Tree planting system and information terminal

Abstract

This tree planting system is provided with a processor. The processor acquires a planted position indicating a position of a plant planted in a tree planting area, acquires a captured image showing an image of the tree planting area captured by a camera, compares the position in the captured image with the planted position to set a determination area in the captured image, determines whether or not the plant is dead on the basis of the captured image in the determination area, and outputs a result of the determination.

Description

TITLE OF THE INVENTION: AFFORESTATION SYSTEM AND INFORMATION TERMINAL Field

[0001] The present disclosure relates to an afforestation system and an information terminal. Background

[0002] In a technical field related to afforestation systems, an afforestation system as disclosed in Patent Literature 1 is known. In Patent Literature 1, a plant is planted in soil by an afforestation machine. Citation List Patent Literature

[0003] Patent Literature 1: JP 2023-158914 A Summary Technical Problem

[0004] Plants planted in soil may die. When plants die, techniques capable of efficiently replanting are desired.

[0005] An object of the present disclosure is to support replanting work. Solution to Problem

[0006] According to this disclosure, an afforestation system comprising a processor is provided. The processor acquires a planting position indicating a position of a plant planted in an afforestation area, acquires a captured image indicating an image of the afforestation area captured by a camera, collates a position on the captured image with the planting position and sets a determination area on the captured image, determines whether the plant is dead based on the captured image of the determination area, and outputs a result of the determination.

[0007] According to this disclosure, an afforestation system comprising a processor is provided. The processor sets, in an afforestation area, a work area of a worker who replants a plant at a replanting position indicating a position at which the plant is to be replanted in the afforestation area, and generates display data indicating the work area.

[0008] According to this disclosure, an afforestation system comprising a processor is provided. The processor sets a plurality of aggregation areas in an afforestation area in which a plurality of plants are planted, calculates a numerical value related to death of the plants for each aggregation area, and generates display data indicating a relationship between the aggregation area and the numerical value of the aggregation area. Advantageous Effects of Invention

[0009] According to the present disclosure, it is possible to support replanting work. Brief Description of Drawings

[0010] FIG. 1 is a diagram schematically illustrating an afforestation system according to an embodiment. FIG. 2 is a perspective view illustrating an afforestation machine according to the embodiment. FIG. 3 is a hardware configuration diagram illustrating a server according to the embodiment. FIG. 4 is a functional block diagram illustrating the afforestation system according to the embodiment. FIG. 5 is a diagram schematically illustrating an afforestation area and a storage area according to the embodiment. FIG. 6 is a flowchart illustrating a death determination method for a sapling according to the embodiment. FIG. 7 is a diagram illustrating a planting position and a determination area of the sapling according to the embodiment. FIG. 8 is a diagram illustrating a method of generating a learned model according to the embodiment. FIG. 9 is a diagram illustrating a method of using the learned model according to the embodiment. FIG. 10 is a diagram illustrating an example of display data displayed on a display device of an information terminal according to the embodiment. FIG. 11 is a diagram illustrating an example of display data displayed on the display device of the information terminal according to the embodiment. FIG. 12 is a flowchart illustrating a method of generating a heatmap of a dead rate according to the embodiment. FIG. 13 is a diagram illustrating an example of display data displayed on the display device of the information terminal according to the embodiment. FIG. 14 is a diagram illustrating a method of allocating replanting work according to the embodiment. FIG. 15 is a flowchart illustrating a method of allocating the replanting work according to the embodiment. FIG. 16 is a diagram illustrating a method of setting a work area according to the embodiment. Description of Embodiments

[0011] [Afforestation System] FIG. 1 is a diagram schematically illustrating an afforestation system 1 according to an embodiment.  The afforestation system 1 manages afforestation work.  The afforestation system 1 supports afforestation work. The afforestation work includes planting work and replanting work. Planting refers to planting a plant in soil. Replanting refers to planting a new plant in soil in which a plant is planted by the planting work. For example, when a plant planted by the planting work dies, the replanting may include planting a new plant at a position of the dead plant. A sapling is exemplified as the plant. In the following description, the plant is appropriately referred to as a sapling 8.

[0012] The afforestation system 1 includes a server 2, an afforestation machine 3, an information terminal 4, and a moving body 9. The server 2 includes a computer. The afforestation machine 3 operates in an afforestation area 11 (see FIG. 5) where the afforestation work is performed. The afforestation machine 3 plants the saplings 8 in the soil of the afforestation area 11. The server 2 is located outside of the afforestation machine 3.  The server 2 may be located within the afforestation area 11 or may be located outside of the afforestation area 11. In the embodiment, the server 2 is located at a remote place from the afforestation area 11. The information terminal 4 is carried by an employee 100 engaged in the afforestation work. In the embodiment, the information terminal 4 is a tablet terminal. The information terminal 4 may be a smartphone, a laptop personal computer, or smart glasses. The moving body 9 moves in the afforestation area 11. In the embodiment, the moving body 9 is an unmanned aerial vehicle (UAV) such as a drone. The moving body 9 flies above the afforestation area 11.

[0013] The server 2, the afforestation machine 3, the information terminal 4, and the moving body 9 communicate with each other via a communication system 5. The communication system 5 includes at least one of a mobile phone communication line, an Internet communication line, and a communication satellite line.

[0014] The employees 100 include a manager 101 of the afforestation area 11 and workers 102 of the afforestation work.  The manager 101 supervises the workers 102.

[0015] The afforestation machine 3 performs the planting work.  The worker 102 performs the replanting work. The worker 102 carries a portable afforestation tool 6 called a hand planter. The worker 102 performs the replanting work using the afforestation tool 6. The worker 102 carries a basket 7 in which a plurality of saplings 8 are accommodated. When the worker performs the replanting work, the worker plants the sapling 8 taken out from the basket 7 in the soil using the afforestation tool 6.

[0016] [Afforestation Machine] FIG. 2 is a perspective view illustrating the afforestation machine 3 according to the embodiment. The afforestation machine 3 plants the saplings 8 in the soil of the afforestation area 11. The afforestation machine 3 includes a vehicle body 30, a traveling device 31, a planting device 32, a controller 33, a position sensor 34, and an attitude sensor 35.

[0017] The vehicle body 30 is located above the traveling device 31. The traveling device 31 supports the vehicle body 30. The traveling device 31 travels in the afforestation area 11. The traveling device 31 includes a pair of crawler belts rotated by power generated by an engine. The traveling device 31 may include wheels.

[0018] The planting device 32 plants the sapling 8 in the soil. The planting device 32 is located in front of the vehicle body 30. The planting device 32 includes an arm 36, a frame 37, a hydraulic cylinder 38, and a plurality of planting units 39. In the embodiment, three planting units 39 are provided at intervals in a vehicle width direction of the vehicle body 30. The arm 36 is attached to a frame of the traveling device 31 and liftably supports the planting device 32. The frame 37 is attached to a distal end of the arm 36 and supports the plurality of planting units 39. The hydraulic cylinder 38 is provided between a front portion of the vehicle body 30 and the frame 37, and moves the frame 37 up and down by extending and contracting.

[0019] The planting unit 39 includes a plant holding portion 39A, a main body portion 39B, and an expansion / contraction portion 39C. The plant holding portion 39A is provided in an upper portion of the main body portion 39B. The main body portion 39B is attached to the frame 37. The expansion / contraction portion 39C protrudes downward from a lower portion of the main body portion 39B.

[0020] The plant holding portion 39A holds the sapling 8. The main body portion 39B takes out the sapling 8 from the plant holding portion 39A and sends the sapling 8 to the expansion / contraction portion 39C. The expansion / contraction portion 39C extends in a vertical direction while holding the sapling 8, and plants the sapling 8 in the soil. The expansion / contraction portion 39C is expanded / contracted by, for example, a hydraulic cylinder. By the expansion and contraction of the expansion / contraction portion 39C, the sapling 8 can be planted in the soil even when the soil is not flat and a distance between the main body portion 39B and the soil changes.

[0021] The controller 33 includes a computer. The controller 33 outputs control signals for controlling the traveling device 31 and the planting device 32. The controller 33 communicates with the server 2 via the communication system 5.

[0022] The position sensor 34 detects a position of the afforestation machine 3. The position of the afforestation machine 3 is detected using a global navigation satellite system (GNSS). The global navigation satellite system includes a global positioning system (GPS). The global navigation satellite system detects a position in a global coordinate system defined by coordinate data of latitude, longitude, and altitude.  The global coordinate system is a coordinate system fixed to the earth. The position sensor 34 includes a GNSS receiver and detects the position of the afforestation machine 3 in the global coordinate system. In the embodiment, the position sensor 34 is provided in the vehicle body 30. The position sensor 34 detects a position of the vehicle body 30. Detection data of the position sensor 34 is transmitted to the controller 33.

[0023] The attitude sensor 35 detects an attitude of the afforestation machine 3. The attitude of the afforestation machine 3 includes an azimuth angle of the afforestation machine 3 with respect to a reference azimuth. The attitude of the afforestation machine 3 includes an inclination angle of the afforestation machine 3 with respect to a horizontal plane. As the attitude sensor 35, an inertial measurement unit (IMU) is exemplified. In the embodiment, the attitude sensor 35 is provided in the vehicle body 30. The attitude sensor 35 detects an azimuth angle of the vehicle body 30 with respect to the reference azimuth and an inclination angle of the vehicle body 30 with respect to the horizontal plane. Detection data of the attitude sensor 35 is transmitted to the controller 33.

[0024] The controller 33 can calculate a planting position 13 (see FIG. 7) indicating a position of the sapling 8 planted in the soil of the afforestation area 11 based on the detection data of the position sensor 34 and a time point at which the planting device 32 plants the sapling 8 in the soil. The position sensor 34 detects a position (self-position) of the position sensor 34. A relative position between the position sensor 34 and the planting device 32 is known data derived from design data or specification data of the afforestation machine 3. The controller 33 can calculate the planting position 13 of the sapling 8 in the global coordinate system based on the detection data of the position sensor 34, the relative position between the position sensor 34 and the planting device 32 that is known data, and the time point at which the planting device 32 plants the sapling 8 in the soil. The controller 33 transmits the planting position 13 of the sapling 8 to the server 2. The position sensor 34 may be located in the planting device 32. The controller 33 can calculate the planting position 13 of the sapling 8 based on the detection data of the position sensor 34 that detects the position of the planting device 32 and the time point at which the planting device 32 plants the sapling 8 in the soil. The attitude sensor 35 can detect an attitude of the planting device 32. The controller 33 may calculate the planting position 13 of the sapling 8 based on the detection data of the position sensor 34, the detection data of the attitude sensor 35, and the time point at which the planting device 32 plants the sapling 8 in the soil.

[0025] [Server] FIG. 3 is a hardware configuration diagram illustrating the server 2 according to the embodiment. The server 2 includes a computer 10. The server 2 includes a processor 10A such as a central processing unit (CPU), a main memory 10B including a nonvolatile memory such as a read only memory (ROM) and a volatile memory such as a random access memory (RAM), a storage 10C such as a hard disk or a semiconductor memory, an input / output interface 10D including an input / output circuit, and a communication interface 10E including a communication circuit. Functions of the processor 10A are stored as a computer program 10F in the storage 10C. The processor 10A reads the computer program 10F from the storage 10C, loads the computer program in the main memory 10B, and executes processing according to the computer program 10F. The computer program 10F may be distributed to the server 2 via a network.

[0026] The controller 33 of the afforestation machine 3 also includes a computer. Each of a controller 41 (see FIG. 4) of the information terminal 4 and a controller 91 (see FIG. 4) of the moving body 9 to be described below also includes a computer. Similarly to the server 2, each of the controller 33 of the afforestation machine 3, the controller 41 of the information terminal 4, and the controller 91 of the moving body 9 includes a processor, a main memory, a storage, an input / output interface, and a communication interface.

[0027] FIG. 4 is a functional block diagram illustrating the afforestation system 1 according to the embodiment. The server 2 includes a plurality of functional units. The functional units of the server 2 include a planting position acquisition unit 21, a captured image acquisition unit 22, a determination area setting unit 23, a determination unit 24, a replanting position specification unit 25, an aggregation unit 26, a work area setting unit 27, and a display data generation unit 28. Functions of the functional units of the server 2 are exerted by the processor 10A. The server 2 includes a storage unit 29. A function of the storage unit 29 of the server 2 is exerted by the storage 10C.

[0028] The afforestation machine 3 includes the controller 33, a position sensor 34, and an attitude sensor 35. The information terminal 4 includes the controller 41, an input device 42, a display device 43, and a position sensor 44. The moving body 9 includes the controller 91, a camera 92, a position sensor 93, and an attitude sensor 94.

[0029] The controller 41 of the information terminal 4 communicates with the server 2 via the communication system 5. The input device 42 generates input data by being operated by the employee 100. Examples of the input device 42 include a touch panel, a button, and a computer keyboard. The display device 43 displays display data. The display device 43 provides the display data to the employee 100. As the display device 43, a flat panel display such as a liquid crystal display or an organic EL display is exemplified. The position sensor 44 includes a GNSS receiver and detects a position of the information terminal 4 in the global coordinate system.

[0030] The controller 91 of the moving body 9 communicates with the server 2 via the communication system 5. The camera 92 is mounted on the moving body 9. The camera 92 images the afforestation area 11. The camera 92 images the afforestation area 11 from above the afforestation area 11. The position sensor 93 detects a position of the moving body 9. The position sensor 93 includes a GNSS receiver and detects the position of the moving body 9 in the global coordinate system. A position of the camera 92 in the global coordinate system is detected by detecting the position of the moving body 9. The attitude sensor 94 detects an attitude of the moving body 9. The attitude of the moving body 9 includes an azimuth angle of the moving body 9 with respect to the reference azimuth and an inclination angle of the moving body 9 with respect to the horizontal plane. An inertial measurement unit (IMU) is exemplified as the attitude sensor 94. An attitude of the camera 92 is detected by detecting the attitude of the moving body 9.

[0031] The planting position acquisition unit 21 acquires the planting position 13 indicating a position of the sapling 8 planted in the afforestation area 11 by the afforestation machine 3.  As described above, the controller 33 of the afforestation machine 3 calculates the planting position 13 of the sapling 8 based on the detection data of the position sensor 34 and the time point at which the planting device 32 plants the sapling 8 in the soil. The planting position acquisition unit 21 acquires the planting position 13 of the sapling 8 from the controller 33 of the afforestation machine 3. The detection data of the position sensor 34 detecting the position of the afforestation machine 3 and time point data indicating the time point at which the planting device 32 plants the sapling 8 in the soil may be transmitted from the controller 33 of the afforestation machine 3 to the server 2. The server 2 may calculate the planting position 13 of the sapling 8 based on the detection data of the position sensor 34 detecting the position of the afforestation machine 3 and the time point at which the planting device 32 plants the sapling 8 in the soil.

[0032] The captured image acquisition unit 22 acquires a captured image indicating an image of the afforestation area 11 captured by the camera 92. The camera 92 may be an RGB camera or a multi-wavelength spectral camera such as a multispectral camera or a hyperspectral camera.  The camera 92 may be a stereo camera capable of acquiring three dimensional data of the afforestation area 11. The camera 92 may be a depth camera (RGB-D camera) including an RGB camera and a depth sensor. As the depth sensor, a time of flight sensor is exemplified. The camera 92 may be a camera including an RGB camera and a light detection and ranging (LiDAR). The controller 91 of the moving body 9 transmits the captured image captured by the camera 92 to the server 2. The captured image acquisition unit 22 acquires the captured image from the controller 91 of the moving body 9.

[0033] The controller 91 of the moving body 9 calculates a position of the captured image in the global coordinate system based on the detection data of the position sensor 93.  The controller 91 acquires a position of the captured image in a camera coordinate system defined in the camera 92.  The controller 91 converts the position of the captured image in the camera coordinate system into the position of the captured image in the global coordinate system based on the detection data of the position sensor 93. The captured image acquisition unit 22 acquires the captured image of which the position in the global coordinate system is defined from the controller 91 of the moving body 9. The controller 91 may calculate the position and an azimuth of the captured image in the global coordinate system based on the detection data of the position sensor 93 and the detection data of the attitude sensor 94. The controller 91 may convert the position and an azimuth of the captured image in the camera coordinate system into the position and the azimuth of the captured image in the global coordinate system based on the detection data of the position sensor 93 and the detection data of the attitude sensor 94.

[0034] The determination area setting unit 23 sets a determination area 14 (see FIG. 7) including the planting position 13 of the sapling 8 on the captured image. The determination area setting unit 23 collates the position of the afforestation area 11 on the captured image with the planting position 13 acquired by the planting position acquisition unit 21, and sets the determination area 14 on the captured image of the afforestation area 11. As described above, the controller 91 of the moving body 9 acquires the position of the captured image in the camera coordinate system and converts the acquired position into the position of the captured image in global coordinates. For example, the determination area setting unit 23 can collate the position of the afforestation area 11 on the captured image in the global coordinate system with the planting position 13 in the global coordinate system acquired by the planting position acquisition unit 21, and can set the determination area 14 on the captured image of the afforestation area 11.

[0035] Based on the captured image of the determination area 14, the determination unit 24 determines whether the sapling 8 planted in the planting position 13 is dead. The determination unit 24 outputs a determination result. The determination unit 24 can determine whether the sapling 8 planted in the planting position 13 is dead based on the captured image and a reference image indicating at least one of a dead sapling 8 and a sapling 8 that is not dead.

[0036] In the embodiment, the fact that the sapling 8 is dead includes the fact that the sapling 8 is absent at a position at which the sapling 8 is to be planted. For example, the sapling 8 is likely not to be planted unintentionally due to a defect of the afforestation machine 3. After the sapling 8 is planted in the planting position 13, for example, an animal is likely to remove the sapling 8 from the planting position 13. The determination unit 24 also determines that the sapling 8 is dead when the sapling 8 is absent unintentionally at the planting position 13.

[0037] The replanting position specification unit 25 specifies a replanting position among a plurality of planting positions 13 of the sapling 8. The replanting position refers to a position at which the sapling 8 is to be replanted. Replanting refers to planting of a new sapling 8 in the soil in which the sapling 8 is planted by the planting work. For example, when the sapling 8 planted by the planting work dies, the replanting may include planting of a new plant at the position of the dead plant. The replanting position may include a dead position at which there is the dead sapling 8. The replanting position specification unit 25 specifies the replanting position at which the sapling 8 is to be replanted among the plurality of planting positions 13 based on the determination result of the determination unit 24.

[0038] The aggregation unit 26 sets a plurality of aggregation areas 16 (see FIG. 11) in the afforestation area 11 where the plurality of saplings 8 are planted.  The aggregation unit 26 calculates a numerical value related to death of the saplings 8 in the aggregation area 16 for each aggregation area 16. The numerical value includes a dead rate indicating a proportion of the dead saplings 8. The aggregation unit 26 calculates a dead rate indicating a proportion of the dead saplings 8 for each aggregation area 16.

[0039] The numerical value related to the death of the saplings 8 in the aggregation area 16 may include at least one of a survival rate indicating a proportion of the saplings 8 that are not dead (a proportion of alive saplings 8) in the aggregation area 16, a dead number indicating the number of the dead saplings 8 in the aggregation area 16, a survival number indicating the number of the saplings 8 that are not dead (the number of the alive saplings 8) in the aggregation area 16, and a planting number indicating a total value of the dead number and the survival number in the aggregation area 16.

[0040] The work area setting unit 27 sets a work area 50 (see FIG. 13) of the worker 102 performing replanting at the replanting position in the afforestation area 11.

[0041] The display data generation unit 28 generates display data including the determination result of the determination unit 24. The display data generation unit 28 generates display data indicating a relationship between the aggregation area 16 set by the aggregation unit 26 and the numerical value of the aggregation area 16 calculated by the aggregation unit 26. In the embodiment, the display data generation unit 28 generates display data indicating a relationship between the aggregation area 16 set by the aggregation unit 26 and the dead rate of the aggregation area 16 calculated by the aggregation unit 26. The display data generation unit 28 may generate display data indicating a relationship between the aggregation area 16 set by the aggregation unit 26 and the survival rate of the aggregation area 16 calculated by the aggregation unit 26. The display data generation unit 28 may generate display data indicating a relationship between the aggregation area 16 set by the aggregation unit 26 and the dead number of the aggregation area 16 calculated by the aggregation unit 26. The display data generation unit 28 may generate display data indicating a relationship between the aggregation area 16 set by the aggregation unit 26 and the survival number of the aggregation area 16 calculated by the aggregation unit 26. The display data generation unit 28 may generate display data indicating a relationship between the aggregation area 16 set by the aggregation unit 26 and the planting number of the aggregation area 16 calculated by the aggregation unit 26. The display data generation unit 28 generates display data indicating the work area 50 set by the work area setting unit 27. The display data generation unit 28 outputs the generated display data. The display data generated by the display data generation unit 28 is transmitted to the information terminal 4. The controller 41 of the information terminal 4 causes the display device 43 to display the display data transmitted from the display data generation unit 28.

[0042] [Afforestation Area and Storage Area] FIG. 5 is a diagram schematically illustrating the afforestation area 11 and a storage area 12 according to the embodiment. As illustrated in FIG. 5, the afforestation area 11 in which the saplings 8 are planted is set. An area of the afforestation area 11 is, for example, 10 ha or more. The afforestation machine 3 plants the saplings 8 in the afforestation area 11.

[0043] The storage area 12 where the saplings 8 to be replanted are located is provided in at least a part of the periphery of the afforestation area 11. In the storage area 12, the basket 7 accommodating the plurality of saplings 8 is stored. When the replanting work is performed, the worker 102 carries the basket 7 stored in the storage area 12 and then moves to the replanting position. After moving to the replanting position, the worker 102 plants the sapling 8 taken out from the basket 7 at the replanting position using the afforestation tool 6.

[0044] [death determination for Sapling] FIG. 6 is a flowchart illustrating a death determination method for the sapling 8 according to the embodiment. In the afforestation area 11, the planting work is performed by the afforestation machine 3. The planting position acquisition unit 21 acquires the planting position 13 indicating the position of the sapling 8 planted in the afforestation area 11 by the afforestation machine 3. The planting position acquired by the planting position acquisition unit 21 is stored in the storage unit 29 (step SA1).

[0045] After a predetermined period elapses from the planting work, the moving body 9 flies above the afforestation area 11 and the camera 92 captures an image of the afforestation area 11. The capturing of the afforestation area 11 by the camera 92 is performed, for example, after one week to one year elapses from the planting work. As an example, the capturing of the afforestation area 11 by the camera 92 is performed 15 days after the planting work.

[0046] The captured image acquisition unit 22 acquires the captured image indicating the image of the afforestation area 11 captured by the camera 92 (step SA2).

[0047] The determination area setting unit 23 sets the determination area 14 including the planting position 13 in the captured image (step SA3).

[0048] FIG. 7 is a diagram illustrating the planting position 13 and the determination area 14 of the sapling 8 according to the embodiment.  As illustrated in FIG. 7, the plurality of saplings 8 are planted in the soil of the afforestation area 11 at intervals by the planting work by the afforestation machine 3.  The determination area setting unit 23 sets the determination area 14 in the captured image of the afforestation area 11 so that the planting position 13 of the sapling 8 is included. The determination area setting unit 23 collates a position on the captured image of the afforestation area 11 acquired in step SA2 with the planting position 13 acquired in step SA1, to set the determination area 14 on the captured image of the afforestation area 11. The determination area setting unit 23 sets the determination area 14 in the global coordinate system. A size and a shape of the determination area 14 are determined in advance. The size of the determination area 14 is determined based on, for example, an interval between the planting positions 13 adjacent to each other. The determination area setting unit 23 sets the determination area 14 so that one planting position 13 is included in one determination area 14. The determination area setting unit 23 sets the determination area 14 so that two or more planting positions 13 are not included in one determination area 14. The determination area setting unit 23 sets the determination area 14 for each of the plurality of planting positions 13. In the embodiment, the shape of the determination area 14 is a circular shape centered on the planting position 13. The shape of the determination area 14 may be a polygon such as a quadrangle or a hexagon.

[0049] The determination unit 24 determines whether the sapling 8 is dead based on the captured image of the determination area 14. The determination unit 24 determines whether the sapling 8 is dead based on the reference image indicating the image of at least one of the dead sapling 8 and the sapling 8 that is not dead and the captured image of the determination area 14 (step SA4).

[0050] After the planting work is performed, a part of the plurality of saplings 8 planted by the planting work are likely to die due to weather, pests such as ants, a surrounding natural environment, a state of soil, or the like. As described above, the sapling 8 is likely to be absent unintentionally from the planting position 13. After a predetermined period passes from the planting work, it is determined whether the sapling 8 is dead.

[0051] The determination unit 24 may determine whether the sapling 8 planted in the planting position 13 is dead by collating the reference image with the captured image. When the reference image indicating the image of at least one of the dead sapling 8 and the sapling 8 that is not dead is stored in the storage unit 29 in advance, the determination unit 24 may determine whether the sapling 8 planted at the planting position 13 is dead by collating the reference image stored in the storage unit 29 with the captured image. The determination unit 24 may determine whether the sapling 8 is dead by, for example, a template matching method.

[0052] The determination unit 24 may determine whether the sapling 8 is dead based on an artificial intelligence (AI) algorithm. In the embodiment, a learned model that has the captured image of the determination area 14 as an input and has a result of the death determination for the sapling 8 as an output is stored in advance in the storage unit 29. The determination unit 24 determines whether the sapling 8 is dead using the learned model stored in the storage unit 29.

[0053] FIG. 8 is a diagram illustrating a method of generating the learned model according to the embodiment. In the embodiment, the learned model is generated by supervised machine learning. As illustrated in FIG. 8, in a learning stage of the machine learning, a plurality of training images of the sapling 8 are input to a learning device 20. The training image is an example of the reference image. The training images of the sapling 8 include a training image of the sapling 8 that is not dead and a training image of the dead sapling 8. For the training image of the sapling 8, a dead state of the sapling 8 is given as a correct label. The training image of the sapling 8 that is not dead is given a label "sapling that is not dead" as a correct label. The training image of the dead sapling 8 is given a label "dead sapling" as a correct label. The learning device 20 performs the supervised machine learning on the training image, and generates the learned model that has the captured image as an input and has a result of the death determination for the sapling 8 as an output. The learned model generated by the learning device 20 is stored in the storage unit 29. The learning device 20 may be a functional unit of the server 2 or may be realized by a computer different from the server 2.

[0054] FIG. 9 is a diagram illustrating a method of using the learned model according to the embodiment. The determination unit 24 determines whether the sapling 8 planted in the afforestation area 11 is dead using the learned model generated by the learning device 20. As illustrated in FIG. 9, in a prediction stage, the captured image of the determination area 14 is input to the learned model.  The determination unit 24 inputs the captured image of the determination area 14 as input data to the learned model.  When the captured image of the determination area 14 is input to the learned model, the result of the death determination for the sapling 8 is output as output data.

[0055] When the interval between the planting positions 13 adjacent to each other is known, the determination unit 24 may determine whether the sapling 8 is dead based on the captured image of the determination area 14 and the interval between the planting positions 13. The afforestation machine 3 plants the saplings 8 in the soil at predetermined intervals in the planting work. Therefore, the determination unit 24 can acquire the interval between the planting positions 13 in advance. The determination unit 24 may specify positions of alive saplings 8 based on the captured image of the determination area 14, and determine that there are dead saplings 8 between the alive saplings 8 adjacent to each other when the interval between the positions of the alive saplings 8 adjacent to each other is larger than the known interval between the planting positions 13. The determination unit 24 may determine whether the sapling 8 is dead based on a death probability (survival probability) of the sapling 8.

[0056] The determination unit 24 determines whether each of the plurality of saplings 8 planted in the afforestation area 11 is dead (step SA5).

[0057] The replanting position specification unit 25 specifies the dead position from the plurality of planting positions 13 based on the result of the death determination for the sapling 8 by the determination unit 24. The dead position refers to a position at which there is the dead sapling 8. The dead position refers to a position at which the sapling 8 planted by the planting work is dead.  The replanting position specification unit 25 determines that the planting position 13 of the sapling 8 determined to be dead by the determination unit 24 is the dead position (step SA6).

[0058] After the dead position is specified, the replanting position specification unit 25 specifies the replanting position at which the sapling 8 is to be replanted (step SA7). The replanting position includes the dead position. When there are a plurality of dead positions, the replanting position specification unit 25 may determine all the dead positions as the replanting the replanting positions. For example, there may be a nonsurvival area where the sapling 8 is not able to survive in the afforestation area 11 due to pests such as ants, a surrounding natural environment, a state of soil, or the like. The replanting position specification unit 25 may determine a dead position located outside of the nonsurvival area as the replanting position without determining a dead position located inside the non-survival area as the replanting position among a plurality of dead positions.

[0059] The replanting position specification unit 25 may specify the replanting position based on the input data from the input device 42. That is, the employee 100 may specify the replanting position by operating the input device 42.

[0060] The replanting position specification unit 25 specifies a survival position from the plurality of planting positions 13 based on the result of the death determination for the sapling 8 by the determination unit 24 (step SA8). The survival position refers to a position at which the sapling 8 is not to be replanted. That is, the survival position refers to a position at which the sapling 8 that is not dead is planted. The replanting position specification unit 25 determines the planting position 13 of the sapling 8 determined not to be dead by the determination unit 24 as the survival position.

[0061] The display data generation unit 28 generates display data including the result of the death determination for the sapling 8 by the determination unit 24 (step SA9). In the embodiment, the display data generation unit 28 generates the display data based on the replanting position and the survival position specified by the replanting position specification unit 25. The display data generated by the display data generation unit 28 is transmitted to the information terminal 4. The controller 41 of the information terminal 4 causes the display device 43 to display the display data transmitted from the display data generation unit 28.

[0062] FIG. 10 is a diagram illustrating an example of display data displayed on the display device 43 of the information terminal 4 according to the embodiment. The display data displayed on the display device 43 includes a symbol 15 indicating the result of the death determination for the sapling 8 by the determination unit 24.  In the embodiment, the symbol 15 is a circular (dot-shaped) image. The symbol 15 includes a first symbol 151 indicating the sapling 8 determined not to be dead and a second symbol 152 indicating the sapling 8 determined to be dead.  The first symbol 151 is displayed at the survival position of the sapling 8. The second symbol 152 is displayed at the replanting position of the sapling 8. The first symbol 151 indicates the position of the sapling 8 that is not dead. The second symbol 152 indicates the position of the dead sapling 8. A display form of the first symbol 151 is different from a display form of the second symbol 152. In the embodiment, the first symbol 151 is displayed in a first color (for example, green). The second symbol 152 is displayed in a second color (for example, red).

[0063] The symbol 15 is displayed on the display device 43 together with the captured image captured by the camera 92. The symbol 15 is superimposed and displayed on the captured image captured by the camera 92. The display data generation unit 28 generates display data in which the first symbol 151 and the second symbol 152 are superimposed on the captured image. The display data generation unit 28 superimposes the first symbol 151 on the sapling 8 determined not to be dead and superimposes the second symbol 152 on the sapling 8 determined to be dead in the captured image. That is, the display data generation unit 28 superimposes and displays the first symbol 151 at the survival position and superimposes and displays the second symbol 152 at the replanting position on the captured image.

[0064] Since the display data including the result of the death determination for the sapling 8 is generated, the worker 102 can efficiently perform the replanting work by checking the display data. Since the second symbol 152 indicating the replanting position is displayed on the display device 43, the worker 102 can efficiently perform the replanting work by checking the display device 43.

[0065] [Generation of Heatmap] The aggregation unit 26 sets the plurality of aggregation areas 16 in the afforestation area 11 where the plurality of saplings 8 are planted. The aggregation unit 26 calculates the dead rate indicating the proportion of the dead saplings 8 for each aggregation area 16. In the embodiment, the dead rate refers to the proportion of the dead saplings 8 among the plurality of saplings 8 planted by the planting work in one aggregation area 16.  The dead rate means a proportion of dead positions among the plurality of planting positions 13 in one aggregation area 16.

[0066] The aggregation unit 26 calculates the dead rate based on the result of the death determination for the saplings 8 by the determination unit 24. The aggregation unit 26 calculates, for each aggregation area 16, the survival number indicating the number of saplings 8 that are not dead (the number of alive saplings 8) and the dead number indicating the number of dead saplings 8, and calculates the dead rate. The survival number indicating the number of saplings 8 that are not dead is equal to the survival number specified by the replanting position specification unit 25. The dead number indicating the number of dead saplings 8 is equal to the dead number specified by the replanting position specification unit 25. The aggregation unit 26 can calculate the dead rate based on the number of survival positions and the number of dead positions specified by the replanting position specification unit 25. When the number of dead positions is equal to the number of replanting positions at which the saplings 8 are to be replanted, the aggregation unit 26 may calculate the dead rate based on the number of survival positions and the number of replanting positions.

[0067] The display data generation unit 28 generates display data indicating a relationship between the aggregation area 16 and the dead rate of the aggregation area 16. The display data includes a heatmap in which a color density of the aggregation area 16 is set to differ based on the dead rate. The display data may include a heatmap in a single color with different density.

[0068] FIG. 11 is a diagram illustrating an example of display data displayed on the display device 43 of the information terminal 4 according to the embodiment. FIG. 12 is a flowchart illustrating a method of generating the heatmap of the dead rate according to the embodiment.

[0069] The aggregation unit 26 sets the plurality of aggregation areas 16 in the afforestation area 11 (step SB1). As illustrated in FIG. 11, in the embodiment, the plurality of aggregation areas 16 are set in a matrix form in the afforestation area 11. A shape of one aggregation area 16 is a square shape. A dimension of one side of the aggregation area 16 is, for example, 100 m. The shape of one aggregation area 16 may be a rectangular shape.

[0070] The aggregation unit 26 aggregates, for each aggregation area 16, the survival number indicating the saplings 8 that are not dead and the dead number indicating the number of dead saplings 8. That is, the aggregation unit 26 aggregates the number of survival positions and the number of dead positions for each of the plurality of aggregation areas 16 (step SB2).

[0071] When Ca is the number of survival positions in one aggregation area 16 (the survival number), Cb is the number of dead positions (the dead number), and M is the dead rate, an arithmetic expression of [M = Cb / (Ca + Cb)] is established. The aggregation unit 26 calculates the dead rate of each of the plurality of aggregation areas 16 based on the number Ca of survival positions and the number Cb of dead positions aggregated in step SB2 (step SB3).

[0072] The display data generation unit 28 generates the data including the heatmap indicating the relationship between the aggregation area 16 and the dead rate of the aggregation area 16 (step SB4). The display data generated by the display data generation unit 28 is transmitted to the information terminal 4. The controller 41 of the information terminal 4 causes the display device 43 to display the display data transmitted from the display data generation unit 28.

[0073] As illustrated in FIG. 11, the display data displayed on the display device 43 includes a heatmap in which color density of the aggregation area 16 differs based on the dead rate. The color density of the aggregation area 16 changes depending on the dead rate. In the embodiment, the higher the dead rate is, the higher the color density of the aggregation area 16 is.

[0074] In the embodiment, the captured image of the afforestation area 11 captured by the camera 92, the plurality of aggregation areas 16, and the symbol 15 indicating the result of the death determination for the sapling 8 by the determination unit 24 are superimposed and displayed. In the example illustrated in FIG. 11, when a first button 18A displayed in an upper left portion of a display screen of the display device 43 is tapped, the first symbol 151 is displayed. When a second button 18B is tapped, the second symbol 152 is displayed. The first button 18A and the second button 18B are examples of the input device 42. That is, based on the input data from the input device 42, the display data generation unit 28 can generate display data in which the first symbol 151 indicating the position of the sapling 8 that is not dead is superimposed on the aggregation area 16. Based on the input data from the input device 42, the display data generation unit 28 can generate display data in which the second symbol 152 indicating the position of the dead sapling 8 is superimposed on the aggregation area 16.

[0075] FIG. 11 illustrates an example in which the second symbol 152 is superimposed and displayed on the captured image and the first symbol 151 is not displayed. When the first button 18A is tapped, the first symbol 151 is superimposed and displayed on the captured image. When both the first button 18A and the second button 18B are tapped, both the first symbol 151 and the second symbol 152 are superimposed and displayed on the captured image.

[0076] The display data generation unit 28 generates display data in which numerical data 17 related to the death of the saplings 8 is superimposed on the aggregation area 16. The numerical data 17 includes the dead rate for each aggregation area 16, the survival number indicating number indicating the number of dead saplings 8. For example, in the example illustrated in FIG. 11, the numerical data 17 superimposed and displayed in an aggregation area 16A includes the dead rate (3%), the survival number (1350), and the dead number (31). That is, the display data generation unit 28 generates the display data in which the numerical data indicating the dead rate is superimposed on the aggregation area 16. The display data generation unit 28 generates the display data in which the numerical data indicating the survival number and the numerical data indicating the dead number are superimposed on the aggregation area 16. The dead rate is calculated for each of the plurality of aggregation areas 16, and is superimposed and displayed in each of the plurality of aggregation areas 16. The survival number is aggregated for each of the plurality of aggregation areas 16, and is superimposed and displayed for each of the plurality of aggregation areas 16. The dead number is aggregated for each of the plurality of aggregation areas 16, and is superimposed and displayed for each of the plurality of aggregation areas 16.

[0077] Numerical data of the survival rate indicating the proportion of the saplings 8 that are not dead in the aggregation area 16 may be superimposed and displayed in the aggregation area 16. The numerical data of the dead number indicating the number of dead saplings 8 in the aggregation area 16 may be superimposed and displayed in the aggregation area 16. The numerical data of the survival number indicating the number of saplings 8 that are not dead in the aggregation area 16 may be superimposed and displayed in the aggregation area 16. Numerical data of the planting number indicating the total value of the 16 may be superimposed and displayed in the aggregation area 16.

[0078] In the embodiment, the aggregation unit 26 calculates a total dead rate indicating a proportion of the dead saplings 8 in the entire afforestation area 11, a total survival number indicating a total number of the saplings 8 that are not dead in the entire afforestation area 11, and a total dead number indicating a total number of the dead saplings 8 in the entire afforestation area 11. The display data displayed on the display device 43 includes the total dead rate, the total dead number, and the total survival number. In the example illustrated in FIG. 11, numerical data 19A indicating the total dead rate, numerical data 19B indicating the total dead number, and numerical data 19C indicating the total survival number are displayed in the upper portion of the display screen of the display device 43.

[0079] Since the heatmap in which the color density of the aggregation area 16 differs based on the dead rate is generated, the worker 102 can intuitively recognize an area that has a high dead rate or an area where the replanting work is to be performed intensively by checking the heatmap displayed on the display device 43.

[0080] As described above, the aggregation unit 26 can calculate not only the dead rate but also the survival rate, the dead number, the survival number, and the planting number for each aggregation area 16. The display data (heatmap) indicating the relationship between the aggregation area 16 and the survival rate of the aggregation area 16 may be generated and displayed on the display device 43. The display data (heatmap) indicating the relationship between the aggregation area 16 and the dead number of the aggregation area 16 may be generated and displayed on the display device 43. The display data (heatmap) indicating the relationship between the aggregation area 16 and the survival number in the aggregation area 16 may be generated and displayed on the display device 43. The display data (heatmap) indicating the relationship between the aggregation area 16 and the planting number in the aggregation area 16 may be generated and displayed on the display device 43.

[0081] [Allocation of Replanting Work] The work area setting unit 27 sets the work area 50 of the worker 102 performing the replanting at the replanting position specified by the replanting position specification unit 25 in the afforestation area 11. The work area setting unit 27 sets a plurality of work areas 50 in the afforestation areas 11. The plurality of workers 102 are allocated to each of the plurality of work areas 50 set by the work area setting unit 27. The worker 102 replants the sapling 8 at the replanting position located in the allocated work area 50.

[0082] The work area setting unit 27 can set the work area 50 based on a prescribed algorithm.

[0083] The work area setting unit 27 can set the work area 50 based on the input data from the input device 42 of the information terminal 4. The work area setting unit 27 can set the work area 50 based on, for example, the input data from the input device 42 operated by the manager 101. The work area setting unit 27 can set the work area 50 based on the dead rate calculated for each aggregation area 16 by the aggregation unit 26.

[0084] The manager 101 operates the input device 42 of the information terminal 4 so that the plurality of work areas 50 are set in the afforestation area 11. The manager 101 operates the input device 42 while checking the afforestation area 11 displayed on the display device 43 of the information terminal 4. When the input device 42 includes a touch panel located on the display screen of the display device 43, the manager 101 operates the touch panel to draw an outer shape of the work area 50 with an input tool such as a finger or a pen while checking the afforestation area 11 displayed on the display device 43. The manager 101 can set the work area 50 that has any size and shape at any position of the afforestation area 11 by operating the touch panel.

[0085] The manager 101 operates the input device 42 to input an annular line to trace the outer shape of the work area 50, for example. When the input data includes the annular line indicating the outer shape of the work area 50, the work area setting unit 27 can set the work area 50 based on the annular line. The manager 101 may operate the input device 42, for example, to input a plurality of points of the outer shape of the work area 50. When the input data includes the plurality of points defining the outer shape of the work area 50, the work area setting unit 27 can set the work area 50 based on the plurality of points. The work area setting unit 27 may set a polygonal work area 50 connecting the plurality of points.

[0086] When the second symbol 152 indicating the replanting position is displayed on the display device 43, the manager 101 can operate the input device 42 to set the work area 50 while checking the second symbol 152 displayed on the display device 43. The work area setting unit 27 can acquire the input data from the input device 42 and set the work area 50 in a state where the replanting position (the second symbol 152 indicating the replanting position) is displayed on the display device 43.

[0087] The manager 101 may operate the input device 42 to set the work area 50 in a state where the dead position (symbol indicating the dead position) indicating the position of the dead sapling 8 is displayed on the display device 43. The work area setting unit 27 may acquire the input data from the input device 42 and set the work area 50 in a state where the dead position (symbol indicating the dead position) is displayed on the display device 43.

[0088] The manager 101 may operate the input device 42 so that the work area 50 is set in a state where the survival position (the first symbol 151 indicating the survival position) indicating the position of the alive sapling 8 is displayed on the display device 43. The work area setting unit 27 may acquire the input data from the input device 42 and set the work area 50 in a state where the survival position (first symbol 151) is displayed on the display device 43.

[0089] The manager 101 may operate the input device 42 to set the work area 50 in a state where the display data indicating the relationship between the aggregation area 16 and the dead rate of the aggregation area 16 is displayed on the display device 43. That is, the manager 101 may operate the input device 42 to set the work area 50 in a state where the heatmap indicating the dead rate is displayed on the display device 43. The work area setting unit 27 may acquire the input data from the input device 42 and set the work area 50 in a state where the heatmap indicating the relationship between the aggregation area 16 and the dead rate of the aggregation area 16 is displayed on the display device 43.

[0090] The manager 101 may operate the input device 42 to set the work area 50 in a state where the work area 50 and the storage area 12 are displayed on the display device 43. The work area setting unit 27 may acquire the input data from the input device 42 and set the work area 50 in a state where the work area 50 and the storage area 12 are displayed on the display device 43.

[0091] The manager 101 may operate the input device 42 to set the work area 50 in a state where the number of workers is displayed on the display device 43. The work area setting unit 27 may acquire the input data from the input device 42 and set the work area 50 in a state where the number of workers is displayed on the display device 43.

[0092] The manager 101 may operate the input device 42 to set the work area 50 in a state where the image of the afforestation area 11 is displayed on the display device 43. The image of the afforestation area 11 includes a captured image or an orthographic image captured by the camera 92 of the moving body 9. The orthographic image refers to an image obtained by converting the captured image captured by the camera 92 of the moving body 9 to enter a state where the captured image is viewed from directly above, that is, not to be distorted. The image of the afforestation area 11 may be an image indicating an outer line of the afforestation area 11. The work area setting unit 27 may acquire the input data from the input device 42 and set the work area 50 in a state where the image of the afforestation area 11 is displayed on the display device 43.

[0093] The manager 101 may operate the input device 42 to set the work area 50 in a state where the image used for the death determination (or survival determination) for the sapling 8 is displayed on the display device 43. Examples of the image used for the death determination for the sapling 8 include a spectrum image, a bar graph, a pie graph, and the above-described heatmap. The work area setting unit 27 may acquire the input data from the input device 42 and set the work area 50 in a state where the image used for the death determination for the sapling 8 is displayed on the display device 43.

[0094] The work area setting unit 27 may acquire the input data from the input device 42 and set the work area 50 in a state where at least one or at least two of the replanting position (second symbol 152), the dead position (symbol indicating the dead position), the survival position (first symbol 151), the heatmap, the image of the afforestation area 11, and the image used for the death determination for the sapling 8 are displayed on the display device 43.

[0095] The display data generation unit 28 generates the display data indicating the work area 50 set by the work area setting unit 27. The display data may indicate a relationship between the work area 50 set by the work area setting unit 27 and the worker 102 allocated to the work area 50.

[0096] The display data generation unit 28 may generate display data including at least one of the number of replanting positions included in one work area 50, the dead rate indicating a proportion of the dead saplings 8 among the plurality of saplings 8 planted in one work area 50, the dead number of the saplings 8 in one work area 50, the survival number of the saplings 8 in one work area 50, and a distance between the storage area 12 and the work area 50. The display data may include the numerical data.

[0097] FIG. 13 is a diagram illustrating an example of display data displayed on the display device 43 of the information terminal 4 according to the embodiment. FIG. 14 is a diagram illustrating a method of allocating the replanting work according to the embodiment. FIG. 15 is a flowchart illustrating a method of allocating the replanting work according to the embodiment.

[0098] As illustrated in FIG. 14, in the following description, an example in which the work area 50 is set based on the input data from the input device 42 of the information terminal 4 carried by the manager 101 will be described. The work area setting unit 27 sets the work area 50 based on the input data from the input device 42 operated by the manager 101. The display data indicating the set work area 50 is distributed to the information terminal 4 carried by the worker 102.

[0099] The replanting position specification unit 25 specifies the dead position among the plurality of planting positions 13 based on the result of the death determination for the sapling 8 by the determination unit 24, and then specifies the replanting position (step SC1). The replanting position specification unit 25 specifies the planting position 13 of the sapling 8 determined to be dead by the determination unit 24 as the dead position, and then specifies the replanting position at which the sapling 8 is to be replanted.

[0100] The manager 101 operates the input device 42 of the information terminal 4 so that the plurality of work areas 50 are set in the afforestation area 11. The manager 101 operates the input device 42 while checking the afforestation area 11 displayed on the display device 43 of the information terminal 4. When the input device 42 includes a touch panel located on the display screen of the display device 43, the manager 101 operates the touch panel to draw the outer shape of the work area 50 with an input tool such as a finger or a pen while checking the afforestation area 11 displayed on the display device 43. The manager 101 can set the work area 50 that has any size and shape at any position of the afforestation area 11 by operating the touch panel.

[0101] When the heatmap indicating the dead rate or the second symbol 152 indicating the replanting position is displayed on the display device 43, the manager 101 may operate the touch panel to draw the outer shape of the work area 50 while checking the heatmap or the second symbol 152 displayed on the display device 43. While the heatmap or the second symbol 152 displayed on the display device 43 is checked, the manager 101 may operate the touch panel so that a work load of the replanting work in each of the plurality of work areas 50 becomes uniform. That is, the manager 101 may operate the touch panel so that the number of replanting positions in each of the plurality of work areas 50 becomes uniform, or may operate the touch panel so that the size (area) of each of the plurality of work areas 50 becomes uniform. The input data generated by operating the input device 42 is transmitted from the information terminal 4 of the manager 101 to the server 2. The work area setting unit 27 acquires the input data from the input device 42 of the information terminal 4 (step SC2).

[0102] The work area setting unit 27 sets the plurality of work areas 50 in the afforestation area 11 based on the input data from the input device 42 (step SC3). The display data generation unit 28 generates display data indicating the work area 50 set by the work area setting unit 27 (step SC4).

[0103] The display data generated by the display data generation unit 28 is transmitted to the information terminal 4 carried by the worker 102. The controller 41 of the information terminal 4 causes the display device 43 to display the display data transmitted from the display data generation unit 28.

[0104] As illustrated in FIG. 13, the display data displayed on the display device 43 includes the captured image of the afforestation area 11 captured by the camera 92, the heatmap indicating the dead rate, the symbol 15 indicating the result of the death determination for the sapling 8 by the determination unit 24, and a hatching image indicating the work area 50 set in the afforestation area 11. The captured image captured by the camera 92, the heatmap including the plurality of aggregation areas 16, the symbol 15, and the hatching image indicating the work area 50 are superimposed and displayed.  The hatching image indicating the work area 50 is displayed to cover at least a part of the captured image.

[0105] The plurality of work areas 50 may be set based on the number of workers 102 performing the replanting work. For example, the same number of work areas 50 as the number of workers 102 performing the replanting work are set in the afforestation area 11. In the example illustrated in FIG. 13, five work areas 50 are set in the afforestation area 11. The work area 50 includes a first work area 51, a second work area 52, a third work area 53, a fourth work area 54, and a fifth work area 55. The plurality of work areas 50 are set not to overlap each other. A first worker 102A is allocated to the replanting work of the first work area 51, a second worker 102B is allocated to the replanting work of the second work area 52, a third worker 102C is allocated to the replanting work of the third work area 53, a fourth worker 102D is allocated to the replanting work of the fourth work area 54, and a fifth worker 102E is allocated to the replanting work of the fifth work area 55.

[0106] Designs (hatching pattern) of the hatching images indicating each of the plurality of work areas 50 are different from each other. The worker 102 checking the display device 43 can distinguish the plurality of work areas 50 by the design of the hatching image. The display data generation unit 28 may change the design of the hatching image in association with the worker 102. For example, the display data generation unit 28 may generate a hatching image of a first design as a hatching image indicating the first work area 51 to which the first worker 102A is allocated, and may generate a hatching image of a second design as a hatching image indicating the second work area 52 to which the second worker 102B is allocated. The same applies to the third work area 53, the fourth work area 54, and the fifth work area 55. By changing the design of the hatching image for each work area 50, the worker checking the display device 43 can recognize the relationship between the work area 50 and the worker 102 allocated to the work area 50. By checking the hatching image displayed on the display device 43, the worker 102 can recognize the work area 50 in which the worker oneself performs the replanting work, and can recognize the work area 50 in which another worker performs the replanting work. A name of the worker 102 may be displayed to be superimposed on the hatching image. For example, a name of the first worker 102A may be displayed to be superimposed on the hatching image indicating the first work area 51. A name of the second worker 102B may be displayed to be superimposed on the hatching image indicating the second work area 52. The same applies to the third work area 53, the fourth work area 54, and the fifth work area 55.

[0107] The display data generation unit 28 determines a size and a shape of the hatching image indicating the work area 50 according to the size (area) and the shape of the work area 50 set by the work area setting unit 27. The hatching image is an image indicating the size and the shape of the work area 50. According to the size of the hatching image, each of the plurality of workers 102 can recognize the size and the shape of the work area 50 where the worker oneself performs the replanting work, and can recognize the size and shape of the work area 50 where another worker performs the replanting work. Numerical data indicating the area of the work area 50 may be displayed to be superimposed on the hatching image. For example, numerical data indicating the area of the first work area 51 may be displayed to be superimposed on the hatching image indicating the first work area 51. Numerical data indicating the area of the second work area 52 may be displayed to be superimposed on the hatching image indicating the second work area 52. The same applies to the third work area 53, the fourth work area 54, and the fifth work area 55.

[0108] When the first button 18A is tapped, the first symbol 151 indicating the survival position of the sapling 8 is displayed. When the second button 18B is tapped, the second symbol 152 indicating the replanting position of the sapling 8 is displayed. The display data generation unit 28 can generate display data in which the first symbol 151 indicating the survival position of the sapling 8 is superimposed on the work area 50 based on the input data from the input device 42. The display data generation unit 28 can generate display data in which the second symbol 152 indicating the replanting position of the sapling 8 is superimposed on the work area 50 based on the input data from the input device 42. FIG. 13 illustrates an example in which the second symbol 152 is superimposed and displayed in the work area 50 and the first symbol 151 is not displayed.

[0109] As described above, the display data generation unit 28 generates display data in which the numerical data 17 related to the death of the sapling 8 is superimposed on the aggregation area 16. The numerical data 17 includes the dead rate for each aggregation area 16, the survival rate indicating a proportion of the saplings 8 that are not dead, the dead number indicating the number of the dead saplings 8 (the number of dead positions), the survival number indicating the number of saplings 8 that are not dead (the number of survival positions), and the planting number indicating the total value of the dead number and the survival number. The display data may include numerical data indicating the dead rate in one work area 50, numerical data indicating the survival rate in one work area 50, numerical data indicating the dead number included in one work area 50, numerical data indicating the survival number included in one work area 50, and numerical data indicating the planting number included in one work area 50. That is, the display data generation unit 28 may generate the display data including the dead rate, the survival rate, the dead number, the survival number, and the dead number (the number of dead positions) indicating the planting number for each work area 50.

[0110] The work area setting unit 27 may set the work area 50 based on a prescribed algorithm. The work area setting unit 27 may set the work area 50 based on the input data from the input device 42 and the prescribed algorithm. For example, when the number of workers 102 performing the replanting work is input from the input device 42, the work area setting unit 27 may set the work area 50 based on the number of workers 102. The work area setting unit 27 may set the same number of work areas 50 as the number of workers 102 in the afforestation area 11.

[0111] The work area setting unit 27 may set the work area 50 based on the replanting position specified by the replanting position specification unit 25. The work area setting unit 27 may set the work area 50 so that the number of replanting positions belonging to each of the plurality of work areas 50 becomes uniform.

[0112] The work area setting unit 27 may determine the number of replanting positions belonging to each of the plurality of work areas 50 based on the distance between the storage area 12 and the work area 50. The work area setting unit 27 may set the work area 50 so that the longer the distance from the storage area 12 to the work area 50 is, the smaller the number of replanting positions belonging to the work area 50 becomes. In other words, the work area setting unit 27 may set the work area 50 so that the shorter the distance between the storage area 12 and the work area 50 is, the larger the number of replanting positions belonging to the work area 50 is. As described above, when the replanting work is performed, the worker 102 carries the basket 7 stored in the storage area 12 and then moves to the replanting position.  Since the afforestation area 11 is vast, the worker 102 allocated to the work area 50 having a long distance from the storage area 12 necessarily moves a long distance between the storage area 12 and the work area 50. By allocating the work area 50 having a small number of replanting positions to the worker 102 necessarily moving a long distance, burden on the plurality of workers 102 is equalized.

[0113] The work area setting unit 27 may determine the number of replanting positions belonging to each of the plurality of work areas 50 based on the number of saplings 8 that can be carried out by the worker 102 from the storage area 12 at one time and the distance between the storage area 12 and the work area 50. The worker 102 carries out the saplings 8 accommodated in the basket 7 from the storage area 12 and moves to the allocated work area 50. The number of saplings 8 that can be accommodated in the basket 7 is finite. The number of the baskets 7 that can be carried out by the worker 102 at one time is finite. When the number of replanting positions belonging to the work area 50 is larger than the number of saplings 8 that can be accommodated in the basket 7, the worker 102 necessarily goes to the storage area 12 to pick up a new basket 7 (saplings 8) after replanting all the saplings 8 accommodated in the basket 7. That is, when the number of replanting positions belonging to the work area 50 is larger than the number of saplings 8 that can be accommodated in the basket 7, the worker 102 necessarily reciprocates between the storage area 12 and the work area 50. When setting the work area 50 in which the distance from the storage area 12 is longer than a predetermined distance threshold value, the work area setting unit 27 sets the work area 50 so that the number of replanting positions belonging to the work area 50 is smaller than the number of the saplings 8 that can be accommodated in the basket 7. By setting the work area 50 such that the number of replanting positions belonging to the work area 50 having a long distance from the storage area 12 is smaller than the number of saplings 8 can be accommodated in the basket 7, the worker 102 allocated to the work area 50 having a long distance from the storage area 12 does not necessarily reciprocate over the long distance between the storage area 12 and the work area 50. When the work area 50 in which the distance from the storage area 12 is equal to or less than the distance threshold value is set, the number of replanting positions belonging to the work area 50 is larger than the number of saplings 8 that can be accommodated in the basket 7. The worker 102 allocated to the work area 50 having a short distance from the storage area 12 necessarily reciprocates between the storage area 12 and the work area 50, but the reciprocation distance is short. Accordingly, the burden on the plurality of workers 102 is equalized.

[0114] The work area setting unit 27 may set the work area 50 based on proficiency of the plurality of workers 102. Proficiency data indicating the proficiency of the workers 102 is stored in advance in the storage unit 29. The work area setting unit 27 may set the work area 50 based on the proficiency data stored in the storage unit 29. The proficiency includes a speed of the replanting work. The work area setting unit 27 may set the work area 50 so that the number of replanting positions belonging to the work area 50 allocated to the worker 102 with high proficiency increases.

[0115] The work area setting unit 27 may divide the afforestation area 11 into a plurality of areas based on the replanting positions specified by the replanting position specification unit 25, set a partial area 500 of the afforestation area 11 where density of the replanting positions is equal to or greater than a predetermined specified value as the work area 50, and does not necessarily set an area where the density of the replanting positions is less than the specified value as the work area 50.

[0116] FIG. 16 is a diagram illustrating a method of setting the work area 50 according to the embodiment. In FIG. 16, the density of the replanting positions in the or greater than a predetermined specified value. The density of the replanting positions refers to the number of replanting positions per unit area. In the area 500 where the density of the replanting positions is high, the replanting work is intensively performed by the plurality of workers 102, and thus the replanting work ends early.

[0117] The work area setting unit 27 may set, as the work area 50, an area where the density of the replanting positions is less than the specified value without setting, as the work area 50, the partial area 500 of the afforestation area 11 where the density of the replanting positions is equal to or greater than the specified value. The area 500 where the density of the replanting positions is equal to or greater than the specified value is highly likely to be an area unsuitable for planting due to weather, pests such as ants, a surrounding natural environment, a state of soil, or the like. Even when the saplings 8 are replanted in the area 500 where the density of the replanting positions is equal to or greater than the specified value, the replanted sapling 8 is likely to die immediately. Since the area 500 where the density of the replanting positions is equal to or greater than the specified value is not set as the work area 50, the saplings 8 are inhibited from being wasted.

[0118] The work area setting unit 27 does not necessarily set, as the work area 50, the partial area 500 of the afforestation area 11 in which the density of the replanting positions is not within a predetermined specified range and may set, as the work area 50, an area where the density of the replanting positions is within the specified range. When the density of the replanting position is too high, the saplings 8 are highly likely to die. When the density of the replanting positions is too low, efficiency of the replanting work is reduced.

[0119] The work area setting unit 27 may divide the work area 50 set based on the density of the replanting positions into a plurality of work areas 50. For example, when there are an area having high density and an area having low density of replanting positions in one work area 50, each area is set as the work area 50.

[0120] The work area setting unit 27 may set, as the work area 50, the partial area 500 of the afforestation area 11 where the dead rate indicating the proportion of the dead saplings 8 among the plurality of saplings 8 planted in the afforestation area 11 is equal to or greater than the predetermined specified value and does not necessarily set, as the work area 50, an area where the dead rate is less than the specified value.

[0121] The work area setting unit 27 may set, as the work area 50, the partial area 500 of the afforestation area 11 where the dead rate is less than the specified value and does not necessarily set, as the work area 50, an area where the dead rate is equal to or greater than the specified value.

[0122] The work area setting unit 27 may set, as the work area 50, the partial area 500 of the afforestation area 11 where the dead rate is within the predetermined specified range and does not necessarily set, as the work area 50, an area where the dead rate is not within the specified range.

[0123] [Effects] As described above, the processor 10A of the server 2 includes the planting position acquisition unit 21 that acquires the planting position 13 indicating the position of the sapling 8 planted in the afforestation area 11, the captured image acquisition unit 22 that acquires the captured image indicating the image of the afforestation area 11 captured by the camera 92, the determination area setting unit 23 that collates the position of the afforestation area 11 on the captured image with the planting position 13 and sets the determination area 14 on the captured image, and the determination unit 24 that determines whether the sapling 8 is dead based on the captured image of the determination area 14 and outputs the determination result.

[0124] According to the embodiment, the replanting work is supported. Since the display data including the result of the death determination for the sapling 8 is generated, the worker 102 can efficiently perform the replanting work by checking the display data. According to the embodiment, the determination area 14 including the planting position 13 is set. By setting the determination area 14, the death determination for the sapling 8 is efficiently performed. Since only the determination area 14 on the captured image is a death determination target, the death determination for an area not including the dead position is not performed. Therefore, time used for the computer 10 to perform the death determination is shortened, and calculation cost of the computer 10 is reduced.

[0125] The determination unit 24 determines whether the sapling 8 is dead based on the reference image indicating the image of at least one of the dead sapling 8 and the sapling 8 that is not dead and the captured image of the determination area 14. As described with reference to FIG. 8, in the embodiment, the reference image includes the training image. The determination unit 24 can appropriately perform the death determination for the sapling 8 using the reference image.

[0126] The sapling 8 is planted by the afforestation machine 3. The planting position acquisition unit 21 can calculate the planting position 13 based on the position of the afforestation machine 3 detected by the position sensor 34.

[0127] The camera 92 is mounted on the moving body 9 moving in the afforestation area 11. In the embodiment, the moving body 9 is an unmanned aerial vehicle. The camera 92 can capture the image of the afforestation area 11 from above the afforestation area 11. The camera 92 can acquire the captured image of the entire afforestation area 11.

[0128] The display data displayed on the display device 43 includes one or both of the first symbol 151 indicating the sapling 8 determined not to be dead and the second symbol 152 indicating the sapling 8 determined to be dead. The employee 100 checking the display data can recognize whether the sapling 8 is dead based on the first symbol 151 and the second symbol 152 displayed on the display device 43.

[0129] The display data generation unit 28 generates the display data in which one or both of the first symbol 151 and the second symbol 152 are superimposed on the captured image. One or both of the first symbol 151 and the second symbol 152 are superimposed and displayed on the imaging device in the afforestation area 11, and thus the employee 100 checking the display data can recognize one or both of the survival position and the replanting position of the sapling 8 in the afforestation area 11.

[0130] The display data generation unit 28 superimposes and displays the first symbol 151 on the sapling 8 determined not to be dead and superimposes and displays the second symbol 152 on the sapling 8 determined to be dead in the captured image. Since the first symbol 151 is superimposed and displayed on the survival position and the second symbol 152 is superimposed and displayed on the dead position, the employee 100 checking the display data can recognize the survival position and the replanting position of the sapling 8.

[0131] As described above, the processor 10A of the server 2 includes the work area setting unit 27 that sets, in the afforestation area 11, the work area 50 of the worker 102 performing replanting at the replanting position indicating the position at which the sapling 8 is to be replanted in the afforestation area 11, and the display data generation unit 28 that generates the display data indicating the work area 50.

[0132] According to the embodiment, the replanting work is supported. Since the display data indicating the work area 50 to which the worker 102 is allocated is generated, the worker 102 can efficiently perform the replanting work by checking the display data.

[0133] The processor 10A of the server 2 includes the replanting position specification unit 25 that specifies the replanting position indicating the position at which the sapling 8 is to be replanted in the afforestation area 11. The replanting position specification unit 25 specifies the replanting position at which the worker 102 is to replant the sapling 8.

[0134] The work area setting unit 27 sets the work area 50 based on the input data from the input device 42. The manager 101 can set the work area 50 having any size and shape at any position of the afforestation area 11 by operating the input device 42.

[0135] The work area setting unit 27 can set the plurality of work areas 50 based on the number of workers 102. Based on the number of workers 102, the work area setting unit 27 can set the plurality of work areas 50 so that work load of each of the plurality of workers 102 becomes uniform.

[0136] The work area setting unit 27 sets the work area 50 based on the replanting position. For example, the work area 50 is set so that a difference in the number of replanting positions belonging to each of the plurality of work areas 50 is equal to or less than a predetermined allowable value, and thus the work load of each of the plurality of workers 102 is equalized.  For example, by setting the work area 50 so that the replanting positions belonging to each of the plurality of work areas 50 are uniform, the work load of each of the plurality of workers 102 is equalized.

[0137] The work area setting unit 27 may set the work area 50 so that mutual differences among the areas of the plurality of work areas 50 is equal to or less than a predetermined allowable value. For example, the work area setting unit 27 may set the work area 50 so that the areas of the plurality of work areas 50 are uniform. Accordingly, the work load of each of the plurality of workers 102 is equalized.

[0138] The storage area 12 where the saplings 8 to be replanted are located is provided in at least a part of the periphery of the afforestation area 11. The work area setting unit 27 determines the number of replanting positions belonging to each of the plurality of work areas 50 based on the distance between the storage area 12 and the work area 50. The work area 50 is set so that the longer the distance between the storage area 12 and the work area 50 is, the smaller the number of replanting positions belonging to the work area 50 is, and thus the work load of each of the plurality of workers 102 is equalized.

[0139] The storage area 12 where the saplings 8 to be replanted are located is provided in at least a part of the periphery of the afforestation area 11. The work area setting unit 27 determines the number of replanting positions belonging to each of the plurality of work areas 50 based on the number of saplings 8 that can be carried out by the worker 102 from the storage area 12 at one time and the distance between the storage area 12 and the work area 50. As the distance from the storage area 12 is longer, the work area 50 is set so that the number of replanting positions belonging to the work area 50 is smaller than the number of saplings 8 that can be accommodated in the basket 7. As the distance from the storage area 12 is shorter, the work area 50 is set so that the number of replanting positions belonging to the work area 50 is larger than the number of saplings 8 that can be accommodated in the basket 7, and thus the work load of each of the plurality of workers 102 is equalized.

[0140] The work area setting unit 27 sets, as the work area 50, the partial area 500 of the afforestation area 11 where the density of the replanting positions is equal to or greater than a specified value. In the area 500 where the density of the replanting positions is high, the replanting work is intensively performed by the plurality of workers 102, and thus the replanting work ends early.

[0141] The display data displayed on the display device 43 includes the number of replanting positions included in the work area 50. The worker 102 checking the display data can recognize their own work load based on the number of replanting positions displayed on the display device 43.

[0142] The display data displayed on the display device 43 includes the hatching image indicating the size and the shape of the work area 50. The worker 102 checking the display data can recognize their own work load based on the hatching image displayed on the display device 43.

[0143] The display data generation unit 28 generates the display data in which the second symbol 152 indicating the replanting position is superimposed on the work area 50. The display data generation unit 28 generates the display data in which the second symbol 152 indicating the replanting position is superimposed on the image indicating the work area 50. The image indicating the work area 50 includes a captured image of the work area 50 captured by the camera 92 of the moving body 9 or an orthographic image of the work area 50. The worker 102 checking the display data can recognize the replanting position of the sapling 8 in the afforestation area 11.

[0144] As described above, the processor 10A of the server 2 includes the aggregation unit 26 that sets the plurality of aggregation areas 16 in the afforestation area 11 where the plurality of saplings 8 are planted and calculates a numerical value related to the death of the sapling 8 for each aggregation area 16, and the display data generation unit 28 that generates the display data indicating the relationship between the aggregation area 16 and the numerical value of the aggregation area 16.

[0145] According to the embodiment, the replanting work is supported. Since the display data indicating the relationship between the aggregation area 16 and the numerical value related to the death of the saplings 8 in the aggregation area 16 is generated, the employee 100 can visually or intuitively understand, for example, which aggregation area 16 has a relatively high dead rate with respect to the entire afforestation area 11 by checking the display data, and thus, can recognize the aggregation area 16 where the replanting work is to be performed. The employee 100 can efficiently perform the replanting work.

[0146] The display data includes the heatmap in which the color density of the aggregation area 16 differs based on the numerical value related to the death of the sapling 8 or the heatmap in a single color with different density. By displaying the heatmap indicating the numerical value related to the death of the sapling 8 on the display device 43, the employee 100 checking the display device 43 can intuitively recognize the aggregation area 16 where the replanting work is to be performed.

[0147] The display data generation unit 28 generates the display data in which the numerical value related to the death of the sapling 8 is superimposed on the aggregation area 16. Since the numerical data related to the death of the sapling 8 is superimposed and displayed on the aggregation area 16 for each aggregation area 16, the employee 100 checking the display data can recognize, for example, the dead rate for each aggregation area 16.

[0148] The aggregation unit 26 calculates, for each aggregation area 16, the survival number indicating the number of saplings 8 that are not dead and the dead number indicating the number of dead saplings 8. The display data generation unit 28 generates the display data in which the survival number and the dead number are superimposed on the aggregation area 16. Since the numerical data indicating the survival number and the numerical data indicating the dead number are superimposed and displayed in the aggregation area 16 for each aggregation area 16, the employee 100 checking the display data can recognize the survival number and the dead number for each aggregation area 16.

[0149] The aggregation unit 26 calculates the total dead rate indicating the proportion of the dead saplings 8 in the entire afforestation area 11, the total survival number indicating the total number of the saplings that are not dead in the entire afforestation area 11, and the total dead number indicating the total number of the dead saplings 8 in the entire afforestation area 11. The display data includes the total dead rate, the total survival number, and the total dead number. Since the display data including the total dead rate, the total survival number, and the total dead number is displayed on the display device 43, the employee 100 checking the display data can recognize the total dead rate, the total survival number, and the total dead number of the entire afforestation area 11.

[0150] The display data generation unit 28 generates the display data in which the second symbol 152 indicating the position of the dead sapling 8 is superimposed on the aggregation area 16. The worker 102 checking the display data can recognize the replanting position of the sapling 8 in the aggregation area 16.

[0151] [Other Embodiments] In the above-described embodiment, the information terminal 4 is carried by the employee 100. The information terminal 4 is not necessarily carried by the employee 100. The information terminal 4 may be located in an office outside the afforestation area 11. The information terminal 4 may be a smartphone or a personal computer located in the office. A manager or a supervisor in the office may browse or input various types of data related to the afforestation work using the information terminal 4 located in the office.

[0152] In the above-described embodiment, the planting position 13 is detected by the position sensor 34 of the afforestation machine 3. When a position sensor including a GNSS receiver is provided in the afforestation tool 6, the planting position 13 may be detected by the position sensor of the afforestation tool 6. The planting position acquisition unit 21 may acquire the planting position 13 of the sapling 8 from the position sensor of the afforestation tool 6.

[0153] In the above-described embodiment, the functional units of the server 2 may be configured by separate computers (hardware). For example, a server that generates the display data and a server that distributes the display data to the information terminal 4 may be separate servers.

[0154] In the above-described embodiment, a part or all of the functional units of the server 2 may be provided in, for example, the controller 41 of the information terminal 4. The controller 41 (processor) of the information terminal 4 may acquire the planting position 13 indicating the position of the sapling 8 planted in the afforestation area 11, acquire the captured image indicating the image of the afforestation area 11 captured by the camera 92, collate the position on the captured image with the planting position 13, set the determination area 14 on the captured image, determine whether the sapling 8 is dead based on the captured image of the determination area 14, and output the determination result. The controller 41 (processor) of the information terminal 4 may generate the display data including the determination result, and cause the display device 43 to display the display data.

[0155] The controller 41 (processor) of the information terminal 4 may set, in the afforestation area 11, the work area 50 of the worker 102 performing the replanting at the replanting position indicating the position at which the sapling 8 is to be replanted in the afforestation area 11, generate the display data indicating the work area 50, and cause the display device 43 to display the display data. The controller 41 (processor) of the information terminal 4 may specify the replanting position in the afforestation area 11. The controller 41 (processor) of the information terminal 4 may set the work area 50 based on the input data from the input device 42. The controller 41 (processor) of the information terminal 4 may set the plurality of aggregation areas 16 in the afforestation area 11 where the plurality of saplings 8 are planted, calculate the dead rate indicating the proportion of the dead saplings 8 for each aggregation area 16, acquire the input data in a state where the display data indicating the relationship between the aggregation area 16 and the dead rate of the aggregation area 16 is displayed on the display device 43, and set the work area 50.

[0156] The controller 41 (processor) of the information terminal 4 may set the plurality of aggregation areas 16 in the afforestation area 11 where the plurality of saplings 8 are planted, calculate the numerical value related to the death of the saplings 8 for each aggregation area 16, generate the display data (heatmap) indicating the relationship between the aggregation area 16 and the numerical value of the aggregation area 16, and cause the display device 43 to display the display data (heatmap). The controller 41 (processor) of the information terminal 4 may generate the display data in which the numerical value related to the death of the sapling 8 is superimposed on the aggregation area 16, and cause the display device 43 to display the display data.

[0157] When a communication environment of the afforestation area 11 is poor, communication between the information terminal 4 and the server 2 is likely to be difficult. When the communication between the information terminal 4 and the server 2 is difficult, data transmitted from a first information terminal 4 may be received by a second information terminal 4 without passing through the server 2. Since all the functional units of the server 2 are provided in the controller 41 of the information terminal 4, the information terminal 4 can perform the processing described in the above embodiment. The first information terminal 4 and the second information terminal 4 may communicate with each other via a wireless local area network (LAN) such as Wifi (registered trademark). The first information terminal 4 and the second information terminal 4 may communicate with each other via a wireless personal area network (PAN) such as Bluetooth (registered trademark) or Zigbee (registered trademark). Reference Signs List

[0158] 1 AFFORESTATION SYSTEM 2  SERVER 3 AFFORESTATION MACHINE 4  INFORMATION TERMINAL 5 COMMUNICATION SYSTEM 6 AFFORESTATION TOOL 7  BASKET 8  SAPLING (PLANT) 9 MOVING BODY 10 COMPUTER 10A PROCESSOR 10B MAIN MEMORY 10C  STORAGE 10D INPUT / OUTPUT INTERFACE 10E COMMUNICATION INTERFACE 10F COMPUTER PROGRAM 11 AFFORESTATION AREA 12 STORAGE AREA 13 PLANTING POSITION 14 DETERMINATION AREA 15 SYMBOL 5 16 AGGREGATION AREA 16A AGGREGATION AREA 17 NUMERICAL DATA 18A FIRST BUTTON 18B SECOND BUTTON 10 19A NUMERICAL DATA 19B NUMERICAL DATA 19C NUMERICAL DATA 20 LEARNING DEVICE 21 PLANTING POSITION ACQUISITION UNIT 15 22 CAPTURED IMAGE ACQUISITION UNIT 23 DETERMINATION AREA SETTING UNIT 24 DETERMINATION UNIT 25 REPLANTING POSITION SPECIFICATION UNIT 26 AGGREGATION UNIT 20 27 WORK AREA SETTING UNIT 28 DISPLAY DATA GENERATION UNIT 29 STORAGE UNIT 30 VEHICLE BODY 31 TRAVELING DEVICE 25 32 PLANTING DEVICE 33 CONTROLLER 34 POSITION SENSOR 35 ATTITUDE SENSOR 36 ARM 30 37 FRAME 38 HYDRAULIC CYLINDER 39 PLANTING UNIT 39A PLANT HOLDING PORTION 39B MAIN BODY PORTION 39C EXPANSION / CONTRACTION PORTION 41 CONTROLLER 42 INPUT DEVICE 5 43 DISPLAY DEVICE 44 POSITION SENSOR 50 WORK AREA 51 FIRST WORK AREA 52 SECOND WORK AREA 10 53 THIRD WORK AREA 54 FOURTH WORK AREA 55 FIFTH WORK AREA 91 CONTROLLER 92 CAMERA 15 93 POSITION SENSOR 94 ATTITUDE SENSOR 100 EMPLOYEE 101 MANAGER 102 WORKER 20 151 FIRST SYMBOL 152 SECOND SYMBOL 500 AREA

Claims

1. An afforestation system comprising a processor, wherein the processoracquires a planting position indicating a position ofa plant planted in an afforestation area,acquires a captured image indicating an image of theafforestation area captured by a camera,collates a position on the captured image with theplanting position and sets a determination area on thecaptured image,determines whether the plant is dead based on thecaptured image of the determination area, andoutputs a result of the determination.

2. The afforestation system according to claim 1, wherein the processor determines whether the plant is dead based on a reference image indicating an image of atleast one of the dead plant and the plant that is not dead,and the captured image of the determination area.

3. The afforestation system according to claim 1,wherein the processor determines whether the plant isdead using a learned model that has the captured image ofthe determination area as an input and has a result of thedeath determination for the plant as an output.

4. The afforestation system according to claim 1,wherein the plant is planted by an afforestationmachine, andthe processor calculates the planting position basedon detection data of a position sensor that detects a position of the afforestation machine.

5. An information terminal comprising a processor, wherein the processoracquires a planting position indicating a position ofa plant planted in an afforestation area,acquires a captured image indicating an image of theafforestation area captured by a camera,collates a position on the captured image with theplanting position and sets a determination area on thecaptured image,determines whether the plant is dead based on thecaptured image of the determination area, andoutputs a result of the determination.

6. An afforestation system comprising a processor, wherein the processorsets, in an afforestation area, a work area of aworker who replants a plant at a replanting positionindicating a position at which the plant is to be replantedin the afforestation area, andgenerates display data indicating the work area.

7. The afforestation system according to claim 6,wherein the processor sets the work area based on input data from an input device.

8. The afforestation system according to claim 7, wherein the processorsets a plurality of aggregation areas in the afforestation area in which a plurality of plants areplanted,calculates a dead rate indicating a proportion of deadplants for each aggregation area, andacquires the input data and sets the work area in astate where display data indicating a relationship between the aggregation area and the dead rate of the aggregationarea is displayed on a display device.

9. The afforestation system according to claim 7, wherein the processoracquires the input data and sets the work area in a state where at least one of the afforestation area, thereplanting position, a dead position indicating a position of the dead plant, a survival position indicating aposition of an alive plant, an orthographic image of theafforestation area, and an image used for death determination of the plant is displayed on a display device.

10. The afforestation system according to claim6,wherein the processor sets, as the work area, at leastone of a partial area of the afforestation area in which adensity of the replanting positions is equal to or greaterthan a specified value, a partial area of the afforestationarea in which the density of the replanting positions isless than the specified value, and a partial area of theafforestation area in which the density of the replantingpositions is within a specified range.

11. The afforestation system according to claim6,wherein the processorsets, as the work area, at least one of a partial areaof the afforestation area in which a dead rate indicating aproportion of dead plants among a plurality of plantsthan a specified value, a partial area of the afforestation area in which the dead rate is less than the specified value, and a partial area of the afforestation area inwhich the dead rate is within a specified range.

12. The afforestation system according to claim6,wherein the display dataincludes at least one of a number of replantingpositions included in the work area, a dead rate indicatinga proportion of dead plants among a plurality of plants planted in the work area, and a distance between the workarea and a storage area provided in at least a part of aperiphery of the afforestation area and in which the plantsfor the replanting are located.

13. An information terminal comprisinga processor,wherein the processorsets, in an afforestation area, a work area of aworker who replants a plant at a replanting positionindicating a position at which the plant is to be replantedin the afforestation area, andgenerates display data indicating the work area.

14. An afforestation system comprisinga processor,wherein the processorsets a plurality of aggregation areas in anafforestation area in which a plurality of plants areplanted,calculates a numerical value related to death of thegenerates display data indicating a relationship between the aggregation area and the numerical value of the aggregation area.

15. The afforestation system according to claim14,wherein the display data includes a heatmap in which acolor density of the aggregation area differs or a heatmap in a single color with different density based on the numerical value.

16. The afforestation system according to claim14,wherein the numerical value includes at least one of adead rate indicating a proportion of the plants that aredead, a survival rate indicating a proportion of the plantsthat are not dead, a dead number indicating the number ofthe dead plants, a survival number indicating the number ofthe plants that are not dead, and a planting number indicating a total value of the dead number and thesurvival number.

17. The afforestation system according to claim14, wherein the processor calculates a total dead rateindicating a proportion of the plants that are dead in theafforestation area, a total survival number indicating atotal number of the plants that are not dead in theafforestation area, and a total dead number indicating atotal number of the dead plants in the afforestation area,andthe display data includes the total dead rate, the total survival number, and the total dead number.

18. An information terminal comprising aprocessor,wherein the processorsets a plurality of aggregation areas in an afforestation area where a plurality of plants are planted,calculates a numerical value related to death of theplants for each aggregation area, andgenerates display data indicating a relationship between the aggregation area and the numerical value of the aggregation area.

19. The information terminal according to claim18,wherein the display data includes a heatmap in which acolor density of the aggregation area differs or a heatmap in a single color with different density based on the numerical value.

20. The information terminal according to claim18,wherein the numerical value includes at least one of adead rate indicating a proportion of the plants that aredead, a survival rate indicating a proportion of the plantsthat are not dead, a dead number indicating the number ofthe dead plants, a survival number indicating the number ofthe plants that are not dead, and a planting number indicating a total value of the dead number and thesurvival number.

Images