Field management device

Abstract

The field management device (4) includes a movement direction calculation section (81) that calculates a movement direction of the work vehicle at positions corresponding to position information of the work vehicle at each time during a period in which the work vehicle travels in a field, a main movement direction determination section (82) that determines a main movement direction as a main movement direction of the work vehicle based on the movement directions corresponding to all the position information calculated by the movement direction calculation section (81), and an information generation section (83) that divides a region of the field into a plurality of rectangular management regions using a first imaginary straight line parallel to the main movement direction determined by the main movement direction determination section and a second imaginary straight line orthogonal to the first imaginary straight line, and generates determination information for determining each management region.

Description

TECHNICAL FIELD

[0001] The present application relates to a field management device. BACKGROUND

[0002] Patent Literature 1 discloses a cultivation method in which, in order to grasp the growth condition of a crop in a field for each small area, a field is divided into a plurality of small areas, such as a square area of several meters on one side, on a field map, and the management of the cultivation condition and the work condition is performed for each small area.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Publication No. 2017-102924 SUMMARY

[0006] Generally, in a field, a plurality of elongated rectangular crop growth areas for growing a crop are formed in a stripe shape. As representative examples of the crop growth areas, a ridge and a dike can be given. When agricultural work is performed, a work vehicle performs the agricultural work while moving along the crop growth areas in the field. Therefore, if the field can be divided into a plurality of small areas along the moving direction of the work vehicle and managed, the work direction of the work vehicle coincides with the arrangement direction of the management areas, and thus the cultivation management of the crop is easily performed.

[0007] An object of the present application is to provide a field management device that can divide a field into small areas along the main moving direction of a work vehicle in the field and manage the field.

[0008] The information acquisition device according to the present application includes a moving direction calculating section that calculates the moving direction of a work vehicle at a position corresponding to each position information based on the position information of the work vehicle at each time during the travel of the work vehicle in a field; a main moving direction determining section that determines a main moving direction as the main moving direction of the work vehicle based on the moving direction corresponding to all the position information calculated by the moving direction calculating section; and an information generating section that divides the area of the field into a plurality of rectangular management areas using a first imaginary straight line parallel to the main moving direction determined by the main moving direction determining section and a second imaginary straight line orthogonal to the first imaginary straight line, and generates determination information for determining each of the management areas.

[0009] According to this configuration, the field can be divided into small areas along the main moving direction of the work vehicle in the field and managed. Thereby, the work direction of the work vehicle can coincide with the arrangement direction of the management areas, and thus the cultivation management of the crop is easily performed.

[0010] In one embodiment of the present application, the main movement direction determining section is configured to calculate a probability density function of a distribution of the movement directions corresponding to all the position information, and determine the main movement direction based on the probability density function thus obtained.

[0011] In one embodiment of the present application, a plurality of elongated rectangular crop growth areas for growing crops in the field are formed in a stripe shape, and the main movement direction is a direction in which the crop growth areas extend.

[0012] According to this configuration, it is possible to divide the field into small areas in the direction in which the crop growth areas extend and manage the field.

[0013] The above and other objects, features and effects of the present application will become clearer from the following description of the embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is a schematic view showing a configuration of a field management system to which a field management apparatus according to one embodiment of the present application is applied.

[0015] Figure 2 is a side view mainly showing a tractor.

[0016] Figure 3 is a plan view of Figure 2

[0017] Figure 4 is a schematic view for explaining a case where the tractor performs a sugarcane planting operation in the field.

[0018] Figure 5 is a block diagram showing an electrical configuration of the tractor and a management server.

[0019] Figure 6A is a flowchart showing a part of the order of the field division processing performed by the field division processing section.

[0020] Figure 6B is a flowchart showing a part of the order of the field division processing performed by the field division processing section.

[0021] Figure 7 is a schematic view for explaining the processing of step S1 in Figure 6A

[0022] Figure 8 is a graph showing one example of the probability density function calculated by step S3 in Figure 6A

[0023] ​​​Figure 9 is a flowchart for explaining the process of step S6 in Figure 6A

[0024] Figure 10 is a flowchart for explaining the process of step S8 in Figure 6B

[0025] Figure 11 is a flowchart for explaining the process of step S9 in Figure 6B DETAILED DESCRIPTION

[0026] Figure 1 is a schematic view showing the structure of a field management system that represents a field management device according to an embodiment of the present application.

[0027] The field management system 1 includes a communication terminal 2 mounted on a tractor 11 that is a work vehicle, and a management server 3 that is a field management device. The tractor 11 is equipped with a work machine 13. The communication terminal 2 is capable of communicating with the management server 3 via a communication network 5.

[0028] The communication terminal 2 has a function of positioning the position of the tractor 11 using a positioning satellite 6. The communication terminal 2 transmits position information and activity information to the management server 3. The management server 3 is provided in a management center 4. The management server 3 receives the position information and the activity information transmitted from the communication terminal 2. The management server 3 stores the received position information and the activity information in a storage section.

[0029] Figure 2 is a side view mainly showing the tractor 11. Figure 3 is a plan view of Figure 2

[0030] The tractor 11 has a traveling body 12 that is a vehicle body portion that travels in a field. Various work machines such as a planter, a cultivator, a plow, a fertilizer applicator, a mower, a seeder, and the like can be selectively mounted on the traveling body 12.

[0031] As shown in Figure 2 , the front portion of the traveling body 12 of the tractor 11 is supported by one pair of left and right front wheels 17, and the rear portion of the traveling body 12 is supported by one pair of left and right rear wheels 18.

[0032] ​​​​An engine cover 19 is provided at the front of the traveling block 12. In this embodiment, the engine 20, which serves as the drive source for the tractor 11, and a fuel tank (not shown) are housed within the engine cover 19. The engine 20 may be, for example, a diesel engine, but it is not limited to this and may also be, for example, a gasoline engine. Alternatively, an electric motor may be used instead of the engine 20 as the drive source, or an electric motor may be used in addition to the engine 20.

[0033] A driver's cab 21 for the user is located behind the engine hood 19. Inside the cab 21 are a steering wheel 22 for steering, a seat 23 for the user, a communication terminal 2, and various operating devices for performing various operations. The communication terminal 2 is detachably mounted to a terminal support 16 fixed to the lower surface of the cab roof 15 of the cab 21. Furthermore, the tractor 11 is not limited to a structure with a driver's cab 21; it may also be a structure without a driver's cab 21.

[0034] like Figure 2 As shown, the chassis 30 of the tractor 11 is provided at the lower part of the traveling body 12. The chassis 30 is configured to include a body frame 31, a transmission 32, a front axle 33, a rear axle 34, etc.

[0035] The chassis frame 31 is the front support of the tractor 11, supporting the engine 20 directly or via vibration damping components. The transmission 32 changes the power from the engine 20 and transmits it to the front axle 33 and the rear axle 34. The front axle 33 transmits the power input from the transmission 32 to the front wheels 17. The rear axle 34 transmits the power input from the transmission 32 to the rear wheels 18.

[0036] In this embodiment, a sugarcane planter, serving as a working machine 13, is mounted on the traveling body 12. The structure of sugarcane planters is well-known; therefore, illustrations of the specific structure of the sugarcane planter are omitted for ease of explanation. Furthermore, the sugarcane planter disclosed in, for example, Japanese Patent Application Publication No. 2017-192327 (Sugarcane Transplanter) can be used. The sugarcane planter disclosed in Japanese Patent Application Publication No. 2017-192327 includes: a furrowing section for forming furrows in the field; a cutting section for cutting sugarcane seedlings to form sugarcane seedlings; a guiding section for scattering sugarcane seedlings into the furrows; a covering section for covering the sugarcane seedlings with soil; and a seat for the operator to place the sugarcane seedlings into the cutting section. A portion of the driving force of the tractor 11's engine 20 is transmitted to the sugarcane planter via a PTO shaft (not shown).

[0037] Figure 4is a schematic view for explaining a case where the tractor 11 performs a sugarcane planting work in a field. The tractor 11 can travel by manual driving or by automatic driving.

[0038] In the field F, a plurality of elongated rectangular crop growth areas L for growing crops are formed in a stripe shape. The end portion of the lower side in the two ends of the crop growth area L is referred to as a front side end, and the end portion of the upper side in the two ends of the crop growth area L is referred to as a back side end. Figure 4 The end portion of the lower side in the two ends of the crop growth area L is referred to as a front side end, and the end portion of the upper side in the two ends of the crop growth area L is referred to as a back side end. Figure 4 The end portion of the lower side in the two ends of the crop growth area L is referred to as a front side end, and the end portion of the upper side in the two ends of the crop growth area L is referred to as a back side end.

[0039] The tractor 11 performs a sugarcane planting work while moving along the crop growth area L with the posture of the front side left and right wheels 17 and the rear side left and right wheels 18 being separated from the crop growth area L. The tractor 11 travels from the front side toward the back side end with respect to, for example, the leftmost crop growth area L. Then, if the back side end of the crop growth area L is reached, the tractor 11 turns to the right side with respect to the traveling direction, and thereby moves to the back side end of the right side adjacent crop growth area L.

[0040] Next, the tractor 11 travels from the back side end toward the front side end of the crop growth area L. Then, if the front side end of the crop growth area L is reached, the tractor 11 turns to the left side with respect to the traveling direction, and thereby moves to the front side end of the right side adjacent crop growth area L. This traveling operation is repeated. Thus, as shown by the broken line in Figure 4

[0041] Figure 5 is a block diagram showing an electrical structure of the tractor 11 and the management server 3.

[0042] The tractor 11 includes the tractor control device 10 and the communication terminal 2 mounted on the tractor 11. The tractor control device 10 controls the operation (forward movement, backward movement, stop, turning, and the like) of the traveling body 12 and the operation of the work machine 13. The tractor control device 10 is electrically connected to a plurality of controllers (omitted from illustration) for controlling each part of the tractor 11. The plurality of controllers include an engine controller that controls the rotation speed of the engine 20 and the like, a vehicle speed controller that controls the vehicle speed of the tractor 11, a steering controller that controls the steering angle of the front wheels 17 of the tractor 11, a PTO shaft controller that controls the rotation of the PTO shaft, and the like.

[0043] The tractor control device 10 transmits operation information to the communication terminal 2 at a predetermined time interval. The operation information includes the engine rotation speed, the exhaust temperature, the operation state of the accelerator, the operation state of the brake, and the like.

[0044] ​The communication terminal 2 is provided with a control section 40. Connected to the control section 40 are a position detection section 51, a communication section 52, an operation display section 53, an operation section 54, a storage section 55, and the like. The position detection section 51 calculates position information of the tractor 11 (communication terminal 2) based on a satellite positioning system. The satellite positioning system is, for example, a GNSS (Global Navigation Satellite System). Specifically, the position detection section 51 detects the position information of the tractor 11 by receiving satellite signals from a plurality of positioning satellites 6 (see FIG. 1). The position information includes, for example, latitude, longitude, and altitude information, and time information at which the position information was acquired. In the present embodiment, for convenience of explanation, the position information is assumed to include latitude and longitude information, and time information. The storage section 55 is provided with a position information storage section 56, an operation information storage section 57, and the like. Figure 1

[0045] The communication section 52 is a communication interface for the control section 40 to communicate with the management server 3 via the communication network 5 (see FIG. 1). The operation display section 53 is constituted by, for example, a touch panel display. The operation section 54 includes, for example, one or a plurality of operation buttons. The storage section 55 is constituted by a nonvolatile memory or the like. Figure 1

[0046] The control section 40 includes a microcomputer provided with a CPU and a memory (ROM, RAM, or the like) 41. The control section 40 includes an information acquisition processing section 42. The information acquisition processing section 42 acquires the position information calculated by the position detection section 51 and stores it in the position information storage section 56. Further, the information acquisition processing section 42 transmits the position information stored in the position information storage section 56 to the management server 3 in real time or at a prescribed time.

[0047] In addition, the information acquisition processing section 42 acquires the operation information transmitted from the tractor control device 10 and stores it in the operation information storage section 57. Further, the information acquisition processing section 42 transmits the operation information stored in the operation information storage section 57 to the management server 3 in real time or at a prescribed time.

[0048] The management server 3 is provided with a control section 60. Connected to the control section 60 are a communication section 71, an operation display section 72, an operation section 73, a storage section 74, and the like. The communication section 71 is a communication interface for the control section 60 to communicate with the communication terminal 2 via the communication network 5. The operation display section 72 is constituted by, for example, a touch panel display. The operation section 73 includes, for example, a keyboard, a mouse, or the like. The storage section 74 is constituted by a hard disk, a nonvolatile memory, or the like.

[0049] ​​In the storage section 74, a position information storage section 75, an operation information storage section 76, a field information storage section 77, and the like are provided. In the position information storage section 75, the position information received from the communication terminal 2 is stored. In the operation information storage section 76, the operation information received from the communication terminal 2 is stored. In the field information storage section 77, information (field information) related to the field is stored.

[0050] The control section 60 includes a microcomputer provided with a CPU and a memory (ROM, RAM, or the like) 61. The control section 60 includes an information storage processing section 62 and a field division processing section 63. When the position information is received from the communication terminal 2, the information storage processing section 62 stores the received position information in the position information storage section 75. In addition, when the operation information is received from the communication terminal 2, the information storage processing section 62 stores the received operation information in the operation information storage section 76.

[0051] The field division processing section 63 performs a field division process for dividing the field F in which the sugarcane planting work is performed into a plurality of management areas. Hereinafter, the field F to which the field division process is to be performed will be referred to as a "processing target field F", and the position information of the tractor 11 at each time point detected by the position detection section 51 during the sugarcane planting work on the processing target field F will be referred to as "processing target data". The processing target data is stored in the position information storage section 75.

[0052] The field division processing section 63 includes a movement direction calculation section 81, a main movement direction determination section 82, and an information generation section 83.

[0053] The movement direction calculation section 81 calculates the movement direction of the tractor 11 at the position corresponding to each of the position information in the processing target data.

[0054] The main movement direction determination section 82 determines a main movement direction which is the main movement direction of the tractor 11 on the basis of the movement directions corresponding to all the position information calculated by the movement direction calculation section.

[0055] The information generation section 83 divides the area of the processing target field F into a plurality of rectangular management areas using a first imaginary straight line parallel to the main movement direction determined by the main movement direction determination section and a second imaginary straight line orthogonal to the first imaginary straight line, and generates determination information for determining each of the management areas.

[0056] Hereinafter, the details of the operation of the movement direction calculation section 81, the main movement direction determination section 82, and the information generation section 83 will be described in detail.

[0057] Figure 6A and Figure 6Bis a flowchart showing the order of the field division processing performed by the field division processing section 63.

[0058] First, the moving direction calculating section 81 in the field division processing section 63 converts each position information (longitude, latitude) in the latitude-longitude coordinate system (geographical coordinate system) included in the processing target data into position information (X-direction distance, Y-direction distance) in the 1st plane coordinate system (step S1).

[0059] For example, as shown in Figure 7 , the 1st plane coordinate system is a coordinate system that takes a prescribed position as an origin O, takes a straight line passing through the origin O and extending in the east-west direction as an X axis, and takes a straight line passing through the origin O and extending in the north-south direction as a Y axis. The positive direction of the Y axis is set to north, and the positive direction of the X axis is set to east.

[0060] In Figure 7 , F denotes the processing target field. In Figure 7 , S schematically denotes the moving track of the tractor 11 when performing the planting work. This moving track is a curve obtained by linking each position information after the coordinate conversion in step S1 in chronological order. In Figure 7 , the moving track is depicted in a simplified manner, and the actual moving track is more complex than the moving track shown in Figure 7 . Also, in the example of Figure 7 , the shape of the processing target field F is set to a rectangle for the sake of explanation, but the shape of the processing target field F can also be a shape other than a rectangle.

[0061] Next, the moving direction calculating section 81 calculates the moving direction of the tractor 11 at the position corresponding to each position information after the coordinate conversion (step S2).

[0062] For example, the moving direction of the tractor 11 at the position corresponding to certain position information is calculated in the following manner. In the 1st plane coordinate system, if certain position information is set to attention position information, the coordinates of the position information acquired for the first time in time with respect to the attention position information are set to (xl, yl), and the coordinates of the attention position information are set to (x2, y2), the moving direction (moving direction angle) Θ at the position corresponding to the attention position information is calculated based on the following formula (1).

[0063] Θ = tan －1 { (y2 - yl) / (x2 - xl) )... (1)

[0064] The moving direction angle Θ takes a value in the range of -90 degrees to +90 degrees.

[0065] Next, the main moving direction determination section 82 in the field division processing section 63 calculates a probability density function of the distribution of the moving directions based on the moving directions corresponding to all the position information (step S3).

[0066] Specifically, the main moving direction determination section 82 calculates a probability density function (kernel density function) of the distribution of the moving directions by kernel density estimation. Figure 8 is a graph showing one example of the probability density function calculated in step S3. This graph is a curve that smoothes a histogram of the distribution of the moving directions. Further, the probability density function is a function that is defined in a range of 0 to 360 degrees. Figure 8 The graph of the probability density function does not accurately correspond to the moving trajectory of the tractor 11. Figure 7

[0067] Next, the main moving direction determination section 82 detects a peak value of the probability density function (step S4). Further, the main moving direction determination section 82 determines the moving direction θ corresponding to the peak value having the largest peak height among the detected peak values as the main moving direction of the tractor 11 (step S5). In the example of Figure 8 the main moving direction is 50 degrees.

[0068] Next, as shown in Figure 9 , the information generation section 83 in the field division processing section 63 sets a second plane coordinate system in which a point corresponding to the prescribed position information is set as an origin O', a straight line passing through the origin O' and parallel to the main moving direction of the tractor 11 is set as a first axis, and a straight line passing through the origin O and orthogonal to the first axis is set as a second axis (step S6).

[0069] In the example of Figure 9 , the point located at the most west side among the positions corresponding to the position information is set as the origin O' of the second plane coordinate system. In addition, the first axis is set as a Y' axis, and the second axis is set as an X' axis.

[0070] Next, the information generation section 83 converts the coordinates of each position information in the first plane coordinate system into position information in the second plane coordinate system (step S7).

[0071] Next, as shown in Figure 10 ​As shown, the information generating section 83 generates a rectangular region E approximating the processing target field F in the second plane coordinate system based on the minimum value x'min and the maximum value x'max of the X' coordinate value and the minimum value y'min and the maximum value y'max of the Y' coordinate value (step S8). Specifically, the information generating section 63C generates a rectangular region E having a point a (x'min, y'min), a point b (x'min, y'max), a point c (x'max, y'max), and a point d (x'max, y'min) as vertices as a rectangular region approximating the processing target field F.

[0072] Next, the information generating section 83 divides the rectangular region S into a plurality of rectangular management regions e in the second plane coordinate system using a first imaginary line parallel to the main moving direction and a second imaginary line orthogonal to the first imaginary line (step S9). For example, as shown in FIG. 6, the information generating section 83 sets a plurality of first imaginary lines K1 at a predetermined first interval with respect to the rectangular region S and sets a second imaginary line K2 at a predetermined second interval, thereby setting a plurality of management regions e divided by these imaginary lines within the rectangular region S. Figure 11

[0073] Next, the information generating section 83 generates determination information for determining each management region e and stores the determination information as field information with respect to the processing target field F in the field information storage section 77 (step S10).

[0074] Specifically, the information generating section 83 converts the coordinate values of the four vertices of each management region e in the second plane coordinate system into coordinate values in the latitude-longitude coordinate system. Also, the information generating section 63C stores the coordinate values of the four vertices of each management region e in the latitude-longitude coordinate system as field information with respect to the processing target field F in the field information storage section 77.

[0075] In the above-described embodiment, the moving direction calculating section 81 converts each position information in the latitude-longitude coordinate system included in the processing target data into position information in the first plane coordinate system (see step S1 in FIG. 1), but it is also possible not to convert each position information in the latitude-longitude coordinate system included in the processing target data into position information in the first plane coordinate system. Figure 6A

[0076] ​​In this case, the process of step S1 is omitted. In this case, the moving direction of the tractor 11 at the position corresponding to each position information is calculated in step S2 in the following manner. In the latitude-longitude coordinate system, if a certain position information is assumed to be the position information of interest, the longitude and latitude of the position information of interest are assumed to be (λ2, φ2), and the longitude and latitude of the position information of interest are assumed to be (λ1, φ1), the moving direction (moving direction angle) θ at the position corresponding to the position information of interest is calculated based on the following formula (2).

[0077] θ = tan －1 (φ2 - φ1) / (λ2 - λ1) (2)

[0078] The processes after step S3 are the same as those in the embodiment of FIG. 6. Figure 6A

[0079] In the foregoing embodiment, the field F can be managed by being divided into small regions along the main moving direction of the tractor 11 in the field F. Accordingly, the working direction of the tractor 11 can be made to coincide with the arrangement direction of the management regions, and thus the cultivation management of the crops can be easily performed.

[0080] The foregoing embodiment of the present application has been described, but the present application can also be implemented in other ways. For example, in the foregoing embodiment, a GNSS single positioning system is used as the positioning system used by the communication terminal 2, but a positioning system other than the single positioning system such as an RTK-GNSS (Real Time Kinematic GNSS) can also be used.

[0081] In the foregoing embodiment, the working vehicle is a tractor, but the working vehicle can also be a rice transplanter, a combine harvester, a civil engineering / construction work device, a snowplow, a riding work machine, a walking work machine, or the like.

[0082] Although the embodiment of the present application has been described in detail, these are merely specific examples used to make the technical contents of the present application clear and should not be interpreted as limiting the present application to these specific examples, and the scope of the present application is defined only by the appended claims.

[0083] This application corresponds to Japanese Patent Application No. 2018-54762 filed with the Japan Patent Office on March 22, 2018, and the entire disclosure of this application is incorporated herein by reference.

[0084] Explanation of Reference Signs

[0085] 1 Field management system

[0086] 2 Communication terminal ​

[0087] 3 management server (field management device)

[0088] 10 tractor control device

[0089] 11 tractor (work vehicle)

[0090] 60 control section

[0091] 61 memory

[0092] 62 information storage processing section

[0093] 63 field division processing section

[0094] 81 movement direction calculation section

[0095] 82 main movement direction determination section

[0096] 83 information generation section

Claims

1. A field management apparatus, wherein the field management apparatus includes: a movement direction calculating section that calculates a movement direction of the work vehicle at positions corresponding to position information of the work vehicle at each time, based on the position information of the work vehicle measured during travel of the work vehicle in a field; a main movement direction determining section that determines a main movement direction as a main movement direction of the work vehicle, based on movement directions corresponding to all of the position information calculated by the movement direction calculating section; and an information generating section that divides a region of the field into a plurality of rectangular management regions using a first imaginary straight line parallel to the main movement direction determined by the main movement direction determining section and a second imaginary straight line orthogonal to the first imaginary straight line, and generates determination information for determining each of the management regions, the main movement direction determining section is configured to calculate a probability density function of a distribution of the movement directions based on the movement directions corresponding to all of the position information, and determine the main movement direction based on the probability density function obtained thereby.

2. The field management apparatus according to claim 1, wherein a plurality of elongated rectangular crop growth regions for growing crops in the field are formed in a striped pattern, and the main movement direction is a direction in which the crop growth regions extend.

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