Field management method, field management system, and field management program

Abstract

The present invention addresses the problem of enabling a user to easily confirm a region indicated by set region information. A field management method includes: generating map information that indicates a first region set as first region information included in first field information by using position information of a work device (100) moving within a first field (500-1), and a second region set as second region information included in second field information by using position information of the work device (100) moving within the first field (500-1); the second area is second area information specified in the map image displayed by the information terminal (300) and set as included in the second field information. In addition, the field management method includes outputting the map information. In addition, the field management method includes a step of outputting map information. The first field information may include positioning type information indicating a method of measuring the position information. In addition, the step of generating the map information may include a step of generating the map information indicating the positioning type information in association with the first region information indicated on the map.

Description

Technical Field

[0001] The present invention relates to a field management method, a field management system and a field management program. Background Art

[0002] In recent years, research has focused on agricultural management using information related to field operations. For example, a technology has been proposed that involves specifying a field area on a computer-displayed map, registering the field in a system, and recording information such as harvest yields in the registered field to aid agricultural management analysis.

[0003] On the other hand, Patent Document 1 discloses a technology for causing a work vehicle such as a tractor to autonomously travel, measure its own position, and circle along the contour of a field to thereby determine the position and shape of the field.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 7142597 Summary of the Invention

[0007] The accuracy of regional information representing fields used for autonomous driving differs from that of regional information representing fields registered for agricultural management. The inventors discovered that when regional information representing fields used for autonomous driving and registered fields are displayed on the same map image, users cannot easily understand the accuracy of each field. For example, this inability to easily understand the accuracy of each field makes it difficult for users to determine whether a route for autonomous driving can be set within each field.

[0008] In view of the above situation, one object of the present invention is to provide a method for enabling a user to easily confirm an area indicated by set area information. Other objects can be understood from the following description and the explanation of the embodiments.

[0009] The following describes the means for solving the problems using the numbers and symbols used in the embodiments of the invention. The numbers and symbols are enclosed in parentheses for reference purposes only to illustrate an example of the correspondence between the claims and the embodiments of the invention. Therefore, the claims should not be interpreted restrictively based on the descriptions in parentheses.

[0010] A field management method according to one embodiment for achieving the above-mentioned object includes the steps of generating map information that represents a first area and a second area in a manner recognizable on a map, wherein the first area is set as first area information included in the first field information using position information of a working device (100) moving within the first field (500-1), and the second area is specified in a map image displayed on an information terminal (300) and set as second area information included in the second field information. Furthermore, the field management method includes the steps of outputting the map information.

[0011] A farmland management system (1000) according to one embodiment for achieving the above-mentioned object includes a map information generating unit (270) and an output unit (280). The map information generating unit (270) generates map information that recognizable on a map a first area set as first area information included in first farmland information using position information of a working device (100) moving within a first farmland (500-1), and a second area specified in a map image displayed on an information terminal (300) and set as second area information included in second farmland information. The output unit (280) outputs the map information.

[0012] A field management program (420) according to one embodiment for achieving the above-mentioned object causes a computing device (120, 220, 320) to execute the following steps: generating map information that recognizable on a map shows a first area set as first area information included in first field information using position information of a working device (100) moving within a first field (500-1), and a second area specified in a map image displayed on an information terminal (300) and set as second area information included in second field information. Furthermore, the field management program (420) causes the computing device (120, 220, 320) to execute the following steps: outputting the map information.

[0013] Effects of the Invention

[0014] According to the above aspect, the user can easily confirm the method of setting the area in the field registered in the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of a farmland management system according to one embodiment.

[0016] Figure 2 This is a diagram for explaining a method of determining a field area using a working device according to one embodiment.

[0017] Figure 3This is a diagram for explaining a method in which a user inputs information related to a field area into an information terminal according to one embodiment.

[0018] Figure 4 This is a diagram for explaining map information showing a farmland area displayed on an information terminal according to one embodiment.

[0019] Figure 5 It is a figure which shows the structure of the working device which concerns on one embodiment.

[0020] Figure 6 This is a diagram showing functional modules executed by a farmland management system according to one embodiment.

[0021] Figure 7 This is a diagram showing the configuration of a farmland management device according to one embodiment.

[0022] Figure 8 This is a diagram showing the configuration of an information terminal according to one embodiment.

[0023] Figure 9 This is a flowchart showing a process of registering a field by specifying a field area through manual input in a field management system according to one embodiment.

[0024] Figure 10 This is a flowchart showing a process of registering a field using position information of a working device in a field management system according to one embodiment.

[0025] Figure 11 This is a flowchart showing a process of displaying field information in the field management system according to one embodiment.

[0026] Figure 12 This is a diagram for explaining an image for confirming the download of area information displayed on an information terminal according to one embodiment.

[0027] Figure 13 This is a diagram for explaining map information showing a farmland area displayed on an information terminal according to one embodiment.

[0028] Description of Reference Numerals

[0029] 1, 2, 3: Storage media

[0030] 20: Network

[0031] 100: Operating device

[0032] 110: Input and output devices

[0033] 115: Positioning device

[0034] 120: Computing device

[0035] 130: Communication device

[0036] 140: Storage device

[0037] 150: Regional Decision Department

[0038] 160: Control Department

[0039] 200: Field management device

[0040] 210: Input and output devices

[0041] 220: Computing device

[0042] 230: Communication device

[0043] 240: Storage device

[0044] 250: Data storage department

[0045] 260: Overlap determination unit

[0046] 270: Map Information Generation Department

[0047] 280: Output

[0048] 300: Information Terminal

[0049] 310: Input and output devices

[0050] 320: Computing device

[0051] 330: Communication device

[0052] 340: Storage device

[0053] 350: Registration Information Acceptance Department

[0054] 360: Display

[0055] 370: Select Information Receiving Department

[0056] 400: Regional Decision Procedure

[0057] 410: Field Data

[0058] 420: Field Management Procedures

[0059] 430: Display program

[0060] 500: Field

[0061] 600: Positioning location

[0062] 610: Track

[0063] 620: Width

[0064] 630: Operation Path

[0065] 650: Vertex

[0066] 700: Confirm display area

[0067] 710: Positioning type display area

[0068] 1000: Field Management System DETAILED DESCRIPTION

[0069] (Implementation Method)

[0070] Referring to the accompanying drawings, a field management system 1000 according to this embodiment of the present invention will be described. Figure 1 As shown, the farmland management system 1000 includes a working device 100, a farmland management device 200, and an information terminal 300. The farmland management device 200 is communicably connected to the working device 100 and the information terminal 300 via a network 20, such as the Internet.

[0071] Working device 100 performs work while moving across field 500, for example. Working device 100 may include, for example, a tractor that tows a working machine. Alternatively, working device 100 may include a combine harvester integrated with a working machine. Working device 100 may also include a drone that performs agricultural work, such as spraying pesticides, by flying.

[0072] The working device 100 moves in the field 500 while measuring its own position to determine the area of ​​the field 500, such as the position and shape. Figure 2 As shown, the working device 100 measures its own position, such as its latitude and longitude, at predetermined intervals, for example, every 10 seconds. Therefore, the measured positioning position 600 is measured along the trajectory 610 of the working device 100's movement. The working device 100 moves along the contour of the field 500, and the positioning position 600 represents the position along the contour of the field 500. Therefore, the working device 100 determines the area of ​​the field 500, such as its position and shape, based on the positioning position 600 while moving along the contour of the field 500. The working device 100 determines a working path 630 within the determined area of ​​the field 500 for work and moves along the working path 630, thereby autonomously navigating the field 500. Therefore, the area of ​​the field 500 determined using the working device 100's position information is highly accurate. Area information indicating the determined area of ​​the field 500 is transmitted to the field management device 200 and stored in the field management system 1000.

[0073] On the other hand, the user uses the information terminal 300 to specify the area, such as the position and shape, of the field 500 in the map image showing the area including the field 500 and register the field 500. For example, Figure 3 As shown, the information terminal 300 displays a map image representing an area including the field 500. In the displayed map image, the user specifies the positions of a plurality of vertices 650 representing the field 500. The field management system 1000 determines the area within a polygon having the plurality of vertices 650 corresponding to the specified positions as the region of the field 500. The region information representing the determined region of the field 500 is stored in the field management system 1000.

[0074] The farm management system 1000 displays the area information of the field 500 and the information indicating the method of setting the area information in association with each other in a map image showing the area including the registered field 500. For example, Figure 4 As shown, the information terminal 300 displays the area of ​​the first field 500-1, which is set using the positioning position 600 of the working device 100, and the area of ​​the second field 500-2, which is set by specifying a vertex 650 on the map, in a recognizable map image. This allows the user to easily distinguish between the first field 500-1, whose position and shape are relatively accurate, and the second field 500-2, whose accuracy is relatively low. For example, the user can easily understand that a route for autonomous driving can be set in the first field 500-1. Furthermore, even if information representing the same single harvest is displayed on the information terminal 300, the user can easily understand that the accuracy of the first field 500-1 and the second field 500-2 may differ.

[0075] (Structure of the field management system)

[0076] right Figure 1 The structure of the working device 100 included in the field management system 1000 shown in FIG. Figure 5 As shown, the working device 100 includes an input / output device 110, a positioning device 115, a computing device 120, a communication device 130, and a storage device 140. Information for controlling the working device 100 is input to the input / output device 110. Furthermore, the input / output device 110 outputs information for controlling the working device 100, such as the speed of the working device 100. The input / output device 110 includes various input and output devices, such as a steering wheel, buttons, joysticks, a display, and a touch panel.

[0077] The positioning device 115 obtains position information indicating the position of the working device 100 at each moment, such as latitude and longitude. For example, the positioning device 115 measures the position of the working device 100 at predetermined intervals (e.g., every 10 seconds) and outputs position information indicating the measured position 600 to the computing device 120. For example, the positioning device 115 may include a GNSS (Global Navigation Satellite System) receiver, a quantum compass, or the like. Furthermore, the position information may include information indicating the time of measurement, associated with the position 600.

[0078] The communication device 130 is connected to the network 20 in a communicable manner and communicates with each device via the network 20. For example, the communication device 130 transmits a signal obtained from the field management device 200 to the computing device 120. In addition, the communication device 130 transmits a signal generated by the computing device 120 to the field management device 200. The communication device 130 can also obtain information from other devices without using the network 20. For example, the communication device 130 can obtain information from other devices via any storage medium, such as a memory card, USB (Universal Serial Bus) memory, etc. In addition, the communication device 130 can obtain information from other devices directly connected using a USB terminal, etc. The communication device 130 includes, for example, various interfaces such as a transceiver for wireless communications such as a wireless LAN (Local Area Network) and a cellular network, a NIC (Network Interface Card), a USB terminal, and a communication terminal.

[0079] The storage device 140 stores various data used to determine the region of the field 500, such as the region determination program 400. The storage device 140 serves as a non-transitory tangible storage medium for storing the region determination program 400. The region determination program 400 can be provided as a computer program product recorded on a computer-readable storage medium 1 or can be provided as a computer program product that can be downloaded from a server.

[0080] The computing device 120 reads and executes the area determination program 400 from the storage device 140 to perform various data processing for determining the area of ​​the field 500. For example, the computing device 120 may include an ECU (Electric Control Unit) and a central processing unit (CPU).

[0081] The computing device 120 reads and executes the area determination program 400, thereby Figure 6 As shown, the area determination unit 150 and the control unit 160 are implemented in cooperation with the storage device 140. The area determination unit 150 determines the area of ​​the field 500, such as its position and shape, based on the position information obtained when the working device 100 is manually moved along the contour of the field 500. The control unit 160 determines a work path 630 for performing work in the field 500 for which the area has been determined, and controls the working device 100 so that the work is performed while moving along the work path 630.

[0082] Furthermore, the work device 100 may include a detachable control terminal and be controlled by the control terminal. For example, when the work device 100 is operating by autonomous driving, the detachable control terminal may be provided so that the operator can use the control terminal to cause an emergency stop of the work device 100.

[0083] Next, the structure of the field management device 200 will be described. Figure 7 As shown, the field management device 200 includes an input / output device 210, a computing device 220, a communication device 230, and a storage device 240. The field management device 200 is, for example, a computer such as a cloud server. Information used by the computing device 220 to execute processing is input to the input / output device 210. Furthermore, the input / output device 210 outputs the results of processing performed by the computing device 220. The input / output device 210 includes various input and output devices, such as a keyboard, mouse, microphone, display, speaker, and touch panel. The input / output device 210 may also be omitted.

[0084] The communication device 230 is connected to the network 20 and communicates with each device via the network 20. For example, the communication device 230 transmits information acquired from the working device 100 to the computing device 220. In addition, the communication device 230 transmits signals generated by the computing device 220 to the information terminal 300. The communication device 230 includes various interfaces such as a NIC (Network Interface Card) and a USB.

[0085] The storage device 240 stores various data, such as field data 410 and a field management program 420. These data are used to display information representing the field 500 in a recognizable manner, based on the method for setting the area of ​​the field 500 represented by the field information. The storage device 240 serves as a non-transitory tangible storage medium for storing the field management program 420. The field management program 420 can be provided as a computer program product recorded on a computer-readable storage medium 2 or as a computer program product that can be downloaded from a server.

[0086] Field data 410 stores field information related to field 500, such as information regarding the area, the method for setting the area, and the operations performed on field 500. For example, field information includes area information indicating the area of ​​field 500. For example, area information indicates the latitude and longitude of each vertex 650, associated with the adjacent vertices 650 along the contour of field 500. Furthermore, field information may be associated with area information to indicate the method for setting the area indicated by the area information (e.g., determining the area using the position information of the work device 100 or specifying the area manually). Furthermore, field information may be associated with area information to indicate information related to the operations performed on the field 500 associated with the area information (e.g., the yield per harvest, the harvested amount, etc.). Furthermore, field information may be associated with area information to indicate the name of the field 500 associated with the area information.

[0087] The computing device 220 reads and executes the field management program 420 from the storage device 240, and performs various data processing to display information representing the field 500 in a recognizable manner, based on the method of setting the field information area. For example, the computing device 220 includes a central processing unit (CPU).

[0088] The computing device 220 reads and executes the field management program 420, thereby cooperating with the storage device 240 to realize the field management program 420. Figure 6As shown, the data storage unit 250, overlap determination unit 260, map information generation unit 270, and output unit 280 are implemented. The data storage unit 250 stores the field data 410. The overlap determination unit 260 determines whether the area of ​​the field 500 stored in the field data 410 overlaps with the area determined using the position information of the working device 100. The map information generation unit 270 generates map information showing an image of the field 500 stored in the field data 410 on a map. The output unit 280 outputs the generated map information to the information terminal 300.

[0089] Next, Figure 1 The structure of the information terminal 300 shown in FIG. Figure 8 As shown, information terminal 300 includes an input / output device 310, a computing device 320, a communication device 330, and a storage device 340. Information terminal 300 includes, for example, a computer, a tablet computer, or a mobile phone. Information used by computing device 320 to execute processing is input to input / output device 310. Furthermore, input / output device 310 outputs the results of processing executed by computing device 320. Input / output device 310 includes various input and output devices, such as a keyboard, a mouse, a microphone, a display, a speaker, and a touch panel.

[0090] The communication device 330 is connected to the network 20 and communicates with each device via the network 20. For example, the communication device 330 transmits map information obtained from the field management device 200 to the computing device 320. In addition, the communication device 330 transmits a signal generated by the computing device 320 to the field management device 200. The communication device 330 can output information to other devices that are not connected via the network 20. For example, the communication device 330 can output information to other devices via any storage medium, such as a memory card, USB (Universal Serial Bus) memory, etc. In addition, the communication device 330 can obtain information from other devices directly connected using USB or the like. The communication device 330 includes, for example, various interfaces such as a transceiver for wireless communications such as a wireless LAN (Local Area Network) and a cellular network, a NIC (Network Interface Card), and USB.

[0091] The storage device 340 stores various data used to display map information acquired from the field management device 200, such as the display program 430. The storage device 340 serves as a non-transitory tangible storage medium for storing the display program 430. The display program 430 can be provided as a computer program product recorded on a computer-readable storage medium 3 or as a computer program product that can be downloaded from a server.

[0092] The computing device 320 reads and executes the display program 430 from the storage device 340 and performs various data processing for displaying map information. For example, the computing device 320 includes a central processing unit (CPU) and the like.

[0093] The computing device 320 reads out and executes the display program 430, thereby Figure 6 As shown, the registration information receiving unit 350, display unit 360, and selection information receiving unit 370 are implemented in cooperation with the storage device 340 and the input / output device 310. The registration information receiving unit 350 receives registration information indicating a field 500 registered by a user, for example, area information indicating the area of ​​the field 500. The display unit 360 displays map information acquired from the farm management device 200. The selection information receiving unit 370 receives selection information indicating a field 500 selected by the user from among the fields 500 indicated by the map information.

[0094] (Registration action of the area by manual input method)

[0095] First, the operation of the farm management system 1000 when the area of ​​the farm 500 is designated and registered by manual input by the user will be described. For example, the user inputs an operation for registering the farm 500 into the input / output device 310 of the information terminal 300. In response to the operation, the computing device 320 of the information terminal 300 reads and executes the display program 430 from the storage device 340. When the display program 430 is executed, the computing device 320 starts the operation as part of the farm management method. Figure 9 The processing shown.

[0096] In step S110, the registration information receiving unit 350 implemented by the computing device 320 receives the registration information of the field 500 input by the user. Figure 3As shown, the registration information receiving unit 350 displays a map image of an area including the field 500 on the input / output device 310. In the displayed map image, the user specifies the positions of vertices 650 representing the field 500 in the order that they circulate along the outline of the field 500. For example, in the map image displayed on the information terminal 300, the user specifies the position representing the first vertex 650-1, the position representing the second vertex 650-2, the position representing the third vertex 650-3, and the position representing the fourth vertex 650-4 in that order. The registration information receiving unit 350 accepts information indicating the specified vertices 650 and the order of the specified vertices 650 as registration information.

[0097] Furthermore, the user can input the name of the field 500 into the input / output device 310. Furthermore, the user can input information related to work performed in the field 500, such as the amount of crops harvested in the field 500, into the input / output device 310. The registration information receiving unit 350 can also receive information related to the field 500 input by the user as registration information. The received registration information is output by the registration information receiving unit 350 to the field management device 200.

[0098] exist Figure 9 In step S120, the data storage unit 250 of the field management device 200 registers the corresponding field 500 based on the acquired registration information. For example, the data storage unit 250 determines the area of ​​the field 500 to be the interior of the polygon formed by the plurality of vertices 650 indicated by the registration information. For example, the data storage unit 250 determines the area of ​​the field 500 to be the interior of a line connecting the plurality of vertices 650 in a specified order. The data storage unit 250 stores field information representing the determined area of ​​the field 500 and the area set by manual user input in the field data 410. Furthermore, the data storage unit 250 may include information related to the work performed in the field 500 in the stored field information. The field information may also include the name of the field 500.

[0099] In this way, the registration information on the field 500 input by the user is stored in the field data 410 of the field management device 200 . As a result, the field 500 is registered in the field management system 1000 .

[0100] (Registration operation based on the position information of the working device)

[0101] Next, the operation of the field management system 1000 when the field 500 is registered using the position information of the working device 100 will be described. For example, the field 500 is registered in the field management system 1000 when the working device 100 starts working based on autonomous driving. For example, before starting working based on autonomous driving of the working device 100, the operator inputs an operation for registering the area, such as the position and shape, of the field 500 into the input / output device 110 of the working device 100. When the operation for registering the field 500 is input into the input / output device 110, the operation device 120 of the working device 100 reads out the area determination program 400 from the storage device 140 and executes it. When the area determination program 400 is executed, the operation device 120 starts working as part of the field management method. Figure 10 The processing shown.

[0102] In step S210, the area determination unit 150 implemented by the computing device 120 prompts the operator to move the working device 100 in a circle along the contour of the field 500 and starts measuring the position of the working device 100. For example, the area determination unit 150 displays on the input / output device 110: Move the working device 100 in a circle along the contour of the field 500. In addition, the area determination unit 150 obtains position information indicating the position of the working device 100 from the positioning device 115. The user moves the working device 100 in a circle along the contour of the field 500, and thus, Figure 2 As shown, the region determination unit 150 acquires position information indicating a positioning position 600 along the outline of the field 500 .

[0103] exist Figure 10 In step S220 shown in FIG. 1 , the area determination unit 150 determines the area of ​​the field 500 based on the positioning position 600 when the working device 100 circulates along the contour of the field 500. For example, Figure 2As shown, the area determination unit 150 determines the area of ​​the field 500 as the area inside the line connecting the positioning positions 600 at the time the working device 100 stops and the positioning positions 600 at the time the working device 100 starts to circulate, which is connected by a line. For example, the area determination unit 150 determines the area inside the line connecting the positioning positions 600 as the area of ​​the field 500. Alternatively, the area determination unit 150 may determine the area of ​​the field 500 as an area that is expanded from the area connected by the line based on the width 620 of the working device 100, such as the working width. For example, the area determination unit 150 may determine the area of ​​the field 500 by expanding from the area connected by the line connecting the positioning positions 600 by a distance half the width 620 of the working device 100. Region determination unit 150 can determine the region of field 500 by expanding the region connected by a line connecting positioning positions 600, based on the distance from the position of positioning device 115 to the outer edge of working device 100 when circling field 500, in a direction perpendicular to the direction of travel of working device 100. Region determination unit 150 outputs information indicating the determined region of field 500 to field management device 200.

[0104] exist Figure 10In step S230, the overlap determination unit 260 of the field management device 200 determines whether the field information stored in the field data 410 contains any field information whose area overlaps with the area of ​​the determined field 500. For example, the overlap determination unit 260 extracts field information from the field data 410 and determines whether the area of ​​the field 500 represented by the extracted field information overlaps with the area of ​​the determined field 500. For example, if the area of ​​the overlapping area between the area of ​​the determined field 500 and the area of ​​the field 500 represented by the extracted field information is greater than a threshold, the overlap determination unit 260 determines that the two areas overlap. Alternatively, the overlap determination unit 260 can determine whether the two areas overlap based on the ratio of the area of ​​the overlapping area between the two areas to the area of ​​the area included in the two areas. In this case, for example, the overlap determination unit 260 subtracts the area of ​​the overlapping area between the two areas from the total area of ​​the two areas to calculate the area of ​​the area included in the two areas. The overlap determination unit 260 calculates a ratio by dividing the area of ​​the area where the two areas overlap by the area of ​​the area included in the calculated two areas. For example, if the obtained ratio is greater than a threshold, the overlap determination unit 260 determines that the two areas overlap. For example, the overlap determination unit 260 determines whether the areas of the fields 500 in all the field information stored in the field data 410 overlap with the area of ​​the determined field 500. If there is no field information indicating an area that overlaps with the area of ​​the determined field 500 (NO), the overlap determination unit 260 executes the processing of step S240. If it is determined that there is field information indicating an area that overlaps with the area of ​​the determined field 500 (YES), the overlap determination unit 260 executes the processing of step S250.

[0105] In step S240, the overlap determination unit 260 registers a new field 500 that has the area of ​​the determined field 500. For example, the overlap determination unit 260 stores field information indicating the field 500 having the determined area in the field data 410. Thus, the stored field information indicates the area of ​​the determined field 500. Furthermore, the overlap determination unit 260 includes information indicating the area of ​​the newly registered field 500, which is set using the positional information of the working device 100. The stored field information may also include information indicating the name of the field 500. In this case, the name of the field 500 can be input into the input / output device 110 of the working device 100 while working in the field 500. The name input into the input / output device 110 can be transmitted to the field management device 200 along with the area information by the area determination unit 150. When the processing of step S240 ends, the registration process of the field 500 in the field management system 1000 ends.

[0106] If field information exists that indicates an area overlapping with the area of ​​the determined field 500, in step S250, the overlap determination unit 260 changes the area information of the corresponding field information stored in the field data 410 to the area information indicating the area of ​​the determined field 500. For example, the overlap determination unit 260 extracts field information indicating an area overlapping with the area of ​​the determined field 500. The overlap determination unit 260 changes the area of ​​the field 500 indicated in the extracted field information to the area of ​​the determined field 500. Thus, the field information is changed to indicate the area determined by the position information of the working device 100. Therefore, the overlap determination unit 260 also changes the information in the field information indicating the method of setting the area indicated by the area information to indicate that the area was determined using the position information of the working device 100.

[0107] In this way, field 500 being worked on by autonomous driving of work device 100 is registered in farm management system 1000 as field information representing an area determined using the position information of work device 100. Furthermore, even if field information related to field 500 was previously registered as representing an area specified by manual input, it is changed to represent an area using the position information. This allows field information managed by farm management system 1000 to represent an area with greater precision.

[0108] Furthermore, the working device 100 performs work by autonomously traveling in the field 500 of the determined area. Figure 2 As shown, control unit 160 of working device 100 determines a work path 630 for moving while working in field 500. Information required to determine work path 630, such as the working width of working device 100 to be used and overlap settings, is input by the user into input / output device 110. Once work path 630 is determined, control unit 160 controls working device 100 to move along the determined work path 630 and perform work.

[0109] (Display of field information)

[0110] Next, the operation of displaying the field information representing the field 500 registered in the field management system 1000 will be described. For example, in order to confirm the field information, the user inputs an operation for displaying the field information into the input / output device 310 of the information terminal 300. In response to the operation, the computing device 320 of the information terminal 300 reads and executes the display program 430 from the storage device 340. When the display program 430 is executed, the computing device 320 starts the process as part of the field management method. Figure 11 The processing shown.

[0111] In step S310 , the display unit 360 implemented by the computing device 320 requests the farmland management device 200 for map information indicating farmland information on a map.

[0112] In step S320, the map information generating unit 270 of the farmland management device 200 generates map information that represents farmland information on a map. Figure 4 As shown, the map information generation unit 270 generates map information showing an image of an area representing one or more fields 500 on a map representing an area including one or more fields 500. For example, the map information shows the range of the map shown in the image and the range of the area of ​​the field 500 shown in the image. Furthermore, the map information identifiably shows the area of ​​the first field 500-1 registered using the positional information of the working device 100 and the area of ​​the second field 500-2 specified and registered in the map information displayed on the information terminal 300. The generated map information is output to the information terminal 300 by the output unit 280.

[0113] exist Figure 11 In step S330 shown in FIG, the display unit 360 of the information terminal 300 displays the map information obtained from the field management device 200. For example, Figure 4 As shown, the display unit 360 displays an image representing one or more fields 500 on a map based on the map information. For example, the display unit 360 displays the area representing the first field 500-1 and the area representing the second field 500-2 in a distinguishable manner. For example, the display unit 360 displays the area representing the first field 500-1 in a different display format, such as color or pattern, than the area representing the second field 500-2.

[0114] exist Figure 11 In step S340, the selection information receiving unit 370 determines whether it has received selection information indicating a field 500 selected by the user from among the displayed fields 500. For example, the selection information receiving unit 370 determines whether the user has selected a field 500 from among the fields 500 displayed on the input / output device 310 by any method. For example, the selection information receiving unit 370 determines whether the user has selected any of the areas representing the fields 500. If the user has selected any field 500, the selection information receiving unit 370 determines that the selection information has been received. If the selection information receiving unit 370 determines that the selection information has been received (YES), the process proceeds to step S350. If the selection information has not been received (NO), the selection information receiving unit 370 repeats the process of step S340 and waits until the selection information is received. For example, the selection information indicates that the field 500 has been selected by the user. Here, the selected field 500 is also referred to as the selected field.

[0115] In step S350, the selection information accepting unit 370 determines whether the selected field indicated by the selection information is the field 500 registered using the location information of the working device 100. For example, the selection information accepting unit 370 determines whether the area indicating the field information of the selected field indicated by the selection information is set using the location information of the working device 100. If the area indicating the field information of the selected field is set using the location information of the working device 100 (YES), the selection information accepting unit 370 executes the process of step S360. If the field information of the selected field is specified on the map displayed on the information terminal 300 (NO), the process returns to step S340 and is repeated.

[0116] In step S360, the selection information receiving unit 370 determines whether the area information of the selected field 500 is requested. For example, when the field 500 registered using the position information of the working device 100 is selected, Figure 12 As shown, selection information receiving unit 370 displays a confirmation display area 700 for confirming whether the region information of the selected field 500 has been downloaded. Confirmation display area 700 displays, for example, a user interface for specifying whether to download the region information, such as a YES button and a NO button. If the user specifies downloading, for example, by selecting the YES button, selection information receiving unit 370 determines that the region information has been requested (YES), and the process proceeds to step S370. If the user specifies not to download, for example, by selecting the NO button, selection information receiving unit 370 determines that the region information has not been requested (NO), and the process returns to step S340, repeating the process.

[0117] In step S370, the selection information receiving unit 370 outputs area request information indicating requested area information to the farmland management device 200. The area request information indicates, for example, the field 500 selected by the user.

[0118] In step S380, output unit 280 of field management device 200 outputs the region information of field 500 indicated by the region request information based on the region request information. For example, output unit 280 extracts the field information indicating field 500 indicated by the region request information from field data 410. Output unit 280 outputs the region information included in the extracted field information to information terminal 300.

[0119] In step S390, the selection information receiving unit 370 of the information terminal 300 stores the area information acquired from the field management device 200 in the storage device 340 of the information terminal 300. The user uses the input / output device 310 of the information terminal 300 to confirm the area information stored in the storage device 340 of the information terminal 300. For example, the user can use the communication device 330, such as a USB terminal, to store the area information stored in the storage device 340 in a USB memory. The USB memory storing the area information is connected to the communication device 130, such as a USB terminal, of the working device 100. The control unit 160 of the working device 100 can then use the area information stored in the USB memory to determine the working route 630. Furthermore, the user can use the area information stored in the storage device 340 of the information terminal 300 for agricultural management of the field 500.

[0120] (Variation)

[0121] The above-described embodiments and variations are examples only. The structures described in the embodiments and variations can be arbitrarily changed or / and combined as long as the functions are not affected. Furthermore, if the desired functions can be achieved, some of the functions described in the embodiments and variations can be omitted. For example, Figure 13 As shown, the display unit 360 of the information terminal 300 can be associated with a region of the field 500 and display a positioning type display area 710 indicating the method of measuring the position information used to set the region. For example, the first positioning type display area 710-1 indicates that the region of the associated field 500 is set using position information measured using RTK-GNSS (Real Time Kinematic-GNSS), which obtains position information from a base station and corrects the measured position. Furthermore, the second positioning type display area 710-2 indicates that the region of the associated field 500 is set using position information measured using D-GNSS (Differential-GNSS), which obtains the error in the position measured by the base station and corrects the measured position.

[0122] In this case, for example, Figure 10 In step S220 shown, the area determination unit 150 of the working device 100 outputs the positioning type information indicating the method of measuring the position of the working device 100 together with the area information to the field management device 200. In step S240 or step S250, the field information includes the positioning type information, and the overlap determination unit 260 of the field management device 200 stores it in the field data 410. Figure 11In step S320 shown, the map information generating unit 270 may generate map information indicating the positioning type information in association with the area information indicating the area of ​​the field 500 .

[0123] exist Figure 11 In step S360 shown, the selection information receiving unit 370 of the information terminal 300 may indicate the output of the permitted area information by any method regarding the field information of the area set and indicated by the position information of the working device 100. Specifically, the selection information receiving unit 370 may indicate the output of the permitted area information by displaying Figure 12 The confirmation display area 700 shown in FIG. 1 shows the output of permitted area information, but the present invention is not limited to this. For example, when field 500 for which output of permitted area information is permitted is selected, the selection information receiving unit 370 may display a menu including an item for downloading as a list of operable items. For example, the menu may include an item for displaying information related to work being performed in the selected field 500.

[0124] Furthermore, selection information receiving unit 370 indicates that the output of field information for which the indicated area is manually specified is prohibited by not displaying confirmation display area 700. However, any other method may be used. For example, when field information for which the indicated area is manually specified is selected, selection information receiving unit 370 displays a menu in which the items for download are rendered unselectable. Displaying an item as unselectable means that the processing indicated by the item will not be executed even if the item is selected, for example, by displaying text lighter than other items.

[0125] exist Figure 9 In step S110, the registration information receiving unit 350 of the information terminal 300 can receive area information from the user through any input method specifying the area of ​​the registered field 500. For example, the user can input an operation to move the selected position along the outline of the field 500 in the displayed map image into the input / output device 310. For example, the user can move the position along the outline of the field 500 while touching the touch panel of the input / output device 310, such as a touch panel, on the map image displayed. The registration information receiving unit 350 outputs information indicating the line formed by the selected position movement to the field management device 200. In step S120, the data storage unit 250 of the field management device 200 determines the range indicated within the line formed by the selected position movement as the area of ​​the field 500.

[0126] exist Figure 10Step S210 illustrates an example in which area determination unit 150 of working device 100 determines an area within field 500 using positional information obtained when working device 100 is moved along the contour of field 500. However, this is not limiting. As long as working device 100 is moved in a manner capable of determining an area within field 500, it may also move along any path within field 500.

[0127] exist Figure 10 In step S230, the overlap determination unit 260 of the field management device 200 can determine whether there is field information that represents an area of ​​the determined field 500 and overlaps with the indicated area, and the indicated area is manually specified. In this case, for example, the overlap determination unit 260 extracts field information representing the area specified by manual input from the field data 410 and determines whether the area represented by the extracted field information overlaps with the area of ​​the determined field 500.

[0128] Information related to the work being done on the field 500 can be obtained not only from Figure 9 The user input described in the process of step S110 may be input by any method. For example, the work device 100 may acquire information related to the work performed in the field 500 and output the acquired information to the field management device 200. For example, when harvesting in the field 500, the work device 100 measures the harvested crop yield. Information indicating the measured harvest yield may be output from the work device 100 to the field management device 200. Furthermore, the work device 100 may measure the amount of fertilizer applied to the field 500 and output information indicating the measured amount of fertilizer to the field management device 200.

[0129] exist Figure 10 In step S250, the overlap determination unit 260 of the field management device 200 may not change the area indicated by the area information included in the field information to the area determined using the position information of the working device 100. For example, when there is field information with overlapping areas, the overlap determination unit 260 may use an already registered area instead of the determined area. In this case, the processing of step S250 is omitted.

[0130] Alternatively, the overlap determination unit 260 may register the field 500 without checking whether the regions overlap. In this case, the overlap determination unit 260 stores field information indicating the determined region of the field 500 in the field data 410 without determining whether the regions overlap.

[0131] In addition, the positioning device 115 of the working device 100 can start measuring its own position when the working device 100 is started.

[0132] The area information may represent the area of ​​the field 500 in any form.

[0133] For example, the area determination unit 150 of the working device 100 can be executed using the field management device 200. In this case, the field management device 200 obtains positional information from the working device 100 as the working device 100 moves within the field 500. Furthermore, the field management device 200 can execute part or all of the processing of the information terminal 300. The working device 100 or the information terminal 300 can execute part or all of the processing of the field management device 200. The working device 100 can execute part or all of the processing of the information terminal 300. The field management program 420 may include the area determination program 400 and may also include the display program 430.

[0134] The information terminal 300 that displays the map information may be the same as or different from the information terminal 300 that receives the registration information.

[0135] The field management system 1000 may not include the information terminal 300, but may instead obtain registration information from an external terminal not included in the field management system 1000. Alternatively, the field management system 1000 may display map information on the external terminal. Furthermore, the field management system 1000 may not include the working device 100, but may instead obtain information related to the field 500 from an external working device not included in the field management system 1000.

[0136] When the working device 100 does not autonomously travel but only performs processing for determining the area of ​​the field 500 , the control unit 160 of the working device 100 may be omitted.

[0137] (Note)

[0138] The farmland management method, the farmland management system, and the farmland management program described in each embodiment can be described as follows.

[0139] Regarding the farmland management method according to the first aspect,

[0140] The field management method comprises the following steps:

[0141] generating map information that represents a first area and a second area in a manner recognizable on a map, wherein the first area is first area information included in the first field information using position information of a working device moving within the first field, and the second area is second area information included in the second field information and is specified in a map image displayed on an information terminal; and

[0142] The map information is output.

[0143] The farmland management method according to the second aspect is based on the farmland management method according to the first aspect, wherein:

[0144] The first field information includes positioning type information indicating a method of measuring the position information.

[0145] The step of generating the map information includes the step of generating the map information indicating the positioning type information in association with the first area information indicated on a map.

[0146] The farmland management method according to the third aspect is the farmland management method according to the first or second aspect, wherein:

[0147] The field management method further includes a step of displaying the map information.

[0148] The farmland management method according to the fourth aspect is based on the farmland management method according to the third aspect, wherein:

[0149] The field management method comprises the following steps:

[0150] receiving selection information indicating a selected field selected from a plurality of fields indicated by a plurality of field information including the first field information and the second field information, wherein the first field information indicates the first area set using position information of a working device and the second field information indicates the second area designated in a map image;

[0151] When the selected field indicated by the selection information is included in the first field indicated by the first field information, output of the first region information of the first field information is permitted; and

[0152] When the second field indicated by the second field information includes the selected field indicated by the selection information, output of the second region information of the second field information is prohibited.

[0153] The farmland management method according to the fifth aspect is the farmland management method according to any one of the first to third aspects, wherein:

[0154] The field management method comprises the following steps:

[0155] determining whether a third area overlaps with the second area indicated by the second field information, wherein the third area is determined using position information obtained by movement of a working device within the second field indicated by the second field information; and

[0156] When it is determined that the third area overlaps with the second area, the area indicated by the second area information of the second field information is changed from the second area to the third area.

[0157] The farmland management method according to the sixth aspect is the farmland management method according to any one of the first to fifth aspects, wherein:

[0158] The farmland management method further includes the step of determining the first area based on position information of a working device moving along a contour of the first farmland.

[0159] Regarding the farmland management system according to the seventh aspect,

[0160] The field management system comprises:

[0161] a map information generating unit that generates map information that represents a first area, which is set as first area information included in first field information using position information of a working device moving within the first field, and a second area, which is specified in a map image displayed on an information terminal and is set as second area information included in second field information, in a manner recognizable on a map; and

[0162] An output unit outputs the map information.

[0163] Regarding the farmland management procedures under the eighth method,

[0164] The field management program causes the computing device to execute the following steps:

[0165] generating map information that represents a first area and a second area in a manner recognizable on a map, wherein the first area is set as first area information included in the first field information using position information of a working device moving within the first field, and the second area is specified in a map image displayed on an information terminal and is set as second area information included in the second field information; and

[0166] The map information is output.

Claims

1. A method for managing a field, wherein: The field management method comprises the following steps: generating map information that represents a first area and a second area in a manner recognizable on a map, wherein the first area is set as first area information included in the first field information using position information of a working device moving within the first field, and the second area is specified in a map image displayed on an information terminal and is set as second area information included in the second field information; as well as The map information is output.

2. The farmland management method according to claim 1, wherein: The first field information includes positioning type information indicating a method of measuring the position information. The step of generating the map information includes the step of generating the map information indicating the positioning type information in association with the first area information indicated on a map.

3. The farmland management method according to claim 1 or 2, wherein: The field management method further includes a step of displaying the map information.

4. The field management method according to claim 3, wherein: The field management method comprises the following steps: receiving selection information indicating a selected field selected from a plurality of fields indicated by a plurality of field information including the first field information and the second field information, wherein the first field information indicates the first area set using position information of a working device and the second field information indicates the second area designated in a map image; When the first fields indicated by the first field information include the selected field indicated by the selection information, output of the first region information of the first field information is permitted; as well as When the second field indicated by the second field information includes the selected field indicated by the selection information, output of the second region information of the second field information is prohibited.

5. The farmland management method according to claim 1 or 2, wherein: The field management method comprises the following steps: determining whether a third area overlaps with the second area indicated by the second field information, wherein the third area is determined using position information obtained by movement of the working device within the second field indicated by the second field information; as well as When it is determined that the third area overlaps with the second area, the area indicated by the second area information of the second field information is changed from the second area to the third area.

6. The farmland management method according to claim 1 or 2, wherein: The farmland management method further includes the step of determining the first area based on position information of a working device moving along a contour of the first farmland.

7. A field management system, wherein: The field management system comprises: a map information generating unit for generating map information that represents a first area and a second area in a manner recognizable on a map, wherein the first area is set as first area information included in the first field information using position information of a working device moving within the first field, and the second area is specified in a map image displayed on the information terminal and is set as second area information included in the second field information; as well as An output unit outputs the map information.

8. A field management program, wherein: The field management program causes the computing device to execute the following steps: generating map information that represents a first area and a second area in a manner recognizable on a map, wherein the first area is set as first area information included in the first field information using position information of a working device moving within the first field, and the second area is specified in a map image displayed on an information terminal and is set as second area information included in the second field information; as well as The map information is output.

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