JP6949700B2 - Work map generation system - Google Patents

Description

The present invention relates to a work map generation system.

Conventionally, Patent Document 1 is known as a technique for creating field map data by plotting various information on a field map or the like.
The field management system of Patent Document 1 records a map data recording unit having a field map layer for recording field map data, and field work data generated for each work performed on the field by various farm work machines. It is equipped with a field work data recording unit having a field work layer for each model.

JP-A-2017-68533

In Patent Document 1, farming is evaluated using a plurality of field map data related to agriculture. However, the field map data of Patent Document 1 does not describe in detail the generation of a map of an agricultural machine, and it is difficult to create a work map.
Therefore, in view of the above problems, an object of the present invention is to provide a work map generation system capable of easily generating a work map.

The technical means of the present invention for solving this technical problem is characterized by the following points.
Generation system task map provided to the work machine, and a position detecting device for detecting the position of the working machine, is provided in the working machine, and wherein each of the working unit information for a plurality of working portions of the working machine An input device for inputting the work position of each work unit, a work amount detection device for detecting the work amount of each work unit, and a work position and a position detection device for a plurality of the work units input by the input device. Based on the detected detection position, the ground position of each work unit with respect to the work place when working in each work unit is calculated, and the calculated ground position and each work unit detected by the work amount detection device. It is provided with a map generation unit that generates a work map showing the relationship with the amount of work.

Wherein the input device includes a position input portion for inputting the working position, the map generation unit includes a working position which is input to the position input unit, the relationship between the detected the detected position by the position detecting device Based on this, the ground position is calculated to generate the work map including the ground position.

The map generation unit generates the map showing the relationship between the ground position and the work amount of the work unit.
The input device includes a type input unit for inputting a work type of the work machine as the work information, and the map generation unit has detected the type input to the type input unit and the position detection device. Based on the relationship with the detection position, a work map showing that the work corresponding to the above type has been performed on the workplace is generated.

The map generation unit generates the work map indicating the work amount of each of the plurality of work units with respect to the work place.

According to the present invention, a work map can be easily generated.

It is a figure which shows the generation system of a work map. It is a figure which shows an example of the guidance screen M1. It is a figure which shows the flow of control in a display control part. It is a figure which shows an example of the setting screen M2. It is a figure which shows an example of the setting screen M10. It is a figure which shows an example of the setting screen M11. It shows the flow of communication between the work equipment and the management device. It is a figure which shows an example of the performance information including the detection position, the work amount and the work position. It is a figure which shows an example of the performance information including the detection position, the work amount, and the work type. It is explanatory drawing which converts the working position (Xn, Yn) into the difference coordinate of a geographic coordinate. It is a figure which shows an example of the work map 121. It is a figure which shows an example of the work map 122. It is an overall view which connected the drug spraying apparatus to a tractor. It is an overall view of a rice transplanter.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 shows a work map generation system. The work map generation system is a system that maps the work performed by the work machine. Working machines are agricultural machines such as tractors, combines, rice transplanters, and transplanters, and construction machines. A tractor equipped with a working device, a rice transplanter provided with a working device, and the like are also included in the working machine.

First, the working machine will be described by taking the tractor 1 to which the working device 2 is attached as an example.
As shown in FIG. 9, the tractor 1 includes a vehicle body 3, a prime mover 4, and a transmission 5. The vehicle body 3 is composed of a combination of a plurality of frames and supports a wheel-type or crawler-type traveling device. The vehicle body 3 can travel by the traveling device. The prime mover 4 is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or the like. The prime mover 4 may be a hybrid type having both an internal combustion engine and an electric motor. The traveling device and the working device 2 can be operated by driving the prime mover 4.

Further, the transmission 5 can change the speed of the traveling device and can switch the vehicle body 3 forward and backward. Switching between forward and reverse of the vehicle body 3 can be performed by a lever (referred to as a shuttle lever) provided around the driver's seat 6.
Further, the vehicle body 3 is provided with a cabin 7 that surrounds the driver's seat 6. Further, a connecting portion 8 composed of a three-point link mechanism or the like is provided at the rear portion of the vehicle body 3. A working device 2 is attached to and detached from the connecting portion 8. By connecting the work device 2 to the connecting portion 8, the work device 2 can be towed by the vehicle body 3. The working device 2 is a tilling device for tilling, a fertilizer spraying device for spraying fertilizer, a chemical spraying device for spraying chemicals, a sowing device for sowing seeds, a harvesting device for harvesting, and the like. In this embodiment, the working device 2 is a chemical spraying device such as a boom sprayer. The drug spraying device has a tank 2a for storing the drug, a plurality of nozzles 2b for spraying the drug in the tank 2a, and a frame 2c for holding the tank 2a. The plurality of nozzles 2b are attached to support members projecting from the rear portion of the frame 2c to the left or right at predetermined intervals. The frame 2c is formed in a frame shape by combining a vertical member and a horizontal member. Further, the chemical spraying device has a pump for supplying the chemicals in the tank 2a to the nozzle 2c, and the chemicals such as pesticides can be sprayed by driving the pump or the like.

As shown in FIG. 1, the tractor 1 is equipped with a plurality of devices 10. The device 10 is a device mounted on the tractor 1, and is, for example, a detection device 10a, a switch device 10b, a display device 10c, and a control device 10d. The detection device 10a is a device that detects the operating state of the tractor 1, and is an accelerator pedal sensor, a shift lever detection sensor, a crank position sensor, a fuel sensor, a water temperature sensor, an engine rotation sensor, a steering angle sensor, an oil temperature sensor, and an axle. It is a rotation sensor or the like. The switch device 10b is a device for switching, such as an ignition switch, a parking brake switch, and a PTO switch. The display device 10c is a device that displays various items related to the tractor 1, and is a liquid crystal display device composed of a liquid crystal display or the like. The control device 10d is a device that controls a tractor, such as a CPU.

The plurality of devices 10 are connected by an in-vehicle network N1 such as CAN, LIN, and FlexRay. The vehicle-mounted network N1 includes a detection signal detected by the detection device 10a, a switch signal indicating switching of the switch device 10b, and an operating unit (for example, an engine, a solenoid valve, a pump, etc.) in which the tractor 2 operates under the control of the control device 10d. A command signal (control signal) or the like for operating the above is output.

The control device 10d is a device that controls the tractor 1. For example, the detection value detected by the detection device 10a [for example, the operation amount of the accelerator pedal, the shift lever position (shift stage) when the shift lever is operated, the engine speed, the shift stage, the oil temperature, the crank position, the cam position, etc.] Is input to the control device 10d. The control device 10d performs prime mover control such as setting the prime mover 4 to a predetermined rotation speed based on the operation amount of the accelerator pedal, and shift control such as changing the shift stage of the transmission gear 4 based on the shift lever position. conduct. The control device 10d controls the elevating and lowering of the connecting portion 8 according to the operation of the elevating lever and the like.

As shown in FIG. 1, the work map generation system includes a position detection device 10a1 that detects the position of the work machine. The position detection device 10a1 is one of the detection devices 10a provided in the working machine.
The position detection device 10a1 detects a position (latitude, longitude) using a satellite positioning system (Global Positioning System, Galileo, GLONASS, etc.). That is, the position detection device 10a1 receives the satellite signal (radio wave) transmitted from the positioning satellite 15, and calculates the position based on the received satellite signal. The position detecting device 10a1 is attached to the vehicle body 3 or the working device 2. The position detection device 10a1 may be any device that calculates the position using the satellite positioning system, and the method for calculating the position is not limited.

In addition, the work map generation system includes an input device for inputting work unit information regarding the work unit of the work machine. The input device is a device that not only can input work unit information but also at least serves as a work display device 10c1 capable of displaying position information regarding the position of the work machine. That is, the input device has a function of displaying the position of the work machine and the like. have. The input device may be a device that only inputs work unit information.

Next, the work display device (input device) 10c1 will be described in detail.
The work display device (input device) 10c1 is a device different from a display device such as a meter panel that displays the engine speed and the like, and is provided in the vicinity of the driver's seat 6. The work display device 10c1 displays, for example, the position (latitude, longitude) detected by the position detection device 10a1 as position information, or corrects the position (latitude, longitude) detected by the position detection device 10a1. Display as location information.

The work display device 10c1 has a display unit 31, a display control unit 32, and a storage unit 33. The display unit 31 is composed of a liquid crystal panel or the like, and displays various screens. The display unit 31 can display at least a field 40 indicating a workplace on a predetermined screen. The display control unit 32 is composed of, for example, electrical, electronic components, a program, etc. provided in the work display device 10c1 and controls the display unit 31. The storage unit 33 is composed of a non-volatile memory or the like, and stores various data (information).

FIG. 2 shows an example of the guidance screen M1 displayed on the display unit 31.
The guidance screen M1 shows a field 40 such as a field. That is, on the guidance screen M1, a first line L1 extending in the vertical direction and arranging a plurality of lines at a predetermined interval in the width direction and a second line L2 extending in the horizontal direction and arranging a plurality of lines L2 in the vertical direction at a predetermined interval are provided. As shown, the range of the field 40 is set by the plurality of first lines L1 and the plurality of second lines L2. In other words, the guidance screen M1 shows a mesh-shaped field 40. A position (latitude, longitude) is assigned to the field 40.

A plurality of icon portions 41 are shown on the guidance screen M1. The plurality of icon units 41 include a first icon unit 41a, a second icon unit 41b, a third icon unit 41c, and a fourth icon unit 41d.
The first icon portion 41a and the second icon portion 41b are icons for instructing the creation of points. When the first icon portion 41a is selected, the first point figure A indicating the first point is shown in the field 40. When the second icon portion 41b is selected, the second point figure B indicating the second point is shown in the field 40.

The third icon portion 41c is an icon that commands the creation of a linear first line L1 that passes through a plurality of points. For example, if the third icon portion 41c is selected while the first point figure A and the second point figure B are shown, a linear first line L1 passing through the first point and the second point is created. Will be done.
The fourth icon portion 41d is an icon that commands the creation of a curved first line L1 that passes through a plurality of points. For example, if the fourth icon portion 41d is selected while the first point figure A and the second point figure B are shown, the first point and the second point are passed, and the first point figure A is used. A curved first line L1 passing through an intermediate position up to the second point figure B is created.

The machine display unit 42 is displayed on the field 40 of the guidance screen M1. The machine display unit 42 is a graphic or the like indicating a working machine. A drawing start point P1 is set at a position or a periphery on the field 40 that overlaps with the machine display unit 42. The machine display unit 42 includes a figure D1 showing the tractor 1 (vehicle body 3) and a figure D2 showing the working device 2. In this embodiment, the figure D1 is a triangle and the figure D2 is a quadrangle, but the shapes of the figures D1 and D2 are not limited.

Further, in the field 40, the position of the tractor 1 (working device 2), that is, the locus (running locus) W1 of at least the position where the tractor 1 (working device 2) has traveled is shown. In other words, when the tractor 1 (working device 2) moves, the field 40 scrolls as it travels, and when scrolling, a predetermined range is colored in a color different from that of other parts with reference to the drawing start point P1. In the field 40, the colored portion is the locus W1.
The display control unit 32 can control at least the display (depiction) of the guidance screen M1. For example, as described above, the display device 32 controls the display of the first line L1 and the second line L2, the scrolling of the field 40, the display of the icon unit 41, the display of the position locus W1, and the like.

FIG. 3 is a diagram showing a flow of control in the display control unit 32. The control of the display control unit 32 will be described with reference to FIG.
When the setting information is set (S1: setting process), the display control unit 32 determines the separation distance of the first line L1 on the guidance screen M1 based on the setting information (S2: distance setting process).

The setting information is set (S1: setting process) on the setting screen M2 displayed on the display unit 31, for example, as shown in FIG. The setting screen M2 can be displayed on the display unit 31 by an operator or the like operating the work display device 10c1. On the setting screen M2, a width input unit 40 for inputting a work width and a lap input unit 41 for inputting a lap width are displayed. In the width input unit 40, the work width to be performed by the work machine is input. The working width is, for example, the width of the working device 2, the width of the tractor 1, or the like. The lap input unit 41 inputs a lap width in which the work range on one side and the work range on the other side overlap in the width direction when the work is performed by the work machine. For example, when the lap width is 0 m, the work range on one side and the work range on the other side do not overlap in the width direction, and when the lap width is 0.5 m, the work range on one side is used. It overlaps with the work range on the other side by 0.5 m in the width direction.

When the work width and the overlap width are input as the setting information, that is, when the setting process S1 is completed, the display control unit 32 shifts to the distance setting process S2 and is based on the work width and the overlap width. , Determine the separation distance of the adjacent first line L1. Specifically, the display control unit 32 determines the separation distance of the adjacent first line L1 by subtracting the overlap width from the work width.

When the first icon unit 41a and the second icon unit 41b are selected (S3, Yes), the display control unit 32 displays the figures A and B of the first point and the second point (S4). When the first icon unit 41a and the second icon unit 41b are selected, the position (set position) detected by the position detection device 10a1 is stored in the storage unit 33 of the work display device 10c1. Further, in the field 40, the positions corresponding to the first point and the second point are set as the set positions. That is, a position (latitude, longitude) based on the set position is assigned on the field 40.

When the third icon unit 41c is selected (S5, Yes), the display control unit 32 draws a plurality of first lines L1 on a straight line passing through the first point and the second point in the field 40 (S6). ). On the other hand, when the fourth icon unit 41d is selected (S7, Yes), the display control unit 32 draws a plurality of curved first lines L1 passing through the first point and the second point in the field 40 (S8). ). When the display control unit 32 draws a plurality of the first lines L1 in the width direction, the display control unit 32 sets the distance between the adjacent first lines L1 to the separation distance determined in the distance setting process S2.

Further, the display control unit 32 displays the machine display unit 42 on the field 40 (S9). When the tractor 1 (working device 2) travels in the work place and the position (detection position) detected by the position detecting device 10a1 is changed (S10, Yes), the display control unit 32 moves the second line L2 in the field 40. Is scrolled in the vertical direction, and the first line L1 in the field 40 is scrolled in the horizontal direction in accordance with the change in the detection position to change the drawing position of the first line L1 (S11).

Further, the display control unit 32 displays the traveling locus W1 by coloring the color of the field 40 in the direction scrolled from the drawing start point P1 to a color different from other portions substantially at the same time as the scrolling operation (S12). .. For example, in the field 40, the display control unit 32 draws the traveling locus W1 by coloring the portion corresponding to the rear from the figure D2 showing the work device 2.
Therefore, under the control of the display control unit 32, the travel locus W1 when the work machine is traveled can be displayed in the field 40.

As shown in FIG. 1, the work map generation system includes a map generation unit 110. The map generation unit 110 is composed of, for example, electrical and electronic components, programs, and the like provided in a management device 111 such as a server. The map generation unit 110 generates a work map related to the work based on the work unit information input to the work display device 10c1 and the detection position detected by the position detection device 10a1.

First, the work unit information for the work display device 10c1 will be described.
For example, when an operator or the like performs a predetermined operation on the work display device (input device) 10c1, the display control unit 32 displays an input screen M10 for inputting work unit information, as shown in FIG. 5A. The work unit information input on the input screen M10 is the work position of the work unit of the work device 2. The working part is the part that sprays fertilizer in the case of a fertilizer sprayer, the part of the nozzle that sprays the chemical in the case of a chemical sprayer, the part that sows seeds in the case of a sowing device, and the crop in the case of a harvester. It is a reaping part that reaps. The working unit is not limited to the above-mentioned example. In this embodiment, the nozzle 2b is the working unit. Hereinafter, the description will proceed with the nozzle 2b as the working unit.

Specifically, on the input screen M10, a figure D1 showing the tractor 1 (vehicle body 3), a figure D2 showing the work device 2, and a figure D6 showing the work unit (nozzle 2b) of the work device 2 are displayed. On the input screen M10, the figures D1, D2, and D6 are shown in two dimensions (plane).
Further, on the input screen M10, a position input unit 101 for inputting the working position of the nozzle 2b corresponding to the figure D6 is displayed. As shown in FIG. 5A, when n (n = 4) figures D6 indicating the nozzles 2b are shown, the display control unit 32 inputs four position input units 101 corresponding to the respective figures D4. It is displayed on the screen M10.

The position input unit 101 receives a predetermined distance from the reference position O1 as a working position (Xn, Yn). For example, when the reference position O1 is the center portion in the width direction at the rear end of the work device 2, the distance from the center portion in the width direction of the rear end is set at the work position (Xn, Yn) of each nozzle 2b. Alternatively, when the reference position O1 is the mounting position of the position detection device 10a1, the distance from the position detection device 10a1 is set to the working position (Xn, Yn) of each nozzle 2b. Regarding the reference position O1, the above-mentioned example is an example and is not limited.

When the input of the working position of the nozzle 2b is completed on the input screen M10, the working position (Xn, Yn) of the working unit such as the nozzle 2b is stored in the storage unit 33.
Therefore, the work position of the work unit such as the nozzle 2b can be input to the work display device 10c1 as the work unit information.
In this way, the work unit information input to the work display device 10c1 is transmitted from the work machine to the management device 111 together with the detection position detected by the position detection device 10a1, and is used for the work map by the map generation unit 110.

Next, the relationship between the working machine and the management device 111 will be described.
The working machine has a communication device 12. The communication device 12 is a communication module that performs wireless communication by Wi-Fi (WireNess FideNity, registered trademark) of the IEEE802.11 series, which is a communication standard, a communication module that performs wireless communication by a mobile phone communication network, and wireless by a data communication network. A communication module or the like that performs communication. The communication device 12 is connected to the vehicle-mounted network N1.

The management device 111 has a communication device 115. The communication device 115 is a communication module that performs wireless communication by a mobile phone communication network, and a communication module that performs wireless communication by a data communication network. Therefore, on the working machine side, various information on the working machine can be transmitted to the communication device 115 of the management device 111 via the communication device 12. On the other hand, on the management device 111 side, various information can be transmitted to the communication device 12 of the working machine via the communication device 115.

FIG. 6 shows the flow of communication between the work machine and the management device 111.
As shown in FIG. 6, when the work of the tractor 1 (working device 2) is started (S30), the detected positions detected by the position detecting device 10a1 are sequentially stored in the storage unit 33 (S31). The start of work by the tractor 1 may be determined by detecting the operation of the work operation device, may be determined by detecting the ignition switch ON in the work place, or the work display device 10c1 may be used for work. It may be determined by displaying a button to start the operation and detecting the operation of the button, and the start of the work is not limited to the above-mentioned example.

Further, after the start of the work, at least the amount of work of the work device 2 is sequentially stored in the storage unit 33 (S32). For example, the work device 2 is provided with a work amount detection device 120 that detects the work amount of the work unit such as the nozzle 2b. The work amount detection device 120 is a camera such as a CCD, an optical sensor, an electromagnetic sensor, a contact type sensor, or the like. When the work device 2 is a fertilizer spraying device, the work amount detection device 120 detects the fertilizer application amount as the work amount, and when the work device 2 is a chemical sprayer, the chemical spray amount (drug application amount) is detected as the work amount, and the seeding device is used. If there is, the seeding amount is detected as the work amount. The work amount (fertilizer application amount, drug application amount, seeding amount) detected by the work amount detection device 120 is output to the work display device 10c1, and when the work display device 10c1 acquires the work amount, the acquired work amount is stored in the storage unit 33. Remember in. When the work amount is stored, the work amount and the detection position detected by the position detection device 10a1 are stored in association with each other. Further, when there are a plurality of nozzles 2b in one work device 2, the work amount detection device 120 detects the work amount for each work unit. In this case, the storage unit 33 stores the amount of work for each work unit.

When the work position (Xn, Yn) is input to the work display device 10c1, the input work position (Xn, Yn) is stored in the storage unit 33 (S33). That is, as shown in FIG. 7A, after the start of the work, the storage unit 33 of the work display device 10c1 stores the detection position of the tractor 1 (work device 2), the work amount, and the work position of the nozzle 2b as actual information. Will be done.
The actual information [detection position, work amount, work unit information (work position of nozzle 2b)] stored in the storage unit 33 of the work display device 10c1 is transmitted to the management device 111 via the communication device 12 (S34). .. When the management device 111 receives the actual result information, the management device 111 stores the received actual result information in the storage unit 116 (S35). Although the management device 111 acquires the actual result information from the communication device 12 of the work machine, the actual result information may be once acquired via a mobile terminal such as a smartphone or a tablet. In this case, the communication device 12 transmits the actual result information to the mobile terminal, and when the mobile terminal receives the actual result information, the communication device 12 transmits the received actual result information to the management device 111.

As described above, when the work is performed by the work device 2, the management device 111 manually inputs the detection position (position of the work device 2) and the work amount during the work in the work device 2 by the worker or the like. It can be acquired as actual information together with the work unit information (working position of the nozzle 2b).
In this way, after the management device 111 acquires the actual information [detection position, work amount, work unit information (work position of nozzle 2b)], the map generation unit 110 is based on at least the work unit information and the detection position. , Generate a work map for the work.

For example, the map generation unit 110 refers to the storage unit 116 and extracts the work position and the detection position of the nozzle 2b of the work device 2. The map generation unit 110 calculates the ground position of the nozzle 2b with respect to the work place when working with the nozzle 2b based on the relationship between the extracted work position and the detection position, and generates a work map including the ground position.
As shown in FIG. 8A, the map generation unit 110 converts the working position (Xn, Yn) with respect to the reference position O1 into the differential coordinates (difference latitude ΔXm, difference longitude ΔYm) of the geographic coordinates. Further, the map generation unit 110 obtains the ground position (Xvn, Xvn) by using the difference coordinates (difference latitude ΔXm, difference longitude ΔYm) with respect to the reference position O1 and the detection position (Xpn, Ypn) with respect to the reference position O1. The map generation unit 110 obtains the ground positions Xvn and Yvn by, for example, Xvn = Xpn ± ΔXm (n = 1, 2, ... n) and Yvn = Ypn ± ΔYm. As shown in FIG. 8B, the map generation unit 110 plots the ground positions Xvn and Yvn at predetermined time t intervals (t = 1, 2, 3 ... T) on a figure, an image or the like indicating the workplace. The work map 121 is generated by obtaining Xvnt and Yvnt. The work map 121 generated by the map generation unit 110 is stored in the storage unit 116 together with the map identification information that identifies the work map. The work map 121 stored in the storage unit 116 can be displayed on the mobile terminal or PC by connecting the mobile terminal or personal computer (PC) owned by the worker or the like to the management device 111.

As described above, when the map generation unit 110 works on the nozzle 2b based on the relationship between the working position (Xn, Yn) of the nozzle 2b and the detection position (Xpn, Ypn) detected by the position detection device. Since the work map 121 including the ground position (Xvn, Xvn) of the nozzle 2b with respect to the work place is calculated and the work map 121 including the ground position (Xvn, Xvn) is generated, the nozzle of the work device 2 when the work is performed in the work place. The position of 2b can be grasped. That is, it is possible to grasp from the work map 121 what kind of trajectory the nozzle 2b of the work device 2 has followed to perform the work in the work place.

By the way, in the above-described embodiment, the map generation unit 110 has generated a work map 121 showing the ground position of the nozzle 2b with respect to the work place, but in addition to this, the ground position (Xvn, Xvn) of the nozzle 2b and the nozzle A work map 122 showing the relationship with the work amount (Wn) of 2b may be created.
For example, the map generation unit 110 refers to the storage unit 116 and extracts the work position, the detection position, and the work amount (fertilizer application amount, drug application amount, seeding amount) of the nozzle 2b of the work device 2. The map generation unit 110 associates the extracted work amount with the above-mentioned ground position of the nozzle 2b, and creates a work map 122 showing the work amount for each ground position as shown in FIG. 8C.

In the above-described embodiment, the work maps 121 and 122 are created by inputting the work positions (Xn, Yn) of the nozzle 2b into the work display device 10c1, but the work type of the work machine is used as the work information. The work map 122 may be created by inputting.
When an operator or the like performs a predetermined operation on the work display device (input device) 10c1, the display control unit 32 displays the input screen M11 as shown in FIG. 5B. The work unit information input on the input screen M11 is the type of work done on the nozzle 2b. The types of work are, for example, fertilization, drug application, sowing, harvesting equipment and the like. Specifically, on the input screen M11, the type input unit 102 for inputting the work type of the nozzle 2b before, during, or after the work is started by the nozzle 2b of the work device 2. Is displayed. When the input of the work position of the nozzle 2b is completed on the input screen M11, the type of work is stored in the storage unit 33. Further, the detection position detected by the position detection device 10a1 from the start of the work to the end of the work after the input of the work type is stored corresponding to the work type. When the work type is input to the input screen M11 after the work is completed, the work display device 10c1 displays a specific input unit for inputting information for specifying the work time, work place, and the like. In this way, by inputting the work time, the work place, and the like into the specific input unit, the detection position and the work type can be associated with each other based on the work time and the work place. That is, as shown in FIG. 7B, after the start of the work, the work display device 10c1 can store the detection position, the work amount, and the type of work of the tractor 1 (work device 2) as actual information. The actual information (detection position, work amount, type of nozzle 2b) stored in the work display device 10c1 is transmitted to the management device 111 via the communication device 12 and stored in the storage unit 116.

The map generation unit 110 creates a work map 122 based on the relationship between the type input to the type input unit 102 and the detection position detected by the position detection device 10a1. Specifically, the map generation unit 110 refers to the storage unit 116 and extracts the work type, detection position, and work amount of the work device 2. As shown in FIG. 8C, the map generation unit 110 associates the work amount with the detection position corresponding to the work place, and determines what work the work amount corresponds to on the field showing the work map 122 according to the type of work. By showing in, it is possible to grasp what kind of work the work map 122 is.

As described above, the work map generation system includes a position detection device 10a1, an input device 10c1, and a map generation unit 110. According to this, while the position of the work machine is detected by the position detection device 10a1, the work unit information regarding the work unit provided in the work machine is input to the input device 10c1, for example, a work map for each work unit can be obtained. Can be generated.
The input device 10c1 includes a position input unit 101 for inputting the work position of the work unit in the work machine as work unit information, and the map generation unit 110 uses the work position input to the position input unit 101 and the position detection device 10a1. Based on the relationship with the detected detection position, the ground position of the work unit with respect to the work place when working in the work unit is calculated, and a work map including the ground position is generated. According to this, if the position (work position) of the work performed by the work unit is input to the input device 10c1, a work map including the ground position of the work unit can be generated. For example, when the position of the spray nozzle is input, a work map in which the work position sprayed by the spray nozzle is mapped can be generated.

The map generation unit 110 generates a map showing the relationship between the ground position and the work amount of the work unit. According to this, it is possible to generate a map showing the position (ground position) of the work part and the work amount of the work part at the time of work in the work place.
The input device 10c1 includes a type input unit 102 for inputting the work type of the work machine as work information, and the map generation unit 110 includes the type input to the type input unit 102 and the detection detected by the position detection device 10a1. Based on the relationship with the position, a work map showing that the work corresponding to the type has been performed on the workplace is generated. According to this, it is possible to grasp what kind of work the work unit has performed by type, and it is possible to generate a work map according to the type. For example, as a work map, a fertilizer application map showing fertilization, a drug application map showing chemical application, a sowing map showing seed application, a harvest map showing the harvest state, and the like can be generated. The map generation unit 110 generates a work map indicating the amount of work of the work unit with respect to the work place. According to this, for example, in the work map, the state of the work performed by each work unit for one field can be grasped by the amount of work shown in the work map and the like.

In the above-described embodiment, the working machine has been described by taking the tractor 1 equipped with the working device 2 as an example, but the above-described configuration can also be applied to a rice transplanter as shown in FIG. As shown in FIG. 10, the rice transplanter 17 includes a vehicle body 3, a prime mover 4 provided on the vehicle body 3, and a transmission 5 provided on the vehicle body 3. The vehicle body 3 is composed of a combination of a plurality of frames and supports a wheel-type traveling device. The vehicle body 3 can travel by the traveling device. A work device 2 such as a fertilizer spraying device and a sowing device is provided on the rear side of the vehicle body 3. Further, a seedling loading table 11 and a seedling planting device 12 are provided on the rear side of the vehicle body 3. The rice transplanter 17 is provided with the above-mentioned position detection device 10a1, the above-mentioned work display device 10c1, and the like. When applied to the rice transplanter 17, the above-mentioned tractor 1 may be read as “rice transplanter 17”.

It should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and it is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1 tractor 2 work device 2a tank 2b nozzle 2c frame 3 car body 4 prime mover 5 transmission 6 driver's seat 7 cabin 8 connection part 10 equipment 10a detection device 10a1 position detection device 10c1 work display device 10b switch device 10c display device 10d control device 12 communication Device 31 Display unit 32 Display control unit 33 Storage unit 40 Field 41 Icon unit 41a 1st icon unit 41b 2nd icon unit 41c 3rd icon unit 41d 4th icon unit 42 Machine display unit 101 Position input unit 102 Type input unit 110 Map Generation unit 111 Management device 115 Communication device 120 Work amount detection device 121, 122 Work map L1 1st line L2 2nd line

Claims (4)

A position detection device provided on the work machine and detecting the position of the work machine,
An input device provided in the work machine and for inputting the work position of each work part as work part information regarding a plurality of work parts of the work machine.
A work amount detection device that detects the work amount of each work unit, and
Based on the work positions of the plurality of work units input by the input device and the detection positions detected by the position detection device, the ground positions of the work parts with respect to the work place when working in each work part are calculated. , A map generation unit that generates a work map showing the relationship between the calculated ground position and the work amount of each work unit detected by the work amount detection device.
A work map generation system that features. Wherein the input device includes a position input portion for inputting the working position,
The map generation unit calculates the ground position based on the relationship between the work position input to the position input unit and the detection position detected by the position detection device, and includes the ground position. The work map generation system according to claim 1, wherein the work map is generated. The input device includes a type input unit for inputting a work type of the work machine as work unit information of each of the plurality of work units.
The map generation unit has performed work corresponding to the type in the workplace based on the relationship between the type input to the type input unit and the detection position detected by the position detection device. The work map generation system according to claim 1, wherein the work map is generated. The work map generation system according to claim 3, wherein the map generation unit generates the work map indicating the work amount of each of the plurality of work units with respect to the work place.

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