Farming information management method, farming information management system, and program

Abstract

To provide information on a field in a manner highly convenient for a user.SOLUTION: The farming information management method includes determining, for a work device that performs work using a movable part that is movable in an up-down direction, a varied position at which an altitude of the movable part has varied during a work period in which the work device has performed the work, based on positioning information indicating a position of the work device and altitude information regarding a height of the movable part, determining, based on the determined varied position, a position of a target object present in soil of a field in which the work device has performed the work, and outputting output information indicating the determined position of the target object.SELECTED DRAWING: Figure 7B

Description

[Technical Field]

[0001] The present invention relates to a farming information management method, a farming information management system, and a program. [Background technology]

[0002] As the computerization of agriculture has progressed in recent years, systems for managing agricultural information have been developed. For example, the technology of Patent Document 1 discloses a system for managing information indicating the location of any noteworthy objects on the ground of a farm field (for example, the presence of obstacles such as gutters or drainage facilities, or abnormal ground conditions such as mud or bumps). With the technology of Patent Document 1, the operator of a working device working in the farm field obtains ground information about the current position of the working device by operating a setting button displayed on a display device mounted on the working device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-60295 Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology of Patent Document 1, to obtain information about objects in a field (for example, water intakes, drainage outlets, or obstacles such as stakes), the operator must press a button displayed on the display device of the work equipment working in the field. This places an operational burden on the operator while working in the field. Furthermore, forgetting to operate the equipment or delaying operation can sometimes result in missing information or a decrease in accuracy.

[0005] Another possible way to provide information about a farm field is to provide information indicating the type of work performed in the field. However, particularly for work in paddy fields, there are cases where the types of work that can be identified are limited.

[0006] As described above, conventional techniques may not be very convenient for users when providing them with information about obstacles in a farm field.

[0007] In view of the above circumstances, one object of the present disclosure is to provide information about farm fields in a manner that is highly convenient for users. Other objects can be understood from the following description and explanation of the embodiments. [Means for solving the problem]

[0008] The following describes the means for solving the problems using the numbers and symbols used in the description of the invention. These numbers and symbols are added in parentheses for reference purposes to show an example of the correspondence between the claims and the description of the invention. Therefore, the claims should not be interpreted as being limited by the parenthetical descriptions.

[0009] The farming information management method according to the embodiment includes determining, for a work device (30) that performs work using a movable part (MP) that can move in the vertical direction, a position to which the altitude of the movable part (MP) has changed during a work period in which the work device (30) performed work, based on positioning information indicating the position of the work device (30) and altitude information regarding the height of the movable part (MP); determining, based on the determined position, the positions of target objects (A1, A2, A3) present in the soil of the field (F) in which the work device (30) performed work; and outputting output information indicating the determined positions of the target objects.

[0010] The farming information management system (1) according to the embodiment includes a change determination unit (140) that determines, for a work device (30) that performs work using a movable part (MP) that can move in the vertical direction, a change position to which the altitude of the movable part (MP) has changed during the work period in which the work device (30) performed work, based on positioning information indicating the position of the work device (30) and altitude information regarding the height of the movable part (MP); a target determination unit (150) that determines, based on the change position determined by the change determination unit (140), the positions of target objects (A1, A2, A3) present in the soil of the field (F) in which the work device (30) performed work; and an information output unit (170) that outputs output information indicating the positions of the target objects determined by the target determination unit (150).

[0011] The programs (P1 to P3) according to the embodiments cause the computer (14, 24, 34) to perform the following operations: determine a position where the altitude of the movable part (MP) of a work device (30) that performs work using a movable part (MP) that can move in the vertical direction has changed during the work period in which the work device (30) performed the work, based on positioning information indicating the position of the work device (30) and altitude information regarding the height of the movable part (MP); determine the positions of target objects (A1, A2, A3) that exist in the soil of the field (F) in which the work device (30) performed the work, based on the determined position; and output output information indicating the determined positions of the target objects. [Effects of the Invention]

[0012] According to the above embodiment, it is possible to provide information about a farm field in a manner that is highly convenient for the user. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a block diagram showing the configuration of a farming information management system according to an embodiment. [Figure 2] FIG. 1 is a conceptual diagram for explaining the processing executed by the farming information management system according to an embodiment. [Figure 3] FIG. 1 is a block diagram showing the configuration of a farming information management device according to an embodiment. [Figure 4] FIG. 2 is a block diagram showing the configuration of a terminal device according to the embodiment. [Figure 5] 1 is a block diagram showing a configuration of a working device according to an embodiment; [Figure 6] FIG. 2 is a block diagram showing the functional configuration of the farming information management system according to the embodiment. [Figure 7A] 1 is a flowchart showing the processing executed by the farming information management system according to the embodiment. [Figure 7B] 1 is a flowchart showing the processing executed by the farming information management system according to the embodiment. [Figure 8] 1 is a flowchart showing the processing executed by the farming information management system according to the embodiment. [Figure 9] FIG. 1 is a conceptual diagram for explaining the processing executed by the farming information management system according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] (Embodiment 1) A farming information management system according to an embodiment will be described below with reference to the drawings. As shown in FIG. 1, the farming information management system 1 includes a farming information management device 10, one or more terminal devices 20, and one or more operation devices 30 that perform work in a farm field F. The farming information management device 10, the one or more terminal devices 20, and the one or more operation devices 30 can communicate with each other via a network NT. The network NT is, for example, the Internet. In addition, the operation devices 30 can receive positioning signals transmitted by positioning satellites GP.

[0015] The implement 30 may be, for example, an agricultural machine capable of working in a field F, such as a tractor equipped with a ridger. One or more implements 30 may each perform agricultural work in one or more fields F, with a predetermined working width perpendicular to the direction of travel. As will be described later, the implement 30 continuously measures its own position based on positioning signals from positioning satellites GP. Hereinafter, the position measured by the implement 30 may be referred to as the measured position, the time when the measured position is measured may be referred to as the positioning time, and information indicating the measured position may be referred to as positioning information.

[0016] The soil surface or the soil surface layer of the field F may contain objects that could be obstacles to work. If the field F is a paddy field filled with irrigation water, as shown in FIG. 2, the field F may be equipped with a water inlet A1 for taking in irrigation water and a water outlet A2 for discharging the irrigation water as objects of interest. The field F may also contain obstacles A3, such as stakes, as objects of interest. These objects may cause problems, such as damage to work machinery. Therefore, information on the location of objects of interest in the field F is useful for carrying out agricultural work in the field F. Therefore, the farming information management system 1 determines the location of objects of interest in the field F based on operation information of the work device 30, as described below, and provides the user with information indicating the location of the objects of interest. The information indicating the location of the objects of interest is displayed, for example, on a screen S of the terminal device 20 shown in FIG. 1.

[0017] Work performed in the field F includes, for example, ridge painting. In order to paint the walls of the ridges provided on the periphery of the field F, the work implement 30 performs the ridge painting work while moving in a circular motion around the periphery of the field F, as shown in FIG. 2, for example. During the ridge painting work, the work implement 30 performs the work at a slower working speed (e.g., 0.5 to 2 kilometers per hour) than during many other types of work. In FIG. 2, the measured positions of the work implement 30 measured during work in the field F are indicated by black circles, and the movement trajectory is indicated by dotted lines. As shown in FIG. 2, during the ridge painting work, the work implement 30 works at a relatively slow working speed, focusing on the outermost periphery of the field F, which is susceptible to the influence of target objects such as the water inlet A1 and the water outlet A2. Therefore, the influence of the target object may be easily apparent in the behavior of the work device 30 when performing ridge painting work (for example, the trajectory during work and the up and down movement of the movable part MP in Figure 5). Therefore, the farming information management system 1 of this embodiment determines information on the position of the target object based on operation information when performing ridge painting work (also called work of a specific work type) out of the multiple types of work that can be performed in the field F.

[0018] The configuration of the farming information management system 1 will now be described. As shown in Figure 3, the farming information management device 10 included in the farming information management system 1 comprises an input / output device 12, a calculation device 14, a communication device 16, and a storage device 18. The farming information management device 10 is, for example, a computer with server functionality. The functions of the farming information management device 10 may be provided in the cloud via a network NT.

[0019] Information for the arithmetic device 14 to execute processing is input to the input / output device 12. The input / output device 12 also outputs the results of processing executed by the arithmetic device 14. The input / output device 12 includes various input devices and output devices, such as a keyboard, a mouse, a microphone, a display, a speaker, and a touch panel.

[0020] The communication device 16 is communicatively connected to the network NT and communicates with devices external to the farming information management device 10 (e.g., terminal devices 20 and work devices 30) via the network NT. The communication device 16 transfers information acquired from external devices to the calculation device 14. It also transfers information generated by the calculation device 14 to external devices. The communication device 16 includes various interface devices with data communication functions, such as a NIC (Network Interface Card) and a USB (Universal Serial Bus).

[0021] The storage device 18 stores a program P1 including various instructions for the farming information management device 10 of this embodiment to execute the processes described below. The storage device 18 is used as a non-transitory tangible storage medium for storing these instructions. The program P1 may be provided as a computer program product recorded on a computer-readable storage medium M1. The storage medium M1 may be a portable physical medium such as a CD (Compact Disc), a DVD (Digital Versatile Disc), or a USB (Universal Serial Bus) memory. Alternatively, the storage medium M1 may be a storage device of an external server that stores the program P1. In this case, the program P1 may be provided as a computer program product that can be downloaded from the server.

[0022] The arithmetic unit 14 reads and executes a program P1 including instructions for executing at least a part of the processing described below from the storage device 18. The arithmetic unit 14 includes, for example, a central processing unit (CPU).

[0023] As shown in Fig. 4, the terminal device 20 included in the farming information management system 1 includes an input / output device 22, a calculation device 24, a communication device 26, and a storage device 28. The terminal device 20 is, for example, a mobile device such as a tablet or a smartphone. The terminal device 20 may also be a stationary personal computer or a notebook computer.

[0024] Information for the arithmetic device 24 to execute processing is input to the input / output device 22. Furthermore, the input / output device 22 outputs the results of processing executed by the arithmetic device 24. The input / output device 22 includes various input devices and output devices. Furthermore, the input / output device 22 includes a touch panel or display that functions as a screen S on which the trajectory of the working device 30 is displayed. In cases where the terminal device 20 is a personal computer, the input / output device 22 may include a keyboard, a mouse, a microphone, etc.

[0025] The communication device 26 is communicatively connected to the network NT and communicates with devices external to the terminal device 20 (e.g., the farming information management device 10) via the network NT. The communication device 26 transfers information acquired from the external devices to the calculation device 24. It also transfers information generated by the calculation device 24 to the external devices. The communication device 26 includes various interface devices with communication functions, such as transceivers used for wireless communication such as wireless LANs (Local Area Networks) and cellular networks.

[0026] The storage device 28 stores a program P2 including various instructions for the farming information management system 1 of this embodiment to execute the processes described below. The storage device 28 is used as a non-transitory storage medium for storing these instructions. The program P2 may be provided as a computer program product recorded on a computer-readable storage medium M2. The storage medium M2 may be a portable physical medium such as a CD, DVD, or USB memory. Alternatively, the storage medium M2 may be a storage device of an external server that stores the program P2. In this case, the program P2 may be provided as a computer program product that can be downloaded from the server.

[0027] The arithmetic unit 24 reads and executes a program P2 including instructions and data for executing at least a part of the processing described below from the storage device 28. For example, the arithmetic unit 24 includes a central processing unit (CPU) and the like.

[0028] As shown in FIG. 5, the operating device 30 includes a power source 31, an input / output device 32, an operating device 33, a computing device 34, a communication device 36, a storage device 38, and a measuring device 39.

[0029] The power source 31 supplies power for the work implement 30 to move and perform work on the field F. The power source 31 includes, for example, an engine or an electric motor.

[0030] Information for executing processing by the arithmetic unit 34 is input to the input / output device 32. The input / output device 32 also outputs the results of processing executed by the arithmetic unit 34. The input / output device 32 may also include various input and output devices, such as a speaker, a touch panel, a keyboard, a mouse, a microphone, and a display.

[0031] The operating device 33 includes a mechanical device, such as a ridger, for performing work to be performed in the field F. The operating device 33 includes a movable part MP that can move up and down between a first altitude and a second altitude. The movable part MP includes, for example, a roller for performing ridge painting. The movable part MP is attached to the body of the work implement 30 via a hitch in a manner that allows power to be transmitted, and is attached to a lift arm. The operating device 33 can raise and lower the movable part MP by changing the angle of the lift arm. The movable part MP continues to perform the operations required for ridge painting while the operating device 33 is in a PTO (Power Take Off) on state, in which power is supplied from the power source 31. On the other hand, the movable part MP does not perform the operations required for ridge painting while the operating device 33 is in a PTO off state, in which power is not supplied from the power source 31. Furthermore, the movable part MP maintains a position where it can perform ridge painting while at the first altitude relative to the soil surface of the field F. On the other hand, while the movable part MP is positioned at a second altitude higher than the first altitude, it cannot actually perform ridge painting work, but it maintains a position that does not come into contact with target objects present on the soil surface or surface layer.

[0032] The communication device 36 is communicatively connected to the network NT and communicates with devices external to the work device 30 (for example, the farming information management device 10) via the network NT. The communication device 36 transfers information acquired from the farming information management device 10 to the calculation device 34. It also transfers information generated by the calculation device 34 to the farming information management device 10. The communication device 36 includes various interface devices with wireless communication capabilities, such as a transceiver for a cellular network or a wireless LAN.

[0033] The storage device 38 stores a program P3 including various data and instructions for the farming information management system 1 of this embodiment to execute the processes described below. The storage device 38 is used as a non-transitory storage medium for storing this data and instructions. The program P3 may be provided as a computer program product recorded on a computer-readable storage medium M3. The storage medium M3 may be a portable physical medium such as a CD, DVD, or USB memory. Alternatively, the storage medium M3 may be a storage device of an external server that stores the program P3. In this case, the program P3 may be provided as a computer program product that can be downloaded from the server.

[0034] The measurement device 39 continuously measures the position of the operating device 30 and the operating status of the operating device 30. The measurement device 39 includes, for example, a GNSS (Global Navigation Satellite System) receiver, receives positioning signals from positioning satellites GP, and continuously measures the position and time of the operating device 30. Alternatively, the measurement device 39 may measure the position of the operating device 30 by self-localization using a quantum compass.

[0035] In this embodiment, the measuring device 39 includes a sensor that continuously measures the PTO state of the operating device 33 (e.g., whether the PTO is on or off) as the operating state of the working device 30. The measuring device 39 also includes sensors that continuously measure the altitude of the movable part MP (e.g., whether it is at a first altitude or a second altitude) as the operating state of the working device 30. In this embodiment, the measuring device 39 includes a sensor that measures the angle of a lift arm that holds the movable part MP. The measuring device 39 can indirectly measure the altitude of the movable part MP, for example, by estimating that when the lift arm angle is at a first angle, the movable part MP is at the first altitude, and when the lift arm angle is at a second angle, the movable part MP is at the second altitude. The measuring device 39 may also include a sensor that measures the vehicle speed (wheel speed) of the working device 30.

[0036] The arithmetic device 34 reads and executes a program P3, which includes instructions and data for executing at least a portion of the processing described below, from the storage device 38. For example, the arithmetic device 34 includes a central processing unit (CPU). The arithmetic device 34 may be, for example, an ECU (Electronic Control Unit) that is incorporated into the working device 30 and controls each part of the working device 30.

[0037] Next, the functions of the farming information management system 1 will be described with reference to Fig. 6. The operation device 30 realizes the functions of the sampling unit 310, output unit 320, and operation unit 330 in Fig. 6 by the calculation device 34 in Fig. 5 executing the program P3.

[0038] As will be described later, the sampling unit 310 of the working device 30 continuously measures the position and time of the working device 30 using the measuring device 39 at predetermined timings (for example, every one second) while the power source 31 of the working device 30 is activated. The sampling unit 310 also measures the operating status of the working device 30 (for example, vehicle speed, PTO status, and altitude of the movable part MP) in synchronization with the positioning. The sampling unit 310 generates operating information that indicates the positioning position, the positioning time, and the operating status. Of the operating information, information that indicates the altitude of the movable part MP is sometimes referred to as altitude information.

[0039] The output unit 320 of the working device 30 transmits the operation information generated by the sampling unit 310 to the farming information management device 10 using the communication device 36. The operation information output by the output unit 320 may include information (e.g., an identifier) ​​that identifies the working device 30. In this embodiment, when the power source 31 changes from a key-on state to a key-off state, the output unit 320 outputs all of the operation information generated by the sampling unit 310 during the period when the power source 31 was in the key-on state.

[0040] The working unit 330 of the working device 30 performs ridge painting using the operating device 33 when the PTO is on and the movable part MP is at a first altitude. The working unit 330 temporarily suspends the ridge painting operation when the operating device 33 is in the PTO on state and the movable part MP is at a second altitude. On the other hand, when the operating device 33 is in the PTO off state, the working unit 330 does not perform ridge painting regardless of the altitude of the movable part MP. In this embodiment, unless otherwise specified, the period when the operating device 33 is in the PTO on state is considered to be the working period when the working unit 330 is performing ridge painting.

[0041] The farming information management device 10 of the farming information management system 1 realizes the functions of the information acquisition unit 110, period determination unit 120, work determination unit 130, change determination unit 140, target determination unit 150, type determination unit 160, information output unit 170, and information storage unit 180 shown in Figure 6 by the calculation device 14 of Figure 3 executing program P1.

[0042] The information storage unit 180 stores information for the farming information management device 10 to execute processing. For example, the information storage unit 180 stores farm field information D1 in advance before starting the processing described below. The information storage unit 180 may also store setting information such as thresholds used in the processing described below.

[0043] The field information D1 includes, for each of one or more fields F, information identifying the field F (e.g., an identifier), information indicating the geographical extent of the field F, and information indicating the altitudes of multiple regions within the field F. If the field F is polygonal, the information indicating the geographical extent of the field F may include information indicating the geographical position of each vertex of the field F (e.g., latitude and longitude). Furthermore, the information indicating the altitudes of multiple regions within the field F may include, for example, information indicating the altitudes (e.g., average elevation within the region) of multiple regions obtained by dividing the field F into a regional mesh of latitude and longitude. The field information D1 may also include, for each of one or more fields F, a map image of the geographical extent including the field F.

[0044] 6 acquires information necessary for the processing described below from the information storage unit 180 or an external device (for example, the terminal device 20 and the work device 30). The information acquisition unit 110 may provide the acquired information to the period determination unit 120, the work determination unit 130, the change determination unit 140, the target determination unit 150, the type determination unit 160, the information output unit 170, and the information storage unit 180.

[0045] The period determination unit 120 determines the work period of the work device 30 based on the operation information of the work device 30, as will be described later.

[0046] As will be described later, the work determination unit 130 determines the type of work that is estimated to have been performed by the work device 30 in the field F, based on the operation information corresponding to the work period determined by the period determination unit 120. For example, the work determination unit 130 determines whether the type of work that has been performed is a specific type such as ridge painting, or another type.

[0047] As will be described later, the fluctuation determining unit 140 determines a fluctuation position where the altitude of the movable part MP fluctuates during the work period of the work that the work determining unit 130 has determined to be of a specific type.

[0048] The object determining unit 150 determines the position of the object of interest located on the soil surface or soil surface layer of the field F based on the changed position determined by the change determining unit 140, as will be described later.

[0049] The type determination unit 160 determines the type of the target object whose position has been determined by the object determination unit 150, as will be described later.

[0050] As will be described later, the information output unit 170 outputs to the terminal device 20 output information indicating the position of the target thing determined by the object determining unit 150 and the type of the target thing determined by the type determining unit 160.

[0051] The terminal device 20 realizes the function of the display unit 210 shown in FIG. 6 by the arithmetic unit 24 of FIG. 4 executing the program P2.

[0052] As will be described later, the display unit 210 displays the position and type of target objects in the field F in a manner that can be recognized by the user, based on the output information output by the farming information management device 10.

[0053] Next, we will explain the processing executed by the farming information management system 1. The farming information management system 1 starts the processing shown in Figures 7A and 7B in response to the output unit 320 of the working device 30 outputting operation information indicating the positioning position, positioning time, and operation status of the working device 30. Note that if there are multiple working devices 30 to be processed, the positioning information output by the output unit 320 may include information (e.g., an identifier) ​​that identifies the device itself.

[0054] In the processing of Figure 7A, first, in step S1002, the information acquisition unit 110 of the farming information management apparatus 10 acquires the operation information output by the output unit 320 of the work device 30. The information acquisition unit 110 acquires the operation information output by the work device 30 using the communication device 16 of the farming information management apparatus 10.

[0055] Next, in step S1004, the information acquisition unit 110 acquires the farm field information D1 from the information storage unit 180.

[0056] Next, in step S1006, the period determination unit 120 determines the work period during which the work implement 30 worked in the field F. For example, the period determination unit 120 may determine, among the times at which the operation information acquired in step S1002 was sampled, the period from the time when the PTO shifted from the PTO off state to the time when the PTO shifted back to the PTO off state as the work period.

[0057] Next, in step S1008, the work determination unit 130 executes the work determination process shown in FIG.

[0058] 8, first, in step S1102, the work determination unit 130 determines a representative value for the speed of the work apparatus 30 during the work period. For example, the work determination unit 130 extracts corresponding operation information that corresponds to the work period from the operation information acquired in step S1002. The work determination unit 130 then determines the average vehicle speed of the work apparatus 30 indicated by the extracted one or more pieces of corresponding operation information as the representative speed value. Note that the work determination unit 130 may also determine the median or mode of the vehicle speed of the work apparatus 30 indicated by the extracted one or more pieces of corresponding operation information as the representative speed value.

[0059] Next, in step S1104 of FIG. 8, the task determination unit 130 determines whether the representative value of the speed of the task implement 30 during the task period is within a predetermined speed range. For example, if the representative value of the speed during the task period determined in step S1102 is within the speed range for a specific type of task (e.g., 0.5 to 1.5 km / h), the task determination unit 130 determines that the representative value of the speed of the task implement 30 during the task period is within the predetermined speed range and that the task implement 30 performed at a standard task speed for the specific type of task (step S1104: YES). In this case, step S1106 is executed next. On the other hand, if the representative value of the speed is outside the speed range for the specific type of task, the task determination unit 130 determines that the speed of the task implement 30 during the task period is not within the predetermined speed range and that the task implement 30 did not perform at a standard task speed for the specific type of task (step S1104: NO). In this case, step S1114 is executed next.

[0060] In step S1106, the work determination unit 130 determines a peripheral area and a central area of ​​the field F through which the work device 30 will move during the specific type of work. For example, if the measured position of the work device 30 indicated by any of the corresponding operation information extracted in step S1102 is included in one or more fields F indicated by the field information D1, the work determination unit 130 determines that field F as the target field for the current work. The work determination unit 130 then determines the area from the outer edge of the target field indicated by the field information D1 to a predetermined width inside the field F from the outer edge as the peripheral area through which the work device 30 will move during the specific type of work. The work determination unit 130 also determines the area within the geographical range of the target field that is inside the peripheral area as the central area. In this case, the predetermined width may be, for example, a width (e.g., 1 meter) determined depending on the shape of the operating device 33 of the work device 30.

[0061] Next, in step S1108, the work determination unit 130 determines a perimeter index value that indicates the extent to which the work device 30, during the work period, worked in a manner that circumnavigated the periphery of the field F within the peripheral area determined in step S1106. For example, the work determination unit 130 calculates the perimeter index value to be larger when, for a specific type of work (e.g., ridge painting), the work device 30 worked in a manner that circumnavigated the entire peripheral area where the work should be done. The work determination unit 130 may also calculate the perimeter index value to be smaller the more small areas in the peripheral area where no work is being done are present, or the longer the period during the work period when the work device was located in a central area that was not the target of work.

[0062] As an example, the work determination unit 130 may determine the surrounding presence index value such that the greater the proportion of small areas through which the trajectory of the work device 30 passes during the work period determined based on the positioning position indicated by the corresponding operation information extracted in step S1102, out of multiple small areas obtained by dividing the surrounding area determined in step S1106 by a regional mesh of latitude and longitude, the larger the surrounding presence index value. Furthermore, the work determination unit 130 may determine the surrounding presence index value such that the greater the proportion of small areas through which the trajectory of the work device 30 passes during the work period, out of multiple small areas obtained by dividing the central area determined in step S1106 by a regional mesh of latitude and longitude, the smaller the surrounding presence index value. As an example, the work determination unit 130 may determine the number calculated using the formula S1 = (N2 / N1) - (N3 / N4) as the surrounding index value, where N1 is the total number of small areas obtained by dividing the surrounding area into latitude and longitude regional meshes, N2 is the number of small areas through which the trajectory of the work device 30 passes during the work period, N3 is the total number of small areas obtained by dividing the central area into latitude and longitude regional meshes, and N4 is the number of small areas through which the trajectory of the work device 30 passes during the work period.

[0063] The work determination unit 130 may calculate, as the perimeter index, a similarity index indicating the degree to which the trajectory of the work implement 30 during the work period, determined based on the positioning location indicated by the corresponding operation information extracted in step S1102, resembles the shape of the perimeter of the target field. The similarity coefficient may be any coefficient indicating the similarity of two-dimensional figures. For example, as shown in FIG. 9, the work determination unit 130 draws n auxiliary lines L_i (i = 1 to n) passing through the center O of the field F. Each auxiliary line L_i forms an angle θ_i = r*i with a reference line L (e.g., a line extending north-south from the center O), where θ_i increases by a predetermined offset angle r as i increases by 1. The intersection of auxiliary line L_i and the perimeter of field F is defined as P1_i, the intersection of auxiliary line L_i and work trajectory T is defined as P2_i, and the distance between P1_i and P2_i is defined as d_i. The work determination unit 130 may calculate D_i for n auxiliary lines, and determine the similarity SD=LF / (D+LF), which decreases as the sum D increases relative to the length LF of the perimeter of the field F, as the perimeter index value.

[0064] 8, in step S1110, the task determination unit 130 determines whether the surrounding index value determined in step S1108 is equal to or greater than a threshold value. For example, if the surrounding index value is equal to or greater than the threshold value defined in the settings (step S1110: YES), it can be said that the task device 30 performed the task in a manner consistent with the specific type of task, and the task determination unit 130 then executes step S1112. On the other hand, if the surrounding index value is less than the threshold value defined in the settings (step S1110: NO), it can be said that the task device 30 is not performing the task in the surrounding area where the task should be performed in a manner consistent with the specific type of task, and the task determination unit 130 then executes step S1114.

[0065] In step S1112, the work determination unit 130 determines that the type of work that has been performed is a specific type. On the other hand, in step S1114, the work determination unit 130 determines that the type of work that has been performed is a type of work that is different from the specific type. When step S1112 or step S1114 ends, the work determination process of FIG. 8 ends.

[0066] Returning to FIG. 7A, when the task determination process of step S1008 is completed, in step S1010 the task determination unit 130 determines whether the task performed in field F was a specific type of task. For example, if the task determination unit 130 determined in step S1112 of the most recently executed task determination process of FIG. 8 that a specific type of task was performed, it determines that the task was a specific type of task (step S1010: YES in FIG. 7A). In this case, step S1012 is executed next. On the other hand, if the task determination unit 130 determined in step S1114 of the most recently executed task determination process of FIG. 8 that another type of task was performed, it determines that the task was not a specific type of task (step S1010: NO in FIG. 7A). In this case, step S1020 in FIG. 7B is executed next.

[0067] 7A, the variation determination unit 140 determines a variation position. For example, based on the operation information acquired in step S1002, the variation determination unit 140 determines a position to which the working device 30 changed the altitude of the movable part MP during the work period determined in step S1006. For example, when the altitude of the movable part MP indicated by altitude information included in first operation information corresponding to the work period determined in step S1006 has changed from the altitude of the movable part MP indicated by altitude information included in second operation information sampled immediately before, the variation determination unit 140 determines the position of the working device 30 indicated by the first operation information as the variation position. Note that, for example, when the altitude of the movable part MP indicated by altitude information included in continuously sampled operation information continuously changes from a first altitude to a second altitude (or vice versa) over a certain period of time, the variation determination unit 140 may determine, as the variation position, a position corresponding to the time when the continuous change ended (or a position corresponding to a time intermediate between the changes).

[0068] Next, in step S1014 of Fig. 7B, the object determining unit 150 determines a target object area, which is an area where the target object is located. For example, the object determining unit 150 determines a target object area where the target object is estimated to exist, based on the moving position determined in step S1012 of Fig. 7A.

[0069] In step S1014, first, the object determination unit 150 determines a target trajectory along which the working device 30 moves while temporarily raising the movable part MP and avoiding the target object, based on the variable position determined in step S1012 of Fig. 7A and the positioning time of the variable position. As an example, the object determination unit 150 extracts a first variable position where the movable part MP changes from a first altitude corresponding to the altitude during work to a second altitude corresponding to the altitude during non-work, and a second variable position where the movable part MP changes from the second altitude to the first altitude corresponding to the altitude during work. Then, based on the positioning position and positioning time indicated by the operation information, the object determination unit 150 sets the first variable position as the start point of the target trajectory, and sets one or more second variable positions whose positioning time is closest to and comes after the positioning time of the first variable position (also referred to as a corresponding second variable position) as the end point of the target trajectory. The target determination unit 150 determines, as the target trajectory, a trajectory that connects, in order of positioning time, positions that are positioned between the positioning time of the start point (also referred to as the lifting start time) and the positioning time of the end point (also referred to as the lifting end time) among the positioning positions indicated by the corresponding operation information corresponding to the work period among the operation information acquired in step S1002. In addition, hereinafter, the period from the lifting start time to the lifting end time may also be referred to as the lifting period corresponding to one target thing.

[0070] The target determination unit 150 then determines, as the target object area, an area obtained by expanding the target trajectory by a predetermined width (for example, 1 meter) determined by settings toward the outer periphery of the field F. Note that, if the target determination unit 150 can use information on the distance between the movable part MP of the working device 30 and the positioning sensor on an axis perpendicular to the traveling direction of the working device 30, it may use the distance between the movable part MP and the positioning sensor as an offset value to shift the target object area further toward the outer periphery of the field F.

[0071] Next, in step S1016 of Fig. 7B, the type determination unit 160 determines the altitude of the target object region. For example, the type determination unit 160 acquires information indicating the altitude of a small area included in the target object region determined in step S1014 of Fig. 7B from information indicating the altitudes of small areas in the target field included in the field information D1 acquired in step S1004 of Fig. 7A. If there is only one piece of acquired altitude information, the type determination unit 160 may determine that value as the altitude of the target object region, or if there is multiple pieces of acquired altitude information, the type determination unit 160 may determine a representative value (e.g., average or median) of the acquired information as the altitude of the target object region.

[0072] Next, in step S1018, the type determination unit 160 determines the type of the target thing. For example, if there are multiple target thing areas determined in step S1014, the type determination unit 160 may determine whether the target thing present in the target thing area is a water inlet or a water outlet based on the altitude determined in step S1016. As an example, the type determination unit 160 may determine the target thing area with the highest altitude as the area where a water inlet exists, and the target thing area with the lowest altitude as the area where a water outlet exists. In this way, the type determination unit 160 may determine the type of the target thing based on the geographical features of the target thing area.

[0073] Furthermore, the type determination unit 160 may determine the type of the target object based on the area of ​​the target object area as a geographical feature of the target object area, instead of or in addition to the altitude. For example, if the area of ​​the target object area determined in step S1014 is smaller than a predetermined first threshold, the type determination unit 160 may determine that a small object (e.g., a stake) exists in the target object area. If the area of ​​the target object area determined in step S1014 is larger than a predetermined second threshold, the type determination unit 160 may determine that a large object (e.g., a rock) exists in the target object area. If the area of ​​the target object area determined in step S1014 is larger than the predetermined first threshold but smaller than the second threshold, the type determination unit 160 may determine that a medium-sized object (e.g., a water inlet or outlet) exists in the target object area. If there are two medium-sized objects, the type determination unit 160 may determine whether the medium-sized object is a water inlet or outlet based on the altitude in the manner described above.

[0074] Next, in step S1020, the information output unit 170 outputs output information. For example, the information output unit 170 may use the communication device 16 to output to the terminal device 20 output information including information indicating the geographical range of the target object region determined in step S1014 and information indicating the type of target object determined in step S1018. The information output unit 170 may output output information further including a map image including the geographical range of the target field included in the field information D1. Furthermore, if it is determined in step S1010 of FIG. 7A that the work performed in the target field is a specific type of work, the output information may include information indicating that the specific type of work was performed in the target field. Furthermore, if the determination in step S1010 of FIG. 7A is NO, the information output unit 170 may output output information indicating that another type of work was performed in the target field. Furthermore, the output information may include information indicating the time when the work was performed (for example, information indicating the work period determined in step S1006 of FIG. 7A).

[0075] Next, in step S1022, the display unit 210 of the terminal device 20 displays the output information. For example, the display unit 210 may display an image on the screen S of the input / output device 22 by superimposing information indicating the target object area on a map image including the geographical range of the target field included in the output information. Furthermore, the display unit 210 may display, based on the output information, a sign (for example, a letter or symbol indicating the type) indicating the type of the target object present in one or more target object areas.

[0076] In addition, if the output information includes information indicating that a specific type of work has been performed in the target field, the display unit 210 may overlay the map image with information indicating that a specific type of work has been performed in field F and the period of work (for example, text such as "Ridge painting work was performed in this field from ●● to ●● on xx month xx day").

[0077] As described above, the farming information management system 1 of this embodiment can display to the user information indicating the position of target objects present on the soil surface or in the soil surface layer of the field F, based on the operation information of the work device 30 that performed a specific type of work. Therefore, the farming information management system 1 can efficiently provide information about target objects, for example, because it does not require the worker to manually input information about obstacles and the like during work.

[0078] Furthermore, the farming information management system 1 can determine whether a specific type of work (for example, ridge filling) has been performed in the field F based on the operation information, and if it determines that a specific type of work has been performed, it can display information to that effect to the user. Conventionally, it has been difficult to estimate the type of work, especially for work such as ridge filling, which has distinctive work speeds and trajectories during work, but the farming information management system 1 of this embodiment can effectively provide information indicating the type of work.

[0079] (Variation) The configurations described in the embodiments are merely examples, and the configurations can be changed as long as the functions are not impaired.

[0080] For example, one or more of the information acquisition unit 110, period determination unit 120, work determination unit 130, change determination unit 140, target determination unit 150, type determination unit 160, information output unit 170, and information storage unit 180 of the farming information management device 10 may be realized in a distributed manner by two or more computers. Also, for example, one or more of the functions of the farming information management device 10 may be possessed by a terminal device 20.

[0081] Furthermore, if the positioning information of the operation device 30 can be obtained from an external device (for example, an external server device that accumulates positioning information), the information acquisition unit 110 may acquire operation information from this external device instead of the operation device 30. In this case, the farming information management system 1 does not need to include the operation device 30. Furthermore, the farming information management device 10 may be equipped with a functional unit corresponding to the display unit 210 of the terminal device 20. In this case, the functional unit corresponding to this display unit 210 may display a screen showing the work area on the screen of the display device of the input / output device 12 of the farming information management device 10 in step S1012 of Figure 7A. In this case, the farming information management system 1 does not need to include the terminal device 20.

[0082] Furthermore, the farming information management system 1 may execute processes different from those described above. For example, the farming information management system 1 may omit some of the processes described in the first embodiment. As an example, the farming information management system 1 may omit steps S1014 to S1018 in FIG. 7B. In this case, in step S1020, the farming information management system 1 may output output information that does not include information about the target object, but includes information indicating whether the performed work is a specific type of work. In this case, in step S1022, the display unit 210 may not display information about the target object, but may display information indicating whether a specific type of work has been performed in the field F.

[0083] The work determination unit 130 may also use a method different from that described in the above embodiment to determine whether work was performed in a peripheral area where the work device 30 was to work in a manner consistent with a specific type of work. For example, in step S1108 of FIG. 8, the work determination unit 130 may determine a perimeter index value indicating whether work was performed while moving around the perimeter of the work area of ​​the work device 30, instead of the perimeter of the field F. In this case, in step S1106, the work determination unit 130 determines, as the work area, the convex hull of the positioning positions indicated by the corresponding operation information extracted in step S1102. Then, in step S1108, the work determination unit 130 determines, as the peripheral area, the area extending from the perimeter of the work area to a predetermined width inward from the perimeter, and determines the remaining part of the work area as the central area. The work determination unit 130 may then determine perimeter index values ​​for the peripheral area and the central area in the same manner as in the above embodiment. In this modification, information indicating the geographical extent of the field F is not necessary for the work determination unit 130 to determine the work type.

[0084] 8, the task determination unit 130 may determine two or more values ​​as representative values ​​of the task speed of the task apparatus 30 during the task. For example, in step S1102, the task determination unit 130 may determine the maximum and minimum values ​​of the task apparatus 30 indicated in the corresponding operation information as representative values. In this case, in step S1104, the task determination unit 130 may determine that the task apparatus 30 performed the task at a standard task speed of a specific type when all of the determined two or more representative values ​​are within a predetermined speed range (step S1104: YES).

[0085] 8, the task determination unit 130 may determine the surrounding presence index value by a method different from that of the first embodiment. For example, in step S1106, the task determination unit 130 may determine the number of positioned locations (absolute number, or the number of positioned locations in the central area / the number of pieces of corresponding operation information) that are located within the central area among the positioned locations indicated by the corresponding operation information extracted in step S1102 as the surrounding presence index value. In this case, the surrounding presence index value increases as the extent to which work has been performed outside the peripheral area increases. Therefore, if the surrounding presence index value is equal to or less than the threshold value in step S1110, the task determination unit 130 can determine that the task device 30 has performed work in a manner that matches the specific type of work, and therefore the task determination unit 130 next executes step S1112 (step S1110: YES).

[0086] Furthermore, the object determining unit 150 may determine a point or a linear position instead of an area as information indicating the position of the target event. For example, in step S1014 of FIG. 7B, the object determining unit 150 may determine the midpoint between the first variation position and the corresponding second variation position as the position of the target event. Furthermore, in step S1014 of FIG. 7B, the object determining unit 150 may determine the line connecting the first variation position and the corresponding second variation position as the position of the target event.

[0087] Furthermore, the period determination unit 120 may determine, based on the operation information, a period during which the operation device 30 is present within the geographic range of the field F indicated by the field information D1 and is operating at a speed estimated to be during work (e.g., 0.5 to 3 km / h) as the work period. For example, in step S1006 of FIG. 7A , if the measured position of the operation device 30 indicated by any one or more pieces of operation information acquired in step S1002 is included in one or more fields F indicated by the field information D1, the period determination unit 120 may determine that field F as the target field for the current work. In this case, the period determination unit 120 may determine, as the work period, a period during which the measured position of the operation device 30 indicated by the operation information is included in the geographic range of the target field and the speed at the time of positioning indicated by the operation information is included in a work speed range determined by settings.

[0088] 7A, if there is a temporary interruption period in which work is temporarily suspended, the period determination unit 120 may determine the work period so that the temporary interruption period is included in the work period. For example, the period determination unit 120 determines the length of a period in which the PTO is off, which is sandwiched between periods in which the work implement 30 is in a PTO on state, based on the PTO state at each positioning time indicated by the operation information. For example, if the length of the period in which the PTO is off is equal to or less than a predetermined threshold (e.g., one minute or less), the period determination unit 120 may determine that the period in which the PTO is off is a temporary interruption period and determine the operation period so that the temporary interruption period is included in the work period. In this case, for example, the period determination unit 120 determines the work period to be the period from the start time of the period in which the PTO is on immediately before the temporary interruption period to the end time of the period in which the PTO is on immediately after the temporary interruption period. In addition, the period determination unit 120 may determine that a period in which the working implement 30 is in a PTO off state that is sandwiched between periods in which the working implement 30 is in a PTO on state is a temporary suspension period if the movement distance of the working implement 30 during the PTO off state is equal to or less than a predetermined threshold (for example, equal to or less than 5 meters).

[0089] The type determination unit 160 may also determine the type of the target object based on whether the PTO was in the on state or the off state when the working device 30 temporarily raised the movable part MP to move while avoiding the target object during work. For example, if a period during which the working device 30 was in the PTO off state can be included in the work period, the type determination unit 160 determines in step S1018 of FIG. 7B whether the lifting period determined in step S1014 includes a period during which the working device 30 was in the PTO off state (e.g., the temporary suspension period described above). As an example, if one or more pieces of operation information sampled during the lifting period do not include operation information indicating the PTO off state, the type determination unit 160 determines that the PTO was in the on state at least partially while the working device 30 lifted the movable part MP to avoid the target object. In this case, the type determination unit 160 may determine that the target object is a first type of object. The first type of thing may be, for example, a thing (e.g., a water inlet or outlet) that does not pose a significant obstacle to the work of the working implement 30 during specific work, such as when the area occupied by the thing only extends slightly from the outer periphery of the field F toward the central area. In this case, the type determination unit 160 may further determine whether the target thing is a water inlet or a water outlet based on the altitude determined in step S1016. In this way, the type determination unit 160 may determine whether the type of target event is the first type or the second type based on the temporary interruption time when the working implement 30 is temporarily in the PTO-off state, which is determined based on the power information, and the time when the movable part MP is at the second altitude, which is determined based on the altitude information.

[0090] On the other hand, if one or more pieces of operation information sampled during the lifting period include operation information indicating a PTO-off state, the type determination unit 160 determines that the PTO-on state was included while the working device 30 was lifting the movable part MP to avoid the target object. In this case, the type determination unit 160 may determine that the target object is a second type of object. The second type of object may be an object (e.g., an obstacle such as a rock or sign) that poses a greater obstacle to the working device 30 performing a specific task than the first type of object, for example, the area occupied by the object extends more from the outer periphery of the field F toward the center than the first type of object. Note that the type determination unit 160 may determine that the target object is a second type of object if the working device 30 was in the PTO-off state throughout the entire lifting period. Alternatively, the type determination unit 160 may determine that the target object is a second type of object if the working implement 30 is in the PTO off state for a certain period of time or more during the lifting period (for example, 5 seconds or more, or half of the lifting period or more).

[0091] The farming information management system 1 may also change the type of the target thing based on user input. As an example, the display unit 210 of the terminal device 20 may display a user interface capable of accepting user input to instruct a change to the type of the target thing determined by the type determination unit 160 in step S1022 of FIG. 7B. For example, the display unit 210 may display a selection form (e.g., a check box or a pull-down menu) that allows the user to select the actual type of the target thing from multiple types assumed as the type of the target thing, along with a sign indicating the type of the target thing determined by the type determination unit 160. When the user uses the selection form to enter an input to change the type of the target thing, the display unit 210 accepts the user input. Then, the display unit 210 outputs user input information indicating the changed type of the target thing indicated by the accepted user input to the farming information management device 10. Then, the type determination unit 160 of the farming information management device 10 changes the type of the target thing based on the user input information. The information on the changed type of the target matter may be output by the information output unit 170 to another device (for example, the terminal device 20, an external server, etc.).

[0092] In the above embodiment, the field F is a paddy field and the specific type of work is ridge painting. However, the present invention can be applied to any field (for example, dry paddy fields or regular upland fields) on the premise that the work area is operated by a work implement positioned at different altitudes during work and non-work.

[0093] The above-described embodiments and modifications are merely examples, and the configurations described in each embodiment may be arbitrarily modified and / or combined as long as the functions are not impaired. Furthermore, some of the functions described in the embodiments may be omitted as long as the required functions can be realized.

[0094] (Addendum) The farming information management method, farming information management system, and program described in each embodiment can be described as follows.

[0095] The farming information management method according to the first aspect includes: For a work device that performs work using a movable part that can move in the up and down direction, determining a position where the altitude of the movable part has changed during a work period in which the work device performed work, based on positioning information that indicates the position of the work device and altitude information related to the height of the movable part; determining the position of a target object present in the soil of the field where the work device has performed work based on the determined fluctuating position; outputting output information indicating the determined position of the target object; Includes.

[0096] The farming information management method according to the second aspect is the farming information management method according to the first aspect, The field is a field to be filled with irrigation water, The work device has the movable part that can perform ridge painting work in the field.

[0097] A farming information management method according to a third aspect is the farming information management method according to the first or second aspect, The type of the target object includes a water inlet of the field and a water outlet of the field, and determining whether the type of the target object is a water inlet or a water outlet based on information indicating the altitudes of a plurality of points in the field and the determined position of the target object; The output information includes information indicating the determined type of the target matter.

[0098] A farming information management method according to a fourth aspect is the farming information management method according to the second or third aspect, The types of the target objects include a first type including a water inlet and a water outlet of the field, and a second type, determining whether the type of the target thing is the first type or the second type based on power information indicating whether or not power is being supplied to the movable part; The output information includes information indicating the determined type of the target matter.

[0099] A farming information management method according to a fifth aspect is a farming information management method according to any one of the first to third aspects, the movable part is located at a first height during work and at a second height higher than the first height during non-work; Determining the changed position includes determining, based on the altitude information, the position of the work device when the altitude of the movable part changes from the first altitude to the second altitude or from the first altitude to the second altitude during the work period as the changed position.

[0100] A farming information management method according to a sixth aspect is a farming information management method according to any one of the first to fifth aspects, determining a type of work that is estimated to have been performed by the work device based on operation information of the work device including the positioning information and the altitude information; Determining the variable position includes, when it is determined that the type of work determined is a specific type, determining the variable position based on the positioning information and the altitude information included in the operation information.

[0101] A farming information management method according to a seventh aspect is the farming information management method according to the sixth aspect, determining the type of work, determining whether or not the extent to which the working implement has worked to rotate along the periphery of the field satisfies a standard based on the operation information and field information indicating the geographical extent of the field; determining that the type of work is the specific type when it is determined that the degree to which the work implement has worked so as to rotate along the periphery of the field satisfies a criterion; and Includes.

[0102] A farming information management method according to an eighth aspect is the farming information management method according to the sixth aspect, determining the type of work, determining a working area of ​​the working device based on the operation information; determining whether or not the degree to which the working device has worked to rotate along the periphery of the determined working area satisfies a standard based on the operation information; determining that the type of work is the specific type when it is determined that the degree to which the work device has worked so as to rotate along the periphery of the work area satisfies a criterion; Includes.

[0103] A farming information management method according to a ninth aspect is a farming information management method according to any one of the sixth to eighth aspects, Determining the type of work includes determining that the type of work is the specific type when a representative value of the speed of the work implement during the work period falls within a predetermined speed range.

[0104] A farming information management method according to a tenth aspect is a farming information management method according to any one of the first to ninth aspects, determining the type of work, The method further includes determining, based on power information indicating whether or not power is being supplied to the movable part, that a period during which power is being supplied to the movable part is the working period.

[0105] A farming information management method according to an eleventh aspect is a farming information management method according to any one of the first to tenth aspects, determining the type of work, The method further includes displaying a position in the field where the target object exists based on the output information.

[0106] A farming information management method according to a twelfth aspect includes: determining the type of work, determining a work position of the work implement during a work period based on operation information of the work implement that has performed work in the field; determining whether or not the extent to which the work implement has worked so as to rotate along the periphery of the field or the work area of ​​the work implement satisfies a standard based on the determined work position; outputting output information indicating that the type of work performed in the field is ridge painting work when it is determined that the degree to which the work device has worked to rotate along the outer periphery satisfies a standard; Includes.

[0107] The farming information management system according to the thirteenth aspect is a change determination unit that determines a change position of the altitude of a movable part of a work device that performs work using a movable part that can move in an up and down direction, based on positioning information that indicates the position of the work device and altitude information related to the height of the movable part, during a work period in which the work device performs work; an object determination unit that determines the position of an object present in the soil of the field where the work device has performed work, based on the position of the movement determined by the movement determination unit; an information output unit that outputs output information indicating the position of the target matter determined by the target determination unit; Equipped with.

[0108] A program according to a fourteenth aspect comprises: On the computer, For a work device that performs work using a movable part that can move in the up and down direction, determining a position where the altitude of the movable part has changed during a work period in which the work device performed work, based on positioning information that indicates the position of the work device and altitude information related to the height of the movable part; determining the position of a target object present in the soil of the field where the work device has performed work based on the determined fluctuating position; outputting output information indicating the determined position of the target object; Execute the following. [Explanation of symbols]

[0109] 1...Agricultural information management system 10...Agricultural information management device 12... Input / output device 14...Arithmetic device 16...Communication equipment 18...Storage device 110…Information acquisition department 120...Period determination section 130...Work decision unit 140... Fluctuation determination unit 150...Subject Determination Department 160...Type determination section 170...Information output unit 180...Information storage unit 20...Terminal device 22... Input / output device 24...Arithmetic device 26...Communication equipment 28…Storage device 210...Display section 30...Work equipment 31...Power source 32... Input / output device 33...Operating equipment 34...Arithmetic device 36...Communication equipment 38…Storage device 39...Measuring equipment 310...Sampling section 320...Output section 330...Working section F...field A1~A3...Target objects NT…Network M1, M2, M3…Storage medium P1, P2, P3...Program D1...Field information GP...positioning satellite S...Screen MP…Movable part P_1~P_5: Positioning position L:Reference line L_i: Auxiliary line P1_i, P2_i: Intersection T: Work trajectory

Claims

1. For a work device that performs work using a movable part that can move in the up and down direction, determining a position where the altitude of the movable part has changed during a work period in which the work device performed work, based on positioning information that indicates the position of the work device and altitude information related to the height of the movable part; determining the position of a target object present in the soil of the field where the work device has performed work based on the determined fluctuating position; outputting output information indicating the determined position of the target object; Including, Farming information management methods.

2. The field is a field to be filled with irrigation water, The working device has the movable part capable of performing ridge painting work in the field, The farming information management method according to claim 1.

3. The type of the target object includes a water inlet of the field and a water outlet of the field, and determining whether the type of the target object is a water inlet or a water outlet based on information indicating the altitudes of a plurality of points in the field and the determined position of the target object; The output information includes information indicating the determined type of the target matter. The farming information management method according to claim 2.

4. The type of the target thing includes a first type including a water inlet and a water outlet of the field, and a second type, determining whether the type of the target thing is the first type or the second type based on power information indicating whether power is being supplied to the movable part; The output information includes information indicating the determined type of the target matter. The farming information management method according to claim 2.

5. the movable part is located at a first height during work and at a second height higher than the first height during non-work; determining the changed position includes determining, as the changed position, a position of the work device when the altitude of the movable part changes from the first altitude to the second altitude or from the first altitude to the second altitude during the work period based on the altitude information. The farming information management method according to claim 1.

6. determining a type of work that is estimated to have been performed by the work device based on operation information of the work device including the positioning information and the altitude information; Determining the variable position includes, when it is determined that the determined type of work is a specific type, determining the variable position based on the positioning information and the altitude information included in the operation information. The farming information management method according to claim 1.

7. determining the type of work, determining whether or not the extent to which the working implement has worked to rotate along the periphery of the field satisfies a standard based on the operation information and field information indicating the geographical extent of the field; determining that the type of work is the specific type when it is determined that the degree to which the work implement has worked so as to rotate along the periphery of the field satisfies a criterion; and Including, The farming information management method according to claim 6.

8. determining the type of work, determining a working area of ​​the working device based on the operation information; determining whether or not the degree to which the working device has worked to rotate along the periphery of the determined working area satisfies a standard based on the operation information; determining that the type of work is the specific type when it is determined that the degree to which the work device has worked so as to rotate along the periphery of the work area satisfies a criterion; Including, The farming information management method according to claim 6.

9. determining the type of work includes determining that the type of work is the specific type when a representative value of the speed of the work implement during the work period falls within a predetermined speed range; The farming information management method according to claim 6.

10. determining, based on power information indicating whether or not power is being supplied to the movable part, that the period during which power is being supplied to the movable part is the working period. A farming information management method according to any one of claims 1 to 8.

11. and further comprising displaying a position in the field where the target object exists based on the output information. The farming information management method according to claim 1.

12. determining a work position of the work implement during a work period based on operation information of the work implement that has performed work in the field; determining whether or not the extent to which the work implement has worked so as to rotate along the periphery of the field or the work area of ​​the work implement satisfies a standard based on the determined work position; outputting output information indicating that the type of work performed in the field is ridge painting work when it is determined that the degree to which the work device has worked to rotate along the outer periphery satisfies a standard; Including, Farming information management methods.

13. a change determination unit that determines a change position of the altitude of a movable part of a work device that performs work using a movable part that can move in an up and down direction, based on positioning information that indicates the position of the work device and altitude information related to the height of the movable part, during a work period in which the work device performs work; an object determination unit that determines the position of an object present in the soil of the field where the work device has performed work, based on the position of the movement determined by the movement determination unit; an information output unit that outputs output information indicating the position of the target matter determined by the target determination unit; Equipped with Farming information management system.

14. On the computer, For a work device that performs work using a movable part that can move in the up and down direction, determining a position where the altitude of the movable part has changed during a work period in which the work device performed work, based on positioning information that indicates the position of the work device and altitude information related to the height of the movable part; determining the position of a target object present in the soil of the field where the work device has performed work based on the determined fluctuating position; outputting output information indicating the determined position of the target object; A program to execute.

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