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

Abstract

The invention provides a field information management method, a field information management system and a program, which can provide high-precision ridge information. The field information management method includes the steps of: determining, with respect to ridge information indicating positions of a plurality of ridges formed in a field, whether or not the positions of the plurality of ridges indicated by the ridge information include an offset error on the basis of statistics of ridge pitches of the plurality of ridges; if it is determined that an offset error is included, correcting, for at least one target ridge included in the plurality of ridges, the position of the target ridge indicated by the ridge information in the direction in which a ridge having a larger ridge pitch from the target ridge is located among two ridges adjacent to the target ridge; and outputting the corrected ridge information.

Description

TECHNICAL FIELD

[0001] The present application relates to a field information management method, a field information management system, and a program. BACKGROUND

[0002] In recent years, with the development of agricultural informatization, there is a growing demand for managing information on field-formed ridges for various purposes such as harvest amount prediction and field information management.

[0003] In this regard, Patent Literature 1 discloses a technique of detecting an interval in which a work device works along a field ridge based on a positioning result of the work device that works along the field ridge provided in a field.

[0004] PRIOR ART DOCUMENTS

[0005] PATENT LITERATURE

[0006] Patent Literature 1: Japanese Patent No. 5821970 SUMMARY

[0007] The inventors have found that, in a case where the position of the field ridge is determined based on the positioning result of the position of the work device using the prior art such as Patent Literature 1, a unique error (also referred to as a bias error) occurs in the position of the field ridge corresponding to each of the work devices that become the positioning targets, for example, due to a deviation in the position in the housing of the work device where the positioning device is provided, and the like. That is, if the field ridge information is generated using the prior art, the accuracy of the position of the field ridge indicated by the field ridge information is sometimes reduced.

[0008] In view of the above-described circumstances, one of the objects of the present disclosure is to provide high-accuracy field ridge information. As to other objects, they can be understood from the following description and the description of the embodiments.

[0009] Hereinafter, means for solving the problems will be described using the numbers / drawing marks used in the modes for carrying out the application. As to the above-described numbers / drawing marks, in order to indicate an example of the correspondence relationship of the recitations of the claims and the modes for carrying out the application, parentheses are added as a reference. Thus, the recitations of the claims should not be interpreted limitatively due to the recitations with parentheses.

[0010] The field information management method according to the embodiment includes the steps of: determining whether positions of a plurality of ridges (R, Ra_1 to Ra_n) indicated by ridge information (D2) representing the positions of the plurality of ridges (R, Ra_1 to Ra_n) formed in a field (F) include a bias error based on a statistic of ridge intervals (RD1, RD2) of the plurality of ridges (R, Ra_1 to Ra_n); in a case where it is determined that the positions include the bias error, correcting, for at least one target ridge included in the plurality of ridges (R, Ra_1 to Ra_n), a position of the target ridge indicated by the ridge information (D2) in a direction in which a ridge, of two ridges adjacent to the target ridge, that is farther from the target ridge by the ridge interval, is located; and outputting the corrected ridge information (D2).

[0011] The field information management system (1) according to the embodiment includes: a bias determination section (130) that determines whether positions of a plurality of ridges (R, Ra_1 to Ra_n) indicated by ridge information (D2) representing the positions of the plurality of ridges (R, Ra_1 to Ra_n) formed in a field (F) include a bias error based on a statistic of ridge intervals (RD1, RD2) of the plurality of ridges (R, Ra_1 to Ra_n); a correction section (150) that, in a case where the bias determination section (130) determines that the positions include the bias error, corrects, for at least one target ridge included in the plurality of ridges (R, Ra_1 to Ra_n), a position of the target ridge indicated by the ridge information (D2) in a direction in which a ridge, of two ridges adjacent to the target ridge, that is farther from the target ridge by the ridge interval, is located; and an information output section (160) that outputs the ridge information (D2) corrected by the correction section (150).

[0012] The program (P1, P2, P3) according to the embodiment causes a computer (14, 24, 34) to execute the steps of: determining whether positions of a plurality of ridges (R, Ra_1 to Ra_n) indicated by ridge information (D2) representing the positions of the plurality of ridges (R, Ra_1 to Ra_n) formed in a field (F) include a bias error based on a statistic of ridge intervals (RD1, RD2) of the plurality of ridges (R, Ra_1 to Ra_n); in a case where it is determined that the positions include the bias error, correcting, for at least one target ridge included in the plurality of ridges (R, Ra_1 to Ra_n), a position of the target ridge indicated by the ridge information (D2) in a direction in which a ridge, of two ridges adjacent to the target ridge, that is farther from the target ridge by the ridge interval, is located; and outputting the corrected ridge information (D2).

[0013] Effects of Invention

[0014] According to the above-described mode, it is possible to provide high-precision field information. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a block diagram showing the structure of a field information management system according to the embodiment.

[0016] Figure 2 is a schematic diagram for explaining a bias error according to the embodiment.

[0017] Figure 3 is a schematic diagram for explaining a bias error according to the embodiment.

[0018] Figure 4 is a block diagram showing the structure of a field information management apparatus according to the embodiment.

[0019] Figure 5 is a block diagram showing the structure of a terminal apparatus according to the embodiment.

[0020] Figure 6 is a block diagram showing the structure of a work apparatus according to the embodiment.

[0021] Figure 7 is a block diagram showing the functional structure of a field information management system according to the embodiment.

[0022] Figure 8 is a diagram showing an example of apparatus information according to the embodiment.

[0023] Figure 9A is a flowchart showing the processing performed by a field information management system according to the embodiment.

[0024] Figure 9B is a flowchart showing the processing performed by a field information management system according to the embodiment.

[0025] Figure 10 is a diagram showing an example of field information according to the embodiment.

[0026] Figure 11 is a schematic diagram for explaining the processing performed by an agricultural business management system according to the embodiment.

[0027] Figure 12 is a diagram showing an example of a screen displayed by a field information management system according to the embodiment.

[0028] Figure 13 is a schematic diagram for explaining a bias error according to the modification.

[0029] Figure 14 This is a schematic diagram illustrating the correction process of the ridges in the field information management system involved in the modified example.

[0030] Explanation of reference numerals in the attached figures

[0031] 1…Field information management system; 10…Field information management device; 12…Input device; 14…Computing device; 16…Communication device; 18…Storage device; 110…Information acquisition unit; 120…Ridge spacing determination unit; 130…Offset discrimination unit; 140…Offset amount determination unit; 150…Correction unit; 160…Information output unit; 170…Information storage unit; 20…Terminal device; 22…Input device; 24…Computing device; 26…Communication device; 28…Storage device; 210…Display unit; 30…Operating device; 31…Operating device; 32…Input device; 34…Computing device; 36…Communication device; 38…Storage device; 3 9… Positioning device; 310… Sampling unit; 320… Output unit; NT… Network; F… Field; R, R_1~R_n… Ridges; Ra_1~Ra_n… Detected ridges; P1, P2, P3… Program; M1, M2, M3… Storage medium; D1… Field information; D2… Ridge information; D3… Device information; SL… Working baseline; WP… Working reference point; W… Working width; WA… Working location; CL… Vehicle centerline; P… Positioning point; PA… Antenna; FA, RL… Axle; OD… Offset distance; RD, RD1, RD2… Ridge spacing; S… Screen; A1, A2… Display area; UI… User interface. Detailed Implementation

[0032] (First Implementation)

[0033] The farmland information management system 1 according to this embodiment will be described with reference to the accompanying drawings. In this embodiment, as... Figure 1 As shown, the field information management system 1 includes a field information management device 10, a terminal device 20, and one or more operating devices 30. One or more fields F are each formed with ridges R extending in a straight line and generally parallel to each other. The field information management system 1 manages ridge information representing one or more ridges R for each of the one or more fields F. Furthermore, the field information management device 10 is connected to one or more terminal devices 20 and operating devices 30 via a network NT in a communicative manner. Examples of network NTs include the Internet and intranets.

[0034] The working device 30 can be, for example, an agricultural machine such as a tractor, transplanter, or harvester equipped with agricultural machinery such as a ridging machine, a planting machine, or a fertilizer applicator, capable of operating in a field F. Sometimes, one or more working devices 30 perform agricultural operations in a predetermined working width in the perpendicular direction of travel on one or more fields F. The working device 30 receives positioning signals from a positioning satellite GP and continuously positions itself based on these signals. Hereinafter, the position of the working device 30 is sometimes referred to as the positioning location, the time of positioning is sometimes referred to as the positioning time, and the information representing the positioning location is sometimes referred to as the positioning information.

[0035] The field information management system 1 of this embodiment manages ridge information representing the geographical features (e.g., center location, endpoint location, length, direction, and width) of multiple ridges R formed in field F. Generally, ridge information is generated by detecting ridges based on the positioning of the work device 30 operating in field F. For positioning, a positioning device (e.g., for positioning the work device 30) is installed in the housing of the work device 30. Figure 6 Antenna PA). Figure 2 As shown, a positioning point P can be set as the positioning reference at the center of the part where the positioning device is installed.

[0036] In addition, the working device 30 includes a working part WA that performs the actual work on the ridge R with a specified working width W (for example, a shaping plate of the ridging machine when the working device 30 is ridging). Figure 2 For example, a working reference point WP for the working device 30 is defined at the center of the working area WA. Sometimes, when performing a task, the working device 30 moves along a trajectory that places the working reference point WP on the center line of the ridge R.

[0037] When positioning the working device 30, for example, the location where the positioning device is fixed to the housing of the working device 30 is called the actual positioning point P. Ideally, the positioning point P and the working reference point WP are located on the vehicle body centerline CL, which connects the center of the front wheel axle FA and the center of the rear wheel axle RA of the working device 30. In this case, the working reference line SL, which passes through the working reference point WP and extends along the longitudinal direction of the working device 30, coincides with the vehicle body centerline CL. However, as... Figure 2 As shown, sometimes due to the physical conditions of the working device 30 or misalignment of the positioning equipment, there is a specified distance (offset distance OD) between the vehicle centerline CL and the working reference line SL to the positioning point P and in the axial direction perpendicular to the vehicle centerline CL.

[0038] exist Figure 2In the example, due to alignment errors during antenna PA installation or physical limitations such as the shape of the vehicle body, the positioning point P deviates from the working reference line SL and the vehicle centerline CL by an offset distance OD. Thus, sometimes the positioning point P exists at a position offset from the vehicle centerline CL and the working reference line SL by an offset distance OD, for example, due to physical limitations when setting up the positioning equipment. Therefore, the deviation of the positioning point P from the vehicle centerline CL and the working reference line SL is sometimes referred to as the deviation of the positioning point P. The deviation of the vehicle centerline CL and the working reference line SL will be described later.

[0039] like Figure 3 As shown, multiple ridges R, including ridges R_1, R_2, R_3, ..., R_n, are arranged at equal intervals and extend in the same direction in field F. When working in field F, the working device 30 sometimes aligns with the working reference point WP at the center of the width of the ridge R and works while moving in the direction of the ridge R extension as indicated by the arrow. Furthermore, in this embodiment, the working device 30 moves alternately in opposite directions and works in a sequence such as ridges R_1, R_2, R_3, ..., where the multiple ridges R are geographically adjacent. Figure 3 , Figure 13 and Figure 14 In the working device 30, the working reference point WP is represented by a white circle, the positioning point P is represented by a black circle, and the vehicle centerline CL is represented by a dashed line.

[0040] If in Figure 3 When the field F is positioned for operation by the working device 30, the position where the center of the ridge R deviates by an offset distance OD in the vertical direction of the centerline CL of the working device 30 is obtained due to the deviation. If ridge detection is performed based on this position, ridges are detected at positions offset by an offset distance OD to the left and right sides relative to the actual ridges R_1 to R_n in the direction extending from the ridge R. Hereinafter, in the absence of distinction from the actual ridges R set in the field, the ridges detected by ridge detection are sometimes referred to as the detected ridge Ra. Figure 3 In the example, the detection ridges Ra_1 to Ra_n of field F are defined as the detection ridges Ra corresponding to the ridges R_1 to R_n formed in field F.

[0041] Furthermore, unlike general errors such as positioning errors and errors in the position of ridges R during their formation, sometimes the positioning position, the detected position of ridge R, or the ridge spacing may differ from the original position of the operating device 30, the position of ridge R, or the ridge spacing due to deviation. In this case, the positioning position, the detected position of ridge R, or the ridge spacing may contain offset errors. When the positions of the detected ridges Ra_1 to Ra_n in field F contain offset errors, and other errors are very small, the ridge spacing of the detected ridges Ra_k+1 (k = 1, 2, ..., n) adjacent to the detected ridge Ra_k is taken as either a ridge spacing RD1 value that is twice the offset distance OD shorter than the actual ridge spacing RD, or a ridge spacing RD2 value that is twice the offset distance OD longer than the ridge spacing RD.

[0042] When the position of the detected ridge Ra shown in the ridge information contains bias errors, it can sometimes hinder agricultural management decisions based on the position of the detected ridge Ra. Furthermore, if the positions of detected ridges Ra_1 to Ra_n, which contain bias errors, are displayed, users may sometimes find the information questionable. To address this problem, the field information management system 1 corrects the position of the detected ridge Ra shown in the ridge information based on the ridge spacing of detected ridges Ra_1 to Ra_n to reduce bias errors. Therefore, the field information management system 1 can provide highly accurate ridge information.

[0043] The structure of the farmland information management system 1 is described below. For example... Figure 4 As shown, the field information management system 1 includes a field information management device 10 comprising an input / output device 12, a computing device 14, a communication device 16, and a storage device 18. The field information management device 10 is, for example, a computer with server functionality. Furthermore, the functions of the field information management device 10 can be provided via a cloud-based network (NT).

[0044] Information for processing by the arithmetic unit 14 is input to the input / output device 12. Additionally, the input / output device 12 outputs the results of the processing performed by the arithmetic unit 14. The input / output device 12 includes various input and output devices, such as a keyboard, mouse, microphone, display, speaker, touch panel, etc.

[0045] The communication device 16 is connected to the network NT in a communicative manner and communicates with external devices (such as terminal device 20 and operating device 30) of the field information management device 10 via the network NT. The communication device 16 transmits information obtained from the external devices to the computing device 14. Additionally, it transmits information generated by the computing device 14 to the external devices. The communication device 16 may include various interface devices with data communication capabilities, such as NIC (Network Interface Card) and USB (Universal Serial Bus).

[0046] Storage device 18 stores a program P1 that includes various commands for performing the processes described later by the field information management device 10 of this embodiment. Storage device 18 serves as a non-transitory tangible storage medium for storing these commands. Program P1 can be provided as a computer program product recorded on a computer-readable storage medium M1. Storage medium M1 can be a portable physical medium such as a CD (Compact Disc), DVD (Digital Versatile Disc), or USB (Universal Serial Bus) memory. Alternatively, storage medium M1 can be a storage device of an external server storing program P1. In this case, program P1 can be provided as a computer program product that can be downloaded from the server.

[0047] The arithmetic unit 14 reads from the storage device 18 and executes a program P1 that includes instructions for performing at least a portion of the processes described later. The arithmetic unit 14 includes, for example, a central processing unit (CPU).

[0048] like Figure 5 As shown, the farmland information management system 1 includes a terminal device 20 comprising an input / output device 22, a computing device 24, a communication device 26, and a storage device 28. The terminal device 20 can be, for example, a mobile device such as a tablet computer or a smartphone. Alternatively, the terminal device 20 can be a desktop personal computer or a laptop computer.

[0049] Information for processing by the arithmetic unit 24 is input to the input / output device 22. Additionally, the input / output device 22 outputs the results of the processing performed by the arithmetic unit 24. The input / output device 22 includes various input and output devices. Furthermore, the input / output device 22 includes a touch panel or display that functions as a screen S displaying the detected position of the ridge Ra. When the terminal device 20 is a personal computer or similar device, the input / output device 22 may include a keyboard, mouse, microphone, etc.

[0050] The communication device 26 is connected to the network NT in a communicative manner and communicates with external devices (such as the field information management device 10 and the operation device 30) of the terminal device 20 via the network NT. The communication device 26 transmits information obtained from the external device to the computing device 24. Additionally, it transmits information generated by the computing device 24 to the external device. The communication device 26 may include, for example, various interface devices with communication functions, such as transceivers for wireless communication, including wireless LAN (Local Area Network) and cellular networks.

[0051] Storage device 28 stores a program P2 containing various commands for performing the processes described later in the field information management system 1 of this embodiment. Storage device 28 serves as a non-temporary storage medium for storing these commands. Program P2 can be provided as a computer program product recorded in a computer-readable storage medium M2. Storage medium M2 can be a portable physical medium such as a CD, DVD, or USB flash drive. Alternatively, storage medium M2 can be a storage device of an external server storing program P2. In this case, program P2 can be provided as a computer program product that can be downloaded from the server.

[0052] The arithmetic unit 24 reads from the storage device 28 and executes a program P2 that includes instructions for performing at least a portion of the processes described later. For example, the arithmetic unit 24 includes a central processing unit (CPU) or the like.

[0053] like Figure 6 As shown, the working device 30 includes a running device 31, an input / output device 32, a computing device 34, a communication device 36, a storage device 38, and a positioning device 39.

[0054] The operating device 31 includes, for example, a ridging machine, a planting machine, a fertilizer applicator, or other mechanical device used to perform operations that should be performed in the field F. The operating device 31 includes, for example, a working part WA located directly above the ridge R during operation and within the working width W, which is related to the operation. The working part WA, for example, is a ridge-forming machine that forms ridges of working width W when the operating device 31 is a ridging machine; in the case of a planting machine, it is a seedling inlet for inserting seedlings into the area of ​​working width W or a transplanting part for transplanting seedlings; and in the case of a fertilizer applicator, it is a fertilizer inlet for inserting fertilizer into the area of ​​working width W.

[0055] Information for processing by the arithmetic unit 34 is input to the input / output device 32. Additionally, the input / output device 32 outputs the results of the processing performed by the arithmetic unit 34. Furthermore, the input / output device 32 may include various input and output devices such as speakers, touch panels, keyboards, mice, microphones, and displays.

[0056] The communication device 36 is connected to the network NT in a communicative manner and communicates with external devices (such as the field information management device 10) of the operating device 30 via the network NT. The communication device 36 transmits information obtained from the field information management device 10 to the computing device 34. Additionally, it transmits information generated by the computing device 34 to the field information management device 10. The communication device 36 may include, for example, various interface devices with wireless communication capabilities, such as transceivers for cellular networks or wireless LANs.

[0057] Storage device 38 stores a program P3 containing various data and commands for performing the processes described later in the field information management system 1 of this embodiment. Storage device 38 serves as a non-temporary storage medium for storing the aforementioned data and commands. Program P3 can be provided as a computer program product recorded in a computer-readable storage medium M3. Storage medium M3 can be a portable physical medium such as a CD, DVD, or USB flash drive. Alternatively, storage medium M3 can be a storage device for an external server storing program P3. In this case, program P3 can be provided as a computer program product that can be downloaded from the server.

[0058] The positioning device 39 continuously measures the position and current time of the working device 30. The positioning device 39 may include, for example, a GNSS (Global Navigation Satellite System) receiver, receiving positioning signals from a positioning satellite (GP) and continuously measuring the position and time of the working device 30. The positioning device 39 may include, for example, an antenna (PA) for receiving positioning signals. The positioning device 39 actually positions the antenna PA.

[0059] Next, refer toFigure 7 The functions of the field information management system 1 are explained. The operating device 30... Figure 6 The arithmetic unit 34 executes program P3 to achieve this. Figure 7 The functions of the sampling unit 310 and the output unit 320.

[0060] As described below, the sampling unit 310 of the working device 30 continuously measures the position and time of the working device 30 at a predetermined time interval (e.g., a 1-second cycle) using the positioning device 39 during the period when the power source (e.g., engine) of the working device 30 is in the start-up state.

[0061] The output unit 320 of the working device 30 transmits positioning information, representing the positioning position and positioning time measured by the sampling unit 310, to the field information management device 10 via the communication device 36. Sometimes the positioning information output by the output unit 320 includes information identifying the working device 30 (e.g., an identifier).

[0062] The land information management device 10 of the land information management system 1 passes through Figure 3 The arithmetic unit 14 executes program P1 to realize the functions of the information acquisition unit 110, the ridge spacing determination unit 120, the offset discrimination unit 130, the offset amount determination unit 140, the correction unit 150, the information output unit 160, and the information storage unit 170.

[0063] The information storage unit 170 stores the information acquired or generated by the information acquisition unit 110, the ridge spacing determination unit 120, the offset discrimination unit 130, the offset amount determination unit 140, and the correction unit 150. Furthermore, the information storage unit 170 provides the stored information to the ridge spacing determination unit 120, the offset discrimination unit 130, the offset amount determination unit 140, the correction unit 150, and the information output unit 160. For example, the information storage unit 170 stores field information D1 and device information D3 before performing the processing described later.

[0064] The field information D1 stores information representing the geographical characteristics of one or more fields F that are processed by the field information management system 1. For example, the field information D1 stores location information representing the geographical extent of field F in association with an identifier inherent to field F. Additionally, sometimes the field information D1 stores a map image of the geographical extent of each field F.

[0065] Device information D3 stores information about the method of positioning offset error for one or more work devices 30 that have previously been used on one or more plots of land F as shown in field information D1. Figure 8In the example, device information D3 stores the identifier of the working device 30 (“device ID”), information indicating the direction of the bias error of the working device 30 (“bias direction”), and information indicating the amount of the bias error (“bias amount”) in an associated manner.

[0066] Figure 8 The "offset direction" indicates the left or right direction of deviation of the positioning point P of the working device 30 relative to the travel direction of the working device 30 when the positioning point P deviates from the working reference line SL. Additionally, sometimes the "offset amount" is used to represent the amount by which the positioning point P of the working device 30 deviates from both the working reference line SL and the vehicle centerline CL. Figure 2 The offset distance OD value is stored.

[0067] Return to Figure 7 As described later, the information acquisition unit 110 acquires at least a portion of the information (e.g., field information D1 and device information D3) required for the processing performed by the field information management device 10 from the information storage unit 170 and external devices (e.g., terminal device 20 and operating device 30). Alternatively, the information acquisition unit 110 acquires at least a portion of the information required for the processing described later based on the information acquired from the information storage unit 170 and external devices. Sometimes, the information acquisition unit 110 acquires information indicating the location of the detected ridge Ra (e.g., based on positioning information acquired from the operating device 30). Figure 8 (Information on the ridges, D2).

[0068] As will be described later, the ridge spacing determination unit 120 determines the ridge spacing of the detected ridges Ra shown in the multiple ridge information D2.

[0069] As will be described later, the bias discrimination unit 130 determines whether the position of the detected ridge Ra shown in the ridge information D2 contains a bias error based on the ridge spacing of the detected ridge Ra.

[0070] As will be described later, the bias determination unit 140 determines the bias amount as the magnitude of the bias error based on the detected ridge spacing Ra.

[0071] As will be described later, the correction unit 150 corrects the position of the ridge shown in the ridge information D2 based on the amount of bias error determined by the bias amount determination unit 140.

[0072] As described below, the information output unit 160 outputs the ridge information D2 corrected by the correction unit 150 to an external device (e.g., terminal device 20). Alternatively, the information output unit 160 may output the ridge information D2 corrected by the correction unit 150, for example, by displaying it using the input / output device 12.

[0073] like Figure 7As shown, as an example, sometimes the arithmetic unit 24 of the terminal device 20 executes program P2 to realize the function of the display unit 210.

[0074] As will be described later, the display unit 210 uses the input / output device 12 to display an image to the user showing the position of the corrected ridge R.

[0075] (The operation of the farmland information management system)

[0076] The farmland information management system 1 utilizes the above-mentioned functional structure to perform... Figure 9A and Figure 9B The process shown corrects the position of the ridges in field F, as indicated by the ridge information D2. For example, the field information management system 1 starts when the power source of the operating device 30 is in the start-up state. Figure 9A and Figure 9B The processing is shown.

[0077] exist Figure 9A In the processing, firstly, in step S1001, the sampling unit 310 of the working device 30 positions the working device 30. For example, the sampling unit 310 uses the positioning device 39 to measure the positioning position and positioning time of the working device 30 when it is working along the ridge R during each specified sampling period (e.g., every 1 second), and generates positioning information representing the positioning position and positioning time.

[0078] Next, in step S1001a, the output unit 320 of the working device 30 outputs the positioning information of the working device 30. For example, the output unit 320 uses the communication device 36 to output multiple positioning information generated by the sampling unit 310 during the button-on state to the field information management device 10 when the power source of the working device 30 is switched to the button-off state. In addition, the output unit 320 can output the positioning information whenever the sampling unit 310 generates positioning information.

[0079] Next, in step S1002, the information acquisition unit 110 of the field information management device 10 acquires ridge information indicating the location of the ridge R. For example, the information acquisition unit 110 receives the positioning information output in step S1001a when working along the ridge R, and performs ridge detection and generates a ridge based on the positioning information. Figure 10 The information shown is for the ridges, D2.

[0080] For example, the information acquisition unit 110 extracts position information within the range of the field F shown in the field information D1 from the position information of the working device 30. Furthermore, based on the extracted position information, the information acquisition unit 110 determines the interval in which the multiple working devices 30 operate along a straight line within a predetermined speed range using any known method described in Japanese Patent No. 5821970. Next, the information acquisition unit 110 can determine the start and end points of the interval corresponding to a straight line within the determined interval as the two endpoints of a detection ridge Ra. Moreover, it can determine the position of the detection ridge Ra corresponding to the multiple ridges R formed in the field F shown in the field information D1, and generate ridge information D2 representing the position of the detection ridge Ra.

[0081] For example Figure 10 As shown, as a result of ridge detection, ridge information D2 stores information indicating the geographical location of the detected ridges Ra, determined for one or more plots of land F. Figure 10 In the example, the ridge information D2 stores the identifier (“ridge ID”) of the detected ridge Ra, the information (“field”) representing the field F on which the ridge R is formed, and the information (“coordinates”) representing the geographical location and characteristics of the ridge R.

[0082] exist Figure 10 In the example, the "coordinates" of the ridge information D2 represent the coordinates (e.g., latitude and longitude) of the two endpoints of the detected ridge Ra. Furthermore, if the information for detecting the ridge Ra can be defined, the ridge information D2 can be combined with... Figure 10 The "coordinates" are different. The ridge information D2 can replace the two endpoints and store information representing the coordinates, length, and direction of the center of the detected ridge Ra.

[0083] Next, in Figure 9A In step S1004, the information acquisition unit 110 determines the work device 30 that is performing work in the field F. For example, the information acquisition unit 110 acquires the identifier of the work device 30 contained in the positioning information received from the work device 30 as information for determining the work device 30, and determines the work device 30 based on this information.

[0084] Next, in step S1006, the information acquisition unit 110 determines whether the information regarding the bias error of the work device 30 operating in the field F has been registered. For example, if the information regarding the bias error of the work device 30 determined in step S1004 is stored in device information D3, the information acquisition unit 110 determines that the work device 30 has been registered (step S1006: YES). In this case, the following steps are performed... Figure 9BStep S1016. On the other hand, if the information regarding the bias error of the working device 30 determined in step S1004 is not stored in the device information D3, the information acquisition unit 110 determines that the working device 30 has not been registered. Figure 9A Step S1006: NO). In this case, proceed to step S1008.

[0085] In step S1008, the ridge spacing determination unit 120 determines the ridge spacing of the detected ridges Ra. For example, the ridge spacing determination unit 120 determines the distance from the geographically adjacent detected ridge Ra_k+1 based on the "coordinates" of the ridge information D2 with respect to the detected ridge Ra_k (k = 1, 2, ..., n) in the field F. When the detected ridge Ra_k and the adjacent detected ridge Ra_k+1 are parallel line segments, the ridge spacing determination unit 120 determines the distance between these line segments as the ridge spacing.

[0086] Furthermore, when the detected ridges Ra_k and Ra_k+1 are not parallel, the ridge spacing determination unit 120 can determine the ridge spacing as a representative distance between the detected ridges Ra_k and Ra_k+1. As an example, when both the detected ridges Ra_k and Ra_k+1 are line segments, the ridge spacing determination unit 120 can determine the ridge spacing based on the distance between the two closest endpoints (first distance) and the distance between the remaining two endpoints (second distance). In this case, the ridge spacing determination unit 120 can, for example, determine the ridge spacing as the average of the first distance and the second distance, the minimum of the two, or the maximum of the two.

[0087] Next, in step S1010, the bias discrimination unit 130 determines the bias index value. For example, the bias discrimination unit 130 can determine the bias index value, which represents the degree to which the ridge spacing contains bias error, as a statistic calculated based on the ridge spacing determined in step S1008 and by the method described later.

[0088] For example, it can be assumed that components different from the bias error, such as the error in the accuracy of the GNSS during positioning, and the error caused by the difference between the actual and intended ridge spacing R, which may be included in the ridge spacing, are uniformly set as Gaussian noise, or at least noise with a probability density peak of 1 (e.g., noise with 0 as the peak value). Therefore, if the ridge spacing determined in step S1008 does not include the bias error, the histogram of the ridge spacing can be a unimodal Gaussian distribution. On the other hand, as Figure 2 and Figure 3 As explained, the bias error takes two values: +2 and -2 times the bias distance OD. Therefore, in Figure 9AIf the ridge spacing determined in step S1008 includes offset error, such as Figure 11 As shown, the histogram of the ridge spacing represents a distribution with two peaks that overlaps two Gaussian distributions with different average values. Therefore, the bias discrimination unit 130 determines the bias index value as the statistical value that varies according to the probability that the histogram of the ridge spacing is unimodal and the probability that it is bimodal or multimodal.

[0089] For example, regarding the representative value Sd of the ridge spacing (e.g., the average or median value of ridge spacing RD_1 to ridge spacing RD_n) and the average value Sa of the absolute error of each ridge spacing RD_k (refer to equation (1) below), the higher the degree of unimodality of the histogram of ridge spacing, the closer it is to 0; in the case of bimodality based on bias error, it is close to the bias distance OD. Therefore, the bias discrimination unit 130 can determine this average value Sa as the bias index value. Furthermore, n represents the number of ridges R formed in the field F.

[0090]

Mathematical Formula 1

[0091]

[0092] Alternatively, the bias discrimination unit 130 can use the p-value of the histogram of the row spacing, obtained through the Silverman test, as the bias index value. For example, the higher the degree of unimodality in the histogram of the row spacing, the closer the p-value is to 1 when tested with mode 1, and the closer the p-value is to 0 when tested with mode 2 or higher. On the other hand, the higher the degree of bimodality in the histogram of the row spacing, the closer the p-value is to 1 when tested with mode 2, and the closer the p-value is to 0 when tested with mode 1. Therefore, the bias discrimination unit 130 can determine the p-value when tested with mode 2 as the bias index value. Alternatively, if the p-value is set to p1 when tested with mode 1 and p2 when tested with mode 2, the bias discrimination unit 130 can determine p2 / p1 as the bias index value.

[0093] Next, in Figure 9B In step S1012, the offset discrimination unit 130 determines whether the spacing between the ridges includes an offset error. For example, in Figure 9A If the bias index value determined in step S1010 is above a threshold specified by a set method, the bias discrimination unit 130 determines that the ridge spacing contains a bias error. Figure 9B Step S1012: YES). In this case, step S1014 is executed next. On the other hand, if the bias index value is less than the threshold, the bias discrimination unit 130 determines that the ridge spacing does not contain bias error (step S1012: NO). In this case, step S1018 is executed next.

[0094] In addition, Figure 9A In step S1010, as a bias indicator, the greater the probability of a bimodal (or multimodal) pattern, the larger the statistic that the bias discriminant unit 130 can determine (e.g., p1 / p2 of the p-value in the Silverman test mentioned above). In this case, Figure 9B In step S1012, if the value is below a threshold predetermined by a set method, the bias determination unit 130 determines that the ridge spacing contains a bias error. Figure 9B Step S1012: YES).

[0095] In step S1014, the bias amount determination unit 140 determines the bias amount as the magnitude of the bias error. For example, in Figure 9A In step S1010, if the representative value Sd and the average value Sa of the absolute error of the row spacing RD_k are determined as bias index values, the bias determination unit 140 can determine the value of Sa as the bias. Alternatively, the bias determination unit 140 can perform Gaussian fitting based on the premise that the histogram of the row spacing is bimodal, determine the average value μ1 and average value μ2 that minimize the error function, and determine the value of half the absolute value of average value μ1 - average value μ2 as the bias.

[0096] Next, in step S1016, the correction unit 150 corrects the position of the ridges. For example, the correction unit 150 corrects the position of the detected ridges Ra in a way that reduces the ridge spacing greater than a representative value (e.g., average or median value) among the ridge spacings of the detected ridges Ra, and increases the ridge spacing corresponding to ridge spacings less than the representative value. As an example, when the detected ridges Ra_1 to Ra_n are in Figure 3 In the positional relationship shown, the detection ridge Ra_2 is moved to the right in such a way that the ridge spacing RD2 of detection ridges Ra_2 and Ra_3, which is greater than the representative value (ridge spacing RD), is shortened, and the ridge spacing RD1 of detection ridges Ra_3 and Ra_4, which is also greater than the representative value (ridge spacing RD), is increased. In other words, the correction unit 150 moves the detection ridge Ra_k in the direction of the detection ridge Ra with the longer ridge spacing among the adjacent detection ridges Ra_k-1 and Ra_k+1. Figure 9B The offset amount determined in step S1014 is moved in parallel. In this way, the correction unit 150 corrects the position of the detected ridge Ra in a manner that reduces the offset error contained in the position of the detected ridge Ra shown in the ridge information D2.

[0097] Furthermore, in the processing of this execution Figure 9AIn step S1006, if it is determined that the information regarding the bias error of the working device 30 has been registered (step S1006: YES), the correction unit 150 can... Figure 9B In step S1016, the position of the detected ridge Ra is corrected based on the bias of the working device 30 stored in the "bias" of the device information D3, so as to reduce the bias error contained in the position of the detected ridge Ra shown in the ridge information D2.

[0098] The correction unit 150 can update the position of each detected ridge Ra included in the field F in a manner that shows the position after parallel movement. Figure 9A The coordinates of the ridge information D2 obtained in step S1002. Alternatively, the correction unit 150 can be connected with... Figure 9A In step S1002, the obtained ridge information D2 is used to generate new ridge information D2 that represents the position of each detected ridge Ra after parallel movement.

[0099] Next, in step S1018, the calibration unit 150 updates the device information D3. For example, the calibration unit 150 can store the value representing the bias amount determined in step S1014 in... Figure 8 The row corresponding to the "Bias Amount" column in device information D3. Additionally, in Figure 9B In step S1012, if it is determined that the ridge spacing does not include offset error (step S1012: NO), the correction unit 150 can store 0 in the "offset amount" corresponding to the working device 30. Additionally, in Figure 9A If, in step S1006, it is determined that the information registration for the working device 30 is complete (step S1006: YES), the correction unit 150 can skip the processing. Figure 9B Step S1018.

[0100] Furthermore, the correction unit 150 can determine whether to shift the positioning position to the right or left based on the positioning information of the working device 30 as the direction of the offset error, relative to the forward direction of the vehicle centerline CL of the working device 30. For example, the correction unit 150 determines the travel direction of the working device 30 in the operation of the detection ridge Ra_k (also called the working direction in the detection ridge Ra_k) based on the positioning position and positioning time shown in the positioning information corresponding to the detection ridge Ra_k. Moreover, the correction unit 150 determines that the positioning position should be shifted to the side with the shorter ridge spacing relative to the adjacent detection ridge Ra_k+1 or adjacent detection ridge Ra_k-1, either to the right or left of the determined travel direction. Furthermore, the correction unit 150 can store information indicating the direction of the determined offset error in the "offset direction" column of the determined positioning position.

[0101] Next, in step S1020, the information output unit 160 outputs information. For example, the information output unit 160 can use the communication device 16 to output output information including ridge information D2, which indicates the position of the detected ridge Ra after correction in step S1016, to the terminal device 20. The information output unit 160 can also output output information including a map image of the field F included in the field information D1. In addition, the information output unit 160 can also output output information including the ridge information D2 before correction.

[0102] Next, in step S1022, the display unit 210 of the terminal device 20 displays the output information. For example, the display unit 210 may use the input / output device 22 to overlay the information indicating the corrected location of the detected ridge Ra with the map image of the field F contained in the output information to display an image.

[0103] When the output information includes the original soil ridge information D2, for example Figure 12 As shown, the display unit 210 can display the position of the detected ridge Ra before correction, based on the corrected position of the detected ridge Ra. Figure 12 In the example, the positions of the detected ridges Ra_1 to Ra_n before correction are displayed in display area A1 in a comparative manner, and the positions of the detected ridges Ra_1 to Ra_n after correction are displayed in display area A2.

[0104] And, as Figure 12 As shown, the display unit 210 can display a user interface (UI) that allows users to select whether the detected ridge Ra before or after correction is correct. For example, if the user selects "Yes" or similar input in the UI indicating that the detected ridge Ra is correct after correction, the display unit 210 sends this information to the field information management device 10. In this case, the information storage unit 170 of the field information management device 10 can delete the ridge information D2 before correction. On the other hand, if the user selects "No" or similar input in the UI indicating that the detected ridge Ra is correct before correction, the display unit 210 sends this information to the field information management device 10. In this case, the information storage unit 170 of the field information management device 10 can cancel... Figure 9B The correction content of the soil ridge information D2 in step S1016 and the update content of the device information D3 in step S1018.

[0105] As explained above, when the detected ridge Ra position shown in the ridge information D2 contains a bias error, the field information management system 1 of this embodiment corrects the ridge information D2 based on the statistics of the ridge spacing in a way that reduces the bias error contained in the detected ridge Ra position. Therefore, the field information management system 1 of this embodiment can provide high-precision ridge information D2.

[0106] (Modified Example)

[0107] The structure described in the implementation is an example, and the structure can be changed within the scope of not affecting the function.

[0108] For example, one or more of the following functions of the field information management device 10—the information acquisition unit 110, the ridge spacing determination unit 120, the offset discrimination unit 130, the offset amount determination unit 140, the correction unit 150, the information output unit 160, and the information storage unit 170—can be distributed among two or more computers: 110, 120, 130, 140, 150, 160, and 170. Additionally, for example, the terminal device 20 can possess one or more of the functions of the field information management device 10 described above.

[0109] Alternatively, if the location information of the work device 30 can be obtained from an external device (such as an external server device that collects location information), the information acquisition unit 110 can replace the work device 30 and obtain the operation information from the external device. In this case, the field information management system 1 may not include the work device 30.

[0110] Furthermore, the field information management device 10 may include a functional unit corresponding to the display unit 210 of the terminal device 20. In this case, the functional unit corresponding to the display unit 210 can... Figure 9B In step S1022, the corrected position of the detected ridge Ra is displayed on the screen of the display device of the input / output device 12 of the field information management device 10. In this case, the field information management system 1 may not include the terminal device 20.

[0111] In the above embodiments, such as Figure 2 As shown, the case where the working baseline SL and the vehicle centerline CL are aligned, and the positioning point P deviates from both lines, is explained. However, as... Figure 13 As shown, the invention can also be applied when the positioning point P exists on the vehicle centerline CL and the working reference line SL is offset from the vehicle centerline CL by an offset distance OD. In this case, the positioning position of the working device 30 does not contain offset error, and the working device 30 operates such that the working reference point WP is located on the ridge R. Therefore, the position of the ridge Ra and the ridge spacing contain offset error.

[0112] In addition, the field information management system 1 can be integrated with...Figure 9A and Figure 9B Different processing methods. For example, Figure 9A and Figure 9B The execution order of some of the steps shown can be sequential. Alternatively, for example, some processes can be omitted. Figure 9A Steps S1004 and S1006 involve, based on, up to the last execution Figure 9A and Figure 9B The bias amount of the working device 30, determined by the processing, is used to correct the current ridge information D2. In this case, the information storage unit 170 may not store the device information D3.

[0113] in addition, Figure 9A and Figure 9B Some steps in the processing can be modified. For example, the information acquisition unit 110 can... Figure 9A In step S1002, ridge information D2, indicating the location of the detected ridge Ra in field F, is obtained from an external server providing ridge detection services based on the positioning information of the working device 30, using the communication device 16. At this time, the ridge information D2 obtained from the external server may include information indicating the working device 30 performing operations in field F. In this variation, in step S1004, the information acquisition unit 110 acquires information indicating the working device 30 shown in the ridge information D2 as information indicating the working device 30 performing operations. In this variation, the field information management system 1 may not include the working device 30.

[0114] In a variation of obtaining the ridge information D2 from an external server, the ridge information D2 sometimes includes information indicating the ridge spacing of each detected ridge Ra. In this case, the ridge spacing determination unit 120 can... Figure 9A In step S1008, the ridge spacing shown in the ridge information D2 is obtained instead of calculating the ridge spacing using the method described in the above embodiment.

[0115] Furthermore, the correction unit 150 can correct the position of the detected ridge Ra shown in the ridge information D2 using a method different from that described in the above embodiment. For example, the correction unit 150 can be based on... Figure 9B The bias determined in step S1014 is... Figure 9A The positioning position shown in the position information obtained in step S1002 is corrected. In this case, the correction unit 150 determines the working direction of the working device 30 in the detection ridge Ra_k before correction using the method described in step S1018, and determines... Figure 8The "bias direction" indicates the direction of the bias error. Furthermore, the correction unit 150 corrects the bias error at each positioning position based on the direction of this bias error, the bias amount, and the travel direction of the working device 30 at the positioning position. Moreover, the correction unit 150 can perform ridge detection again based on the corrected positioning position. Then, the correction unit 150 can store the position of the detected ridge Ra, as shown by the result of the newly performed ridge detection, in the corrected ridge information D2.

[0116] In addition, Figure 9A In step S1010, the bias discrimination unit 130 can determine two or more index values. For example, the bias discrimination unit 130 can determine the statistical values ​​(e.g., Bayesian information benchmarks) representing the results of Gaussian fitting based on a unimodal model and the results of Gaussian fitting based on a bimodal model as bias index values. For example, the bias discrimination unit 130 performs Gaussian fitting based on a unimodal model and calculates the average value μ and standard deviation δ that minimize the error function. Moreover, the bias discrimination unit 130 calculates the Bayesian information benchmark BIS1 of the model as the first bias index value representing the probability of a unimodal model.

[0117] Next, the bias discriminant unit 130 performs Gaussian fitting based on the bimodal distribution to find the mean μ1 and mean μ2, standard deviation δ1 and standard deviation δ2, and confusion probability π that minimize the error function. Generally, if the mean of the first peak is set to μ1, the standard deviation to δ1, the mean of the second peak to μ2, the standard deviation to δ2, the confusion probability to π, and the Gaussian distribution function is set to... The bimodal Gaussian distribution is represented by the following equation (2).

[0118]

Mathematical Formula 2

[0119]

[0120] The bias discriminant unit 130 can calculate the average value μ1 and average value μ2, standard deviation δ1 and standard deviation δ2, and confusion probability π that minimize the error function. Furthermore, the bias discriminant unit 130 calculates the Bayesian information content benchmark BIS2 of the model as a second bias index representing the probability of bimodality. Additionally, the bias discriminant unit 130 can approximate the confusion probability π as a constant of 0.5.

[0121] In variations that determine more than two bias index values, Figure 9BIn step S1012, the bias discrimination unit 130 can determine whether a bias error is included based on the comparison of multiple bias index values. For example, the bias discrimination unit 130 can compare a unimodal Bayesian information content benchmark BIS1 and a bimodal Bayesian information content benchmark BIS2 to determine whether a bias error is included. Generally, the smaller the value of the Bayesian information content benchmark, the higher the accuracy of the model can be judged. Therefore, when BIS2 is small, the bias discrimination unit 130 determines that the spacing between the planting rows contains a bias error. Figure 9B Step S1012: YES). On the other hand, when BIS1 is small, the offset discrimination unit 130 determines that the ridge spacing does not contain offset error (step S1012: NO).

[0122] In addition, for example Figure 14 As shown, the invention of this application can be applied even when the ridge R comprises multiple line segments extending in different directions. In this case, Figure 9A In step S1008, the ridge spacing determination unit 120 can determine the ridge spacing between the detected ridge Ra_k and the adjacent detected ridge Ra_k+1 using any method. For example, the ridge spacing determination unit 120 can extend the perpendicular lines of each line segment constituting the detected ridge Ra_k towards the detected ridge Ra_k+1 from multiple points on the line segment, and determine the ridge spacing based on multiple intersection distances up to the intersection with the detected ridge Ra_k+1. For example, the ridge spacing determination unit 120 can determine the ridge spacing between the detected ridge Ra_k and the detected ridge Ra_k+1 as the median or average value of the multiple intersection distances. Alternatively, the ridge spacing determination unit 120 can determine the ridge spacing as the shortest distance among the distances between any point on the detected ridge Ra_k and any point on the detected ridge Ra_k+1.

[0123] In the variant example where the ridge R includes multiple line segments, in Figure 9B In step S1016, the correction unit 150 can correct the position of the detected ridge Ra using any known method that generates an offset line with multiple continuous line segments (broken lines). For example, when the multiple line segments constituting the detected ridge Ra are moved in parallel, the correction unit 150 can move the position of the detected ridge Ra shown in the ridge information D2 by making the line segments that should be connected by inflection points intersect, or by stretching the line segments when they are not connected to connect them. In addition, sometimes the parallel movement of the detected ridge Ra composed of a single line and the movement of the detected ridge Ra composed of multiple line segments by generating the above-mentioned offset line are collectively referred to as offset movement.

[0124] Additionally, the calibration unit 150 can... Figure 9BIn step S1016, the position of the detected ridge Ra shown in the ridge information D2 is corrected using any other known method. For example, the correction unit 150 can move the detected ridge Ra in parallel such that the ridge spacing of all detected ridge Ra is consistent with a representative value of the ridge spacing. In this case, since the movement of the detected ridge Ra does not require determining the offset amount, step S1014 can be omitted.

[0125] Furthermore, the field information management system 1 can improve the accuracy of the ridge information D2 by correcting the positions of at least one of the detected ridges Ra_1 to Ra_n shown in the ridge information D2. In other words, in Figure 9B In step S1016, sometimes the correction unit 150 corrects the position of the target ridge shown in the ridge information D2 for one or more target ridges (e.g., detection ridge Ra_k) that are the correction targets among multiple detection ridges Ra, in the direction where the detection ridge Ra with the larger distance from the target ridge is located among the two adjacent ridges (e.g., detection ridge Ra_k-1 and detection ridge Ra_k+1).

[0126] Furthermore, the field information management system 1 can display information about the offset error in the positioning position of the work device 30 operating in field F in a user-recognizable manner, even when the ridge spacing of the detected ridges Ra in field F shown in the ridge information D2 contains an offset error. For example, in Figure 9B In step S1012, if the offset determination unit 130 determines that a bias error is included (step S1012: YES), in step S1020, the information output unit 160 of the field information management device 10 can output output information containing deviation information indicating the bias error included in the positioning position of the working device 30. The deviation information sometimes includes, for example, Figure 9A The positioning information obtained in step S1002 includes the identifier of the working device 30 and label information indicating that the positioning position of the working device 30 contains offset error. Additionally, sometimes the offset information includes information indicating the amount of offset of the working device 30 (e.g., ...). Figure 8 The device information D3 includes the "bias amount" and information indicating the direction of the bias error (e.g., the device information D3). Figure 8 The device information D3 ("offset direction").

[0127] When the output information contains deviation information, Figure 9BIn step S1022, sometimes the display unit 210 of the terminal device 20 displays information about the offset error contained in the positioning position of the working device 30 to the user based on the offset information. Sometimes the information about the offset error displayed by the display unit 210 includes, for example, error content information indicating the offset error, or prompts the positioning device of the working device 30 (e.g., ... Figure 6 The display unit 210 can display information such as "The positioning position of the work device 30 with identifier ### may be offset 30cm to the right in the direction of travel" as error information, indicating the work device 30, the offset of the positioning position of the work device 30, and the amount and direction of the offset error. Additionally, the display unit 210 can display information such as "The positioning antenna of the work device 30 with identifier ### may be offset 30cm to the right in the direction of travel. Please move the positioning antenna." as prompting the user to correct the position of the positioning device of the work device 30, indicating the work device 30, urging the user to correct the position of the positioning device of the work device 30, and the amount and direction of the offset. Furthermore, the display unit 210 can display, as a prompting message, a string (or symbol) such as, "The position of the positioning antenna of the working device 30 with identifier ### may be offset 30cm to the right from the center of the vehicle body or the center of the operating device. Please move the positioning antenna toward the center of the vehicle body or the center of the operating device," urging the user to move the positioning device in a manner consistent with the vehicle body centerline CL or the working reference line SL. Additionally, a device displaying information about offset error can be used in conjunction with a display... Figure 12 The terminal device 20 that displays the corrected position of the detected ridge Ra is different. In this case, for example, in Figure 9B In step S1020, the information output unit 160 of the field information management device 10 outputs output information containing the corrected ridge information D2 to the first terminal device 20, and outputs deviation information to the second terminal device 20.

[0128] (Postscript)

[0129] The land information management methods, land information management systems, and programs described in each implementation method can be explained in the following manner.

[0130] The land information management method involved in the first approach includes the following steps:

[0131] Regarding the ridge information representing the location of multiple ridges formed in the field, it is determined whether the location of the multiple ridges shown in the ridge information contains a bias error based on the statistics of the ridge spacing of the multiple ridges.

[0132] If the bias error is determined to be present, for at least one target ridge among the plurality of ridges, the position of the target ridge shown in the ridge information is corrected in the direction of the ridge with the larger ridge spacing from the target ridge among the two adjacent ridges; and

[0133] The corrected ridge information is then output.

[0134] The land information management method involved in the second method is based on the land information management method involved in the first method.

[0135] The step of determining whether the offset error is included includes the following steps: if the position of the plurality of ridges contains the offset error, the error is determined to be present if the offset is such that at least one of the ridge spacings is shorter than the representative value of the ridge spacing, and the offset is such that one or more other ridge spacings are longer than the representative value.

[0136] The land information management method involved in the third approach is based on the land information management method involved in the second approach.

[0137] It also includes the following steps:

[0138] Determine the position of the positioning point set for the housing of the working device used in the field; and

[0139] The ridge information is generated based on the determined location of the positioning point of the working device.

[0140] On an axis perpendicular to the vehicle centerline of the working device, the position of the positioning point is offset by an offset distance relative to the position of the working reference point of the working device.

[0141] The land information management method involved in the fourth method is based on the land information management method involved in the third method.

[0142] It also includes the following steps: if it is determined that the offset error is present, displaying information related to the offset error contained in the positioning position of the working device.

[0143] The land information management method involved in the fifth method is based on the land information management methods involved in any of the first to fourth methods.

[0144] The step of determining whether the bias error is included includes the following steps:

[0145] Based on the statistical values ​​of the ridge spacing, determine whether the histogram of the ridge spacing is unimodal or multimodal; and

[0146] If the histogram of the spacing between the planting rows is unimodal, it is determined that the offset error is not included; if the histogram is multimodal, it is determined that the offset error is included.

[0147] The land information management method involved in the sixth method is based on the land information management method involved in the fifth method.

[0148] It also includes the following steps: if the histogram representing the ridge spacing is determined to be multi-peaked, the offset amount of the offset error is determined based on the ridge spacing corresponding to the multiple peaks of the histogram.

[0149] The step of correcting the position of the ridge includes the following steps: determining the position of the ridge shown in the corrected ridge information based on the determined offset amount in a manner that reduces the offset error.

[0150] The land information management method involved in the seventh method is based on the land information management method involved in the fifth method.

[0151] It also includes the following steps:

[0152] The working direction of the working device when it operates on the ridge is determined based on positioning information indicating the location of the working device operating in the field; and

[0153] The positioning position is corrected based on the offset and the working direction.

[0154] The step of correcting the position of the ridge includes the following steps: determining the corrected position of the ridge based on the corrected positioning position.

[0155] The land information management method involved in the eighth method is based on the land information management methods involved in any of the first to seventh methods.

[0156] It also includes the following steps: displaying the corrected position of the ridges based on the output ridge information.

[0157] The land information management system involved in the ninth method has the following features:

[0158] The bias discrimination unit, regarding the ridge information representing the positions of multiple ridges formed in the field, determines whether the positions of the multiple ridges shown in the ridge information contain a bias error based on a statistical measure of the ridge spacing of the multiple ridges.

[0159] The correction unit, when the offset discrimination unit determines that the offset error is included, corrects the position of the target ridge shown in the ridge information in the direction of the ridge among the two adjacent ridges with the larger ridge spacing from the target ridge, for at least one target ridge among the plurality of ridges; and

[0160] The information output unit outputs the ridge information after it has been corrected by the correction unit.

[0161] The procedure involved in method ten causes the computer to perform the following steps:

[0162] Regarding the ridge information representing the location of multiple ridges formed in the field, it is determined whether the location of the multiple ridges shown in the ridge information contains a bias error based on the statistics of the ridge spacing of the multiple ridges.

[0163] If the bias error is determined to be present, for at least one target ridge among the plurality of ridges, the position of the target ridge shown in the ridge information is corrected in the direction of the ridge with the larger ridge spacing from the target ridge among the two adjacent ridges; and

[0164] The corrected ridge information is then output.

Claims

1. A method for managing farmland information, wherein, The land information management method includes the following steps: Regarding the ridge information representing the location of multiple ridges formed in the field, it is determined whether the location of the multiple ridges shown in the ridge information contains a bias error based on the statistics of the ridge spacing of the multiple ridges. If the bias error is determined to be present, for at least one target ridge among the plurality of ridges, the position of the target ridge shown in the ridge information is corrected in the direction of the ridge with the larger ridge spacing from the target ridge among the two adjacent ridges; and The corrected ridge information is then output.

2. The land information management method according to claim 1, wherein, The step of determining whether the offset error is included includes the following steps: if the position of the plurality of ridges contains the offset error, the error is determined to be present if the offset is such that at least one of the ridge spacings is shorter than the representative value of the ridge spacing, and the offset is such that one or more other ridge spacings are longer than the representative value.

3. The land information management method according to claim 1, wherein, The land information management method also includes the following steps: Determine the location of the positioning points set for the working device operating in the field; and The ridge information is generated based on the determined location of the positioning point of the working device. On an axis perpendicular to the vehicle centerline of the working device, the position of the positioning point is offset by an offset distance relative to the position of the working reference point of the working device.

4. The land information management method according to claim 3, wherein, The field information management method further includes the following steps: if it is determined that the offset error is present, display information related to the offset error contained in the positioning position of the working device.

5. The land information management method according to any one of claims 1 to 4, wherein, The step of determining whether the bias error is included includes the following steps: Based on the statistical values ​​of the ridge spacing, determine whether the histogram of the ridge spacing is unimodal or multimodal; and If the histogram of the spacing between the ridges is unimodal, it is determined that the offset error is not included; if the histogram is multimodal, it is determined that the offset error is included.

6. The land information management method according to claim 5, wherein, The field information management method further includes the following steps: if the histogram representing the ridge spacing is determined to be multi-peaked, the offset amount of the offset error is determined based on the ridge spacing corresponding to the multiple peaks of the histogram. The step of correcting the position of the ridge includes the following steps: determining the position of the ridge shown in the corrected ridge information based on the determined offset amount in a manner that reduces the offset error.

7. The land information management method according to claim 5, wherein, The land information management method also includes the following steps: The offset amount of the offset error is determined based on the spacing between the ridges corresponding to the multiple peaks of the histogram. The working direction of the working device when it operates on the ridge is determined based on positioning information indicating the location of the working device operating in the field; and The positioning position is corrected based on the offset and the working direction. The step of correcting the position of the ridge includes the following steps: determining the corrected position of the ridge based on the corrected positioning position.

8. The land information management method according to claim 1, wherein, The field information management method further includes the following steps: displaying the corrected position of the ridges based on the output ridge information.

9. A farmland information management system, wherein, The field information management system has the following features: The bias discrimination unit, regarding the ridge information representing the positions of multiple ridges formed in the field, determines whether the positions of the multiple ridges shown in the ridge information contain a bias error based on a statistical measure of the ridge spacing of the multiple ridges. When the offset discrimination unit determines that the offset error is included, the correction unit corrects the position of the target ridge shown in the ridge information in the direction of the ridge with the larger ridge spacing from the target ridge among the two ridges adjacent to the target ridge. as well as The information output unit outputs the ridge information after it has been corrected by the correction unit.

10. A program in which, The program is used to cause the computer to perform the following steps: Regarding the ridge information representing the location of multiple ridges formed in the field, it is determined whether the location of the multiple ridges shown in the ridge information contains a bias error based on the statistics of the ridge spacing of the multiple ridges. If the bias error is determined to be present, for at least one target ridge among the plurality of ridges, the position of the target ridge shown in the ridge information is corrected in the direction of the ridge with the larger ridge spacing from the target ridge among the two adjacent ridges; and The corrected ridge information is output.

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