongs is displayed, and the fields related to the user are displayed in a form in which other fields are identified (diagonal lines in FIG. 6). Further, a map area showing a travel route map set within a set period for this field is shown by a thick line frame. By clicking on this map area, as shown in FIG. 7, the work contents in the work running based on the travel route map of this map area are displayed in the work content display column. In FIG. 7, the map images of the field groups are also displayed side by side. When the work content over a long period of time is displayed, the work day narrowing down column can be used to further narrow down the work day period.

In FIG. 7, when the detailed display button is clicked from the button group arranged adjacent to the work content display column, the work history detailed display screen shown in FIG. 8 is displayed. On this screen, a detailed view of the corresponding travel route map is also shown along with the details of the work contents.

The configuration disclosed in the above embodiment (including another embodiment, the same shall apply hereinafter) can be applied in combination with the configuration disclosed in other embodiments as long as there is no contradiction. The embodiments disclosed in the present specification are examples, and the embodiments of the present invention are not limited thereto, and can be appropriately modified without departing from the object of the present invention.

[Another Embodiment]
(1) In the above-described embodiment, the work travel management module 63 is constructed in the general-purpose terminal device 6, but the work travel management module 63 can be constructed in the control unit 5. At that time, the display function and the input operation function by the touch panel 60 are delegated to the display and the operation buttons provided on the vehicle body 10, or the touch panel provided on the vehicle body 10. It is also possible to construct a part of the work travel management module 63, for example, the database module 65 in the control unit 5. Furthermore, it is also possible to build the database module 65 on the cloud computer 9.
(2) In the above-described embodiment, the travel route generation unit 62 is constructed in the general-purpose terminal device 6, but the travel route generation unit 62 can also be constructed in the control unit 5 or the cloud computer 9.
(3) Each functional unit shown in FIG. 3 is mainly classified for the purpose of explanation. In practice, each functional unit may be integrated with other functional units or may be further divided into a plurality of functional units.
(4) In the above-described embodiment, a tractor equipped with a tilling device 30 as a work device is taken up as a work vehicle incorporating the work management system of the present invention. In addition to such a tractor, for example, a rice transplanter, etc. It is possible to incorporate the work management system of the present invention into various work vehicles such as fertilizer fertilizers, agricultural work vehicles such as combines, and construction work vehicles.

The present invention is applicable to a work management system that manages work by a work vehicle that runs on a work site along a travel route map.

5: Control unit 50: Work travel control module 51: Travel control unit 54: Automatic work travel command unit 55: Travel route setting unit 56: Coordinated travel management unit 57: Own vehicle position calculation unit 58: Work content recording unit 6: General-purpose Terminal device 60: Touch panel 61: Input / output processing unit 62: Travel route generation unit 63: Work travel management module 64: Display data generation unit 65: Database module 66: Data management unit 67: Work location information storage unit 68: Travel route map Storage unit 69: Work history storage unit 80: Satellite positioning module 81: Inertial navigation module 82: Travel system detection sensor group 83: Work system detection sensor group

Claims (5)

It is a work management system that manages the work by the work vehicle that works on the work site according to the travel route map.
A work history storage unit that stores the work contents of the work vehicle at the work site, and
A data management unit that extracts the work content from the work history storage unit using the travel route map as a search condition.
A work management system including a display data generation unit that generates display data for displaying the extracted work contents on a display device. The travel route map is superimposed on the map image of the work site and displayed on the display device, and selecting one of the displayed travel route maps is an input operation using the travel route map as the search condition. The work management system according to claim 1. The work management system according to claim 2, wherein the work content representing the work performed by the work running based on the selected operation of the travel route map is displayed on the display device together with the travel route map. The travel route map is stored in the travel route map storage unit in a form identified in time series, and the data management unit uses the work time as a search condition to store the travel route map in the travel route map storage unit. The work management system according to any one of claims 1 to 3 extracted from. The work management system according to any one of claims 1 to 4, wherein the data management unit extracts the work content from the work history storage unit using the work time as a search condition.

Images