Spraying map complementation method, spraying map complementation system and spraying map complementation program

Abstract

To complement a spraying map such that an area in which a spraying value is not set does not exist in a spraying map for a farm field being an object of spraying work.SOLUTION: A spraying map complementation method includes acquiring spraying map information in which a spraying value about the amount of spraying materials to be sprayed to each of a plurality of areas (81) included in a farm field (9) (S01), determining whether a spraying value unset area (82) with the spraying value unset exist in the farm field (9) on the basis of the spraying map information (S02), setting a complementation spraying value indicating a prescribed spraying value in the spraying value unset area (82) in the spraying map information when the spraying value unset area (82) exists in the farm field (9) (S03), and outputting the spraying map information in a state with the spraying value set the whole area of the farm field (9) (S04).SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a scatter map completion method, a scatter map completion system, and a scatter map completion program, which can be suitably used, for example, for managing a scatter map that represents the distribution of spray values ​​when spraying fertilizers, pesticides, and other spray materials in a farm field. [Background technology]

[0002] Patent Document 1 (JP Patent Publication No. 2022-72148) discloses an invention of a work map creation system. This work map represents the amount of fertilizer, pesticide, or other spray material to be sprayed in a field for each of multiple areas included in the field. The work map creation system of Patent Document 1 determines the amount of spray for each area based on the crop yield in each area and NDVI (Normalized Difference Vegetation Index) data as a crop growth index. As a result, the growth variation of crops within the field is suppressed. In addition, the work map creation system of Patent Document 1 creates work maps for multiple fields at once. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-72148 Summary of the Invention [Problem to be solved by the invention]

[0004] In order to create a growth index for a crop in a field, it is necessary to actually harvest the crop in the field in the past to obtain distribution information on the yield, or to grasp the growth status of the crop based on an image of the field taken from above by a satellite or an airplane. However, it may not be possible to detect the yield or growth status of the crop in the corresponding area due to the presence of an obstacle such as a steel tower in the field. As a result, a work map may be created in which the spray amount is not set in the part corresponding to the area. When a work device attempts to automatically or autonomously perform a spraying work using such a work map, the presence of an area in which the spray amount is not set may cause the work machine to report an error and become inoperable.

[0005] In view of the above circumstances, an object of the present disclosure is to provide a scatter map complementing method, a scatter map complementing system, and a scatter map complementing program for complementing a scatter map of a field that is the subject of a spraying operation so that there are no areas in the scatter map where a spray value has not been set. Other objects and novel features will become apparent from the description of this specification and the accompanying drawings. [Means for solving the problem]

[0006] The means for solving the problems will be described below using the numbers and symbols used in the description of the embodiment of the invention. These numbers and symbols are added in parentheses for reference purposes to show an example of the correspondence between the description of the claims and the description of the embodiment of the invention. Therefore, the description in parentheses should not be interpreted as limiting the scope of the claims.

[0007] According to one embodiment, the scatter map complementing method includes acquiring (S01) scatter map information in which a scatter value related to an amount of a scatter material to be scatter-spread in each of a plurality of regions (81) included in a field (9) is set. The scatter map complementing method further includes determining (S02) based on the scatter map information whether or not a scatter value unset region (82) in which a scatter value has not been set exists in the field (9). The scatter map complementing method further includes setting (S03) a complemented scatter value representing a predetermined scatter value in the scatter value unset region (82) of the scatter map information when a scatter value unset region (82) exists in the field (9). The scatter map complementing method further includes outputting (S04) scatter map information in which a scatter value has been set in the entire field (9).

[0008] According to one embodiment, the scatter map complement system includes an acquisition unit (521), a determination unit (522), a complement (523), and an output unit. The acquisition unit (521) acquires scatter map information in which a scatter value related to the amount of a scatter material to be scatter in each of a plurality of regions (81) included in a field (9) is set. The determination unit (522) determines whether or not a scatter value unset region (82) in which a scatter value has not been set exists in the field (9) based on the scatter map information. When a scatter value unset region (82) exists in the field (9), the complement (523) sets a complemented scatter value representing a predetermined scatter value in the scatter value unset region (82) of the scatter map information. The output unit (524) outputs the scatter map information in which a scatter value has been set throughout the field (9).

[0009] According to one embodiment, the scatter map complement program is executed by the calculation device (52) to realize a predetermined process. This process includes acquiring scatter map information in which a scatter value related to the amount of a scatter material to be scatter in each of a plurality of areas (81) included in the field (9) is set (S01). This process further includes determining whether or not a scatter value unset area (82) in which a scatter value is not set exists in the field (9) based on the scatter map information (S02). This process further includes setting a complement scatter value representing a predetermined scatter value in the scatter value unset area (82) of the scatter map information when a scatter value unset area (82) exists in the field (9) (S03). This process further includes outputting scatter map information in which a scatter value is set in the entire field (9) (S04). Effect of the Invention

[0010] According to one embodiment, the spray map of the field that is the subject of the spraying operation can be complemented so that there are no areas in the spray map where spray values ​​have not been set. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram illustrating an example of a configuration of a scatter map completion system according to an embodiment. [Diagram 2] FIG. 2 is a block circuit diagram showing an example of the configuration of a scatter map complementing device according to an embodiment. [Diagram 3] FIG. 3 is a flow chart illustrating an example of a process for a scatter map complementation method according to an embodiment. [Figure 4A] FIG. 4A is a diagram showing an example of the shape of a farm field. [Figure 4B] FIG. 4B is a diagram showing an example of a scatter map generated based on the farm field of FIG. 4A. [Figure 5A] FIG. 5A is a diagram showing an example of the shape of a farm field including an obstacle. [Figure 5B]FIG. 5B is a diagram showing an example of a scatter map including an area where a scatter value has not been set, generated based on the farm field of FIG. 5A. [Figure 5C] FIG. 5C illustrates an example of an interpolated scatter map in which the scatter map of FIG. 5B has been filled in with interpolated scatter values ​​in areas where no scatter values ​​have been set, according to one embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS With reference to the accompanying drawings, embodiments for implementing a scatter map completion method, a scatter map completion system, and a scatter map completion program according to the present disclosure will be described below.

[0013] (Embodiment) 1, a scatter map completion system 1 according to one embodiment includes a scatter map completion device 5. The scatter map completion system 1 may further include some or all of a scatter map generation device 3, an external terminal 6, and an on-board terminal 21. The scatter map completion system 1, the scatter map generation device 3, the external terminal 6, and the on-board terminal 21 may be connected to a network 4 via wired communication and / or wireless communication.

[0014] The scattering map generating device 3 generates a scattering map showing a distribution of scattering values ​​related to the amount of a scattering material such as fertilizer or pesticide to be scattered on the field 9 based on image information obtained by photographing the field 9 from above. The scattering map includes, as an example, information showing the amount of a scattering material to be applied to each of a plurality of areas included in the field 9. These plurality of areas may be obtained by dividing the field 9 into a mesh shape. Information related to the amount of a scattering material to be applied to each area is hereinafter referred to as a scattering value. The relationship between the amount of a scattering material and the scattering value may be a so-called step function. In other words, a plurality of ranges for the amount of a scattering material may be defined in advance, a plurality of specific values ​​for the scattering value may be defined in advance, and the amount of a scattering material included in one range may correspond to one of the specific values ​​for each range of the amount of a scattering material.

[0015] As an example, when the material to be spread in the field 9 is fertilizer, the spread map generating device 3 generates a fertilization map that shows the distribution of the amount of fertilizer applied to the field 9. Here, fertilizer corresponds to the material to be spread, the amount of fertilizer corresponds to the amount of material to be spread, the fertilization value corresponds to the spread value, and the fertilization map corresponds to the spread map. Below, a configuration in which the material to be spread is fertilizer and the spreading work is fertilization work will be described, but each of the terms shown in the above correspondence may be interpreted as appropriate. Note that this configuration is merely an example and does not limit the present disclosure.

[0016] In this example, a user such as a farmer who performs fertilization work in field 9 inputs the amount of fertilizer to be applied per unit area (e.g., 1 tan, 10 ares) of field 9 to spray map supplement system 1. On the other hand, based on image information of field 9, spray map generating device 3 generates a fertilization map in which a rank is set for each of a plurality of areas obtained by dividing field 9 into a mesh shape. For example, five ranks are prepared, including the lowest rank "1", the highest rank "2", and intermediate ranks "1.25", "1.5", and "1.75". On-board terminal 21 determines the specific amount of fertilizer to be sprayed in each area based on the amount of fertilizer input for field 9 and the rank set for each area of ​​the fertilization map.

[0017] The on-board terminal 21 is mounted on the working device 2. The working device 2 may be a work vehicle such as a broadcaster that performs fertilization work on the field 9 while moving on the ground, or a tractor that pulls a fertilizer spreader. The working device 2 may also be an aircraft such as an unmanned helicopter or drone that performs fertilization work on the field 9 while moving in the air. The on-board terminal 21 controls or supports the fertilization work of the working device 2 by referring to the fertilization map.

[0018] More specifically, the on-board terminal 21 measures the position of the working device 2 by using a Global Navigation Satellite System (GNSS) or the like. The on-board terminal 21 reads out a fertilization value set for an area of ​​the field 9 including the measured position, by referring to a fertilization map. The on-board terminal 21 controls or assists the operation of the working device 2 so that the amount of fertilizer represented by the read fertilization value is applied to the area of ​​the field 9 where the working device 2 is located.

[0019] When a fertilization value is not set in any of the multiple areas included in the field 9 in the fertilization map generated by the scatter map generation device 3, the scatter map complement device 5 sets a predetermined fertilization value in that area. Of the multiple areas included in the field 9, an area in which a fertilization value is not set in the fertilization map is hereinafter referred to as a scatter value not set area or a fertilization value not set area. The predetermined fertilization value that the scatter map complement device 5 sets in an area in which a fertilization value is not set is hereinafter referred to as a supplementary scatter value or a supplementary fertilization value. A fertilization map in which an area in which a fertilization value is not set no longer exists as a result of the scatter map complement device 5 setting a supplementary fertilization value is hereinafter referred to as a supplemented scatter map or a supplemented fertilization map.

[0020] The external terminal 6 may include a smartphone or a tablet terminal having a communication function, a display function, and an input function. By operating the external terminal 6, the user can check the contents of the fertilization map and / or the complemented fertilization map, and control the operation of some or all of the scattering map generating device 3, the scattering map complementing device 5, and the mounted terminal 21.

[0021] As shown in Fig. 2, the scatter map completion device 5 according to one embodiment may be configured as a so-called computer. In the example of Fig. 2, the scatter map completion device 5 includes a bus 51, a calculation device 52, a storage device 53, a communication device 54, and an input / output device 55. The bus 51 may be configured to realize communication between the calculation device 52, the storage device 53, the communication device 54, and the input / output device 55.

[0022] The arithmetic device 52 executes a scatter map complement program according to an embodiment to realize the functions of the acquisition unit 521, the determination unit 522, the complement unit 523, and the output unit 524. The acquisition unit 521, the determination unit 522, the complement unit 523, and the output unit 524 are virtual function blocks that execute processes realized by the arithmetic device 52 and the storage device 53 working together. The acquisition unit 521 acquires fertilization map information as scatter map information representing a fertilization map generated by the scatter map generation device 3. The determination unit 522 determines whether or not a fertilization value unset region exists in the fertilization map represented by the fertilization map information acquired from the scatter map generation device 3. When it is determined that a fertilization value unset region exists, the complement unit 523 sets a complemented fertilization value in the fertilization value unset region to generate a complemented fertilization map. The output unit 524 outputs fertilization map information representing a fertilization map in which a fertilization value unset region does not exist or a complemented fertilization map. The specific processing of these functional blocks will be described later.

[0023] The storage device 53 includes a program storage unit 531 and a data storage unit 532. The scatter map complement program may be read from an external recording medium 530 and stored in the program storage unit 531. The recording medium 530 may be a non-transitory and tangible medium. The data storage unit 532 may store fertilization map information acquired from the scatter map generating device 3.

[0024] The communication device 54 communicates with external devices including the scatter map generating device 3, the external terminal 6, and the mounted terminal 21 by wireless communication and / or wired communication via the network 4. The scatter map complement program may be received by the communication device 54 from the outside and stored in the program storage unit 531.

[0025] The input / output device 55 outputs information to a user and accepts operations input by the user. As an example, the input / output device 55 includes a display device that outputs images, and a keyboard and / or a mouse that accepts inputs.

[0026] As an example, the external terminal 6 may also be configured as a computer including a calculation device, a storage device, a communication device, and an input / output device. The input / output device may include a touch panel that integrates a display device that outputs images and a touch pad that accepts input by touch operations.

[0027] An example of the process of the scatter map complement method according to one embodiment will be described with reference to the flowchart of Fig. 3. The process of the scatter map complement method may be started when the scatter map complement device 5 is started. At this time, the calculation device 52 of the scatter map complement device 5 executes a scatter map complement program, thereby realizing the process of the scatter map complement method.

[0028] When the processing of the flowchart in Fig. 3 is started, step S01 is executed. In step S01, acquisition unit 521 in Fig. 2 acquires scattering map information (fertilization map information) from scattering map generating device 3. More specifically, acquisition unit 521 controls communication device 54 to receive and acquire fertilization map information as scattering map information transmitted from scattering map generating device 3 in Fig. 1. The acquired fertilization map information may be stored in data storage unit 532 in Fig. 2.

[0029] After step S01 in FIG. 3, step S02 is executed. In step S02, the judgment unit 522 in FIG. 2 judges whether or not a spray value unset area (fertilizer application value unset area) exists in the field 9. More specifically, the judgment unit 522 judges whether or not a spray value unset area (fertilizer application value unset area) in which a spray value (fertilizer application value) is not set exists in the spray map (fertilizer application map) represented by the spray map information (fertilizer application map information) acquired from the spray map generating device 3, among the multiple areas included in the field 9. If a spray value unset area (fertilizer application value unset area) exists in the field 9 (Yes), the process proceeds to step S03 in FIG. 3. If a spray value unset area (fertilizer application value unset area) does not exist in the field 9 (No), the process proceeds to step S04 in FIG. 3.

[0030] In step S03 of Fig. 3, the complementing unit 523 of Fig. 2 sets a complementary scattering value (complementary fertilization value) in a scattering value not set area (fertilization value not set area). More specifically, the complementing unit 523 sets a predetermined complementary scattering value (complementary fertilization value) in a scattering value not set area (fertilization value not set area) to generate complementary scattering map information (complemented fertilization map information) representing a complementary scattering map (complemented fertilization map). The generated complementary scattering map information (complemented fertilization map information) may be stored in the data storage unit 532.

[0031] After step S03 in FIG. 3, step S04 is executed. In step S04, the output unit 524 in FIG. 2 outputs the scattering map information (fertilization map information). More specifically, when the complemented scattering map information (complemented fertilization map information) is generated in step S03 in FIG. 3, the output unit 524 outputs the complemented scattering map information (complemented fertilization map information) to the mounted terminal 21 in FIG. 1 as the scattering map information (fertilization map information). On the other hand, when there is no scattering value unset area (fertilization value unset area) and it is not necessary to generate the complemented scattering map information (complemented fertilization map information), the scattering map information (fertilization map information) acquired in step S01 in FIG. 3 is output to the mounted terminal 21 in FIG. 1. At this time, the output unit 524 may control the communication device 54 to transmit the scattering map information (fertilization map information) to the mounted terminal 21. In either case, the on-board terminal 21 receives and acquires spraying value map information (fertilizer application value map information) in which there is no area in the field 9 where a spraying value is not set (area in which a fertilizer value is not set). As a result, when the work device 2 performs spraying work (fertilization work) on the field 9 based on the spraying map information (fertilization map information), the occurrence of an error due to the presence of an area in which a spraying value is not set (area in which a fertilizer value is not set) is suppressed.

[0032] After step S04 in FIG. 3, the process of the flowchart in FIG. 3 ends.

[0033] An example of a fertilization map of a field 91 in which no fertilization value unset region exists will be described with reference to Figures 4A and 4B. The field 91 shown in Figure 4A is divided into a mesh shape in the data, and a plurality of regions 81 shown in Figure 4B are set. In the example of Figure 4B, the directions of the mesh dividing the field 91 into a plurality of regions 81 are two directions that are included in the horizontal direction and perpendicular to each other, but the present disclosure is not limited to this example.

[0034] In the examples of FIG. 4A and FIG. 4B, there are no obstacles that prevent crops from growing in the field 91. In the example of FIG. 4B, fertilization values ​​are set in all of the areas 81 included in the field 91. In the example of FIG. 4B, a first fertilization value is set in a part of the area 81A of the area 81, and a second fertilization value different from the first fertilization value is set in the remaining area 81B. In FIG. 4B, the area 81A in which the first fertilization value is set and the area 81B in which the second fertilization value is set are distinguished by the difference in hatching density. Note that, in the example of FIG. 4B, two types of fertilization values ​​are set in each area 81, but the present disclosure is not limited to this example.

[0035] In the fertilization map represented by the fertilization map information acquired by the acquisition unit 521 in Fig. 2 in step S01 in Fig. 3, when there is no area in the field 91 where a fertilization value has not been set, as shown in Fig. 4B, the determination unit 522 in Fig. 2 determines in step S02 in Fig. 3 that there is no area in the field 91 where a fertilization value has not been set. As a result, after step S02, the processing of the flowchart in Fig. 3 proceeds to step S04 without executing step S03, and the output unit 524 in Fig. 2 outputs the fertilization map information acquired by the acquisition unit 521 to the mounted terminal 21 as is.

[0036] An example of a fertilization map and a supplemented fertilization map of a field 92 in which a fertilization value unset region exists will be described with reference to Figures 5A, 5B, and 5C. The field 92 shown in Figure 5A is divided into a mesh shape in the data, and a plurality of regions 81, 82 shown in Figure 5B are set. In the example of Figure 5B, the directions of the mesh dividing the field 92 into a plurality of regions 81 are two directions that are included in the horizontal direction and are perpendicular to each other, but the present disclosure is not limited to this example.

[0037] In the examples of FIG. 5A, FIG. 5B, and FIG. 5C, an obstacle 921 that prevents crops from growing is present in the field 92. In the field 92, no fertilization value is set in the area 82 inside the obstacle 921, and a fertilization value is set in the other areas 81. Hereinafter, such an area 82 is referred to as a spray value unset area 82 or a fertilization value unset area 82. In addition, among these areas 81, a first fertilization value is set in a part of the area 81A, and a second fertilization value different from the first fertilization value is set in the remaining area 81B. In FIG. 5B, the area 81A in which the first fertilization value is set and the area 81B in which the second fertilization value is set are distinguished by the difference in hatching density. Note that, in the example of FIG. 5B, two types of fertilization values ​​are set in each area 81, but the present disclosure is not limited to this example.

[0038] In the fertilization map represented by the fertilization map information acquired by the acquisition unit 521 in Fig. 2 in step S01 in Fig. 3, when a fertilization value unset region 82 exists in the field 92 as shown in Fig. 5B, the determination unit 522 in Fig. 2 determines in step S02 in Fig. 3 that a fertilization value unset region 82 exists in the field 92. As a result, the processing in the flowchart in Fig. 3 proceeds to step S03 after step S02.

[0039] In step S03 in FIG. 3, the complement unit 523 in FIG. 2 sets a complementary fertilization value in the fertilization value not set region 82. Since an obstacle 921 is present, the work device 2 does not perform fertilization work in the fertilization value not set region 82. From this perspective, any value may be set as the complementary fertilization value as long as no error occurs when the work device 2 performs fertilization work in the field 92. As one example, the complementary fertilization value may be zero. As another example, the complementary fertilization value may be any value included in the range of fertilization values ​​that can be set in the multiple regions 81 in which fertilization work is performed in the field 92.

[0040] From another perspective, in order to suppress the possibility of a malfunction occurring in the device for spreading fertilizer when the working device 2 performs fertilization work in the area 81 close to the obstacle 921, it is desirable that the difference between the complementary fertilization value set in the fertilization value not set area 82 and the fertilization value set in the area 81 adjacent to the fertilization value not set area 82 is as small as possible. As an example, the complementary fertilization value set in the fertilization value not set area 82 may be the same as the fertilization value set in any of the areas 81 adjacent to the fertilization value not set area 82. As another example, the complementary fertilization value set in the fertilization value not set area 82 may be an intermediate value calculated based on the fertilization value set in the area 81 adjacent to the fertilization value not set area 82. Here, the intermediate value may be the average value or median value of the fertilization values ​​set in the adjacent areas 81, or may be any value included in the range of the fertilization values ​​set in the adjacent areas 81.

[0041] As yet another example, when a fertilizer value not set region 82 is surrounded by other fertilizer value not set regions 82 and there is no region 81 adjacent to the fertilizer value not set region 82, a complementary fertilizer value for the fertilizer value not set region 82 may be set by repeatedly executing the following process. That is, first, of the multiple fertilizer value not set regions 82, a fertilizer value not set region 82 adjacent to any region 81 is extracted, and a complementary fertilizer value for the extracted fertilizer value not set region 82 is set first based on the fertilizer value set in the region 81. Then, a fertilizer value not set region 82 adjacent to any fertilizer value not set region 82 in which a complementary fertilizer value has already been set is extracted, and a complementary fertilizer value for the extracted fertilizer value not set region 82 is set based on the complementary fertilizer value of the adjacent fertilizer value not set region 82.

[0042] As shown in Figure 5C, the complementary fertilization value set in area 83A adjacent to area 81A within area 83 inside obstacle 921 may be different from the complementary fertilization value set in area 83B adjacent to area 81B.

[0043] As described above, according to one embodiment of the scatter map completion method, scatter map completion system 1, and scatter map completion program, even if a fertilization value-unset area 82 exists in the field 9 in the fertilization map generated by the scatter map generating device 3, a supplementary fertilization value can be set in the fertilization value-unset area 82, thereby suppressing errors that may occur due to the presence of the fertilization value-unset area 82 when the work device 2 performs fertilization work.

[0044] (Variation 1) In the above-described embodiment, a configuration has been described in which the scatter map complement device 5 exists as a device separate from the mounted terminal 21. As a variation of this configuration, the scatter map complement device 5 may be integrated with the mounted terminal 21. For example, the mounted terminal 21 may include the scatter map complement device 5, or the mounted terminal 21 may have the functions of the scatter map complement device 5. When the scatter map complement device 5 is integrated with the mounted terminal 21, the process of step S04 in FIG. 3 may be read as a process of transferring fertilization map information representing a fertilization map in which no fertilization value unset area exists in the field 9 from a functional block that complements the fertilization map to a functional block that controls the fertilization work of the work device 2 based on the fertilization map.

[0045] (Variation 2) In the above-mentioned embodiment, the configuration in which the sprayed material is a fertilizer has been described. As a variation of this configuration, the sprayed material may be, for example, a pesticide. In this case, in the above-mentioned embodiment, the fertilizer or sprayed material may be read as a pesticide, the amount of fertilizer or the amount of sprayed material may be read as the amount of sprayed pesticide, the fertilizer value or spray value may be read as the spray value of pesticide, and the fertilization map or spray map may be read as a pesticide spray map.

[0046] Although the invention made by the inventor has been specifically described based on the embodiment, the present invention is not limited to the embodiment, and it goes without saying that various modifications can be made without departing from the gist of the invention. Furthermore, the respective features described in the embodiment can be freely combined within the scope of technical compatibility.

[0047] (Additional Note) The scatter map complementing method, the scatter map complementing system, and the scatter map complementing program described in each embodiment can be described as follows.

[0048] A scatter map complementing method according to a first aspect includes: Acquiring spray map information in which a spray value indicating an amount of fertilizer to be applied to each of a plurality of areas included in a farm field is set; determining whether or not there is a dispersion value unset area in the field, in which the dispersion value has not been set, based on the dispersion map information; When the dispersion value unset area exists in the farm field, a complementary dispersion value representing a predetermined dispersion value is set in the dispersion value unset area in the dispersion map information; outputting the dispersion map information in a state in which the dispersion values ​​are set over the entire field; Includes.

[0049] A scatter map complementing method according to a second aspect is the scatter map complementing method according to the first aspect, The complementary variance value is equal to zero, a predetermined variance value, or the variance value of one of the adjacent regions adjacent to the region with no variance value set among the plurality of regions.

[0050] A scatter map complementing method according to a third aspect is the scatter map complementing method according to the first aspect, The complementary variance value is equal to a median value calculated based on variance values ​​of a plurality of adjacent regions adjacent to the region in which no variance value has been set among the plurality of regions.

[0051] A scatter map complementing method according to a fourth aspect is the scatter map complementing method according to the third aspect, The intermediate value is the average or median of the scatter values ​​of the multiple adjacent regions.

[0052] A scatter map complementing method according to a fifth aspect is a scatter map complementing method according to any one of the first to third aspects, Performing a scattering operation based on the output scattering map information. Further includes:

[0053] A scatter map complementing method according to a sixth aspect is the scatter map complementing method according to the first aspect, The application is a fertilizer or a pesticide.

[0054] A scatter map completion system according to a seventh aspect includes: an acquisition unit that acquires spraying map information in which spraying values ​​that indicate amounts of fertilizer to be applied to each of a plurality of areas included in a farm field are set; a determination unit that determines whether or not there is a dispersion value unset area in the farm field, in which the dispersion value is not set, based on the dispersion map information; a complementing unit that, when the dispersion value unset area exists in the farm field, sets a complemented dispersion value representing a predetermined dispersion value in the dispersion map information to the dispersion value unset area; an output unit that outputs the dispersion map information in a state in which the dispersion values ​​are set over the entire field; Equipped with.

[0055] A scatter map complement program according to an eighth aspect of the present invention comprises: A scatter map complement program for implementing a predetermined process by causing a computing device to execute the program, The process comprises: Acquiring spray map information in which a spray value indicating an amount of fertilizer to be applied to each of a plurality of areas included in a farm field is set; determining whether or not there is a dispersion value unset area in the field, in which the dispersion value has not been set, based on the dispersion map information; When the dispersion value unset area exists in the farm field, a complementary dispersion value representing a predetermined dispersion value is set in the dispersion value unset area in the dispersion map information; outputting the dispersion map information in a state in which the dispersion values ​​are set over the entire field; Includes. [Explanation of symbols]

[0056] 1. Scatter Map Completion System 2. Working Equipment 21 Onboard equipment 3. Scatter map generator 4. Network 5. Scatter Map Completion Device 51 Bus 52 Arithmetic unit 521 Acquisition Department 522 Judgment section 523 Complementary Department 524 Output section 53 Storage device 530 Recording media 531 Program Storage Unit 532 Data Storage Unit 54 Communication Equipment 55 Input / Output Devices 6 External Terminal 81, 81A, 81B, 83 area 82 areas (areas where spraying values ​​are not set, areas where fertilization values ​​are not set) Fields 9, 91, 92 921 Obstacle

Claims

1. Acquiring scattering map information in which scattering values ​​related to the amount of a scattering material to be scattered in each of a plurality of areas included in a farm field are set; determining whether or not there is a dispersion value unset area in the field, in which the dispersion value has not been set, based on the dispersion map information; When the dispersion value unset area exists in the farm field, a complementary dispersion value representing a predetermined dispersion value is set in the dispersion value unset area in the dispersion map information; outputting the dispersion map information in a state in which the dispersion values ​​are set over the entire field; Includes Scatter map interpolation method.

2. 2. The method of claim 1, further comprising: The complementary variance value is equal to zero, a predetermined variance value, or a variance value of one of the adjacent regions adjacent to the region where the variance value is not set among the plurality of regions. Scatter map interpolation method.

3. 2. The method of claim 1, further comprising: The complementary variance value is equal to a median value calculated based on variance values ​​of a plurality of adjacent regions adjacent to the region in which a variance value has not been set among the plurality of regions. Scatter map interpolation method.

4. 4. The method of claim 3, further comprising: The intermediate value is the average or median of the scatter values ​​of the plurality of adjacent regions. Scatter map interpolation method.

5. The scatter map complementing method according to any one of claims 1 to 4, Performing a scattering operation based on the output scattering map information. Also includes Scatter map interpolation method.

6. 2. The method of claim 1, further comprising: The application is a fertilizer or a pesticide. Scatter map interpolation method.

7. An acquisition unit that acquires scattering map information in which scattering values ​​related to the amount of scattering material to be scattered in each of a plurality of areas included in the farm field are set; a determination unit that determines whether or not there is a dispersion value unset area in the farm field, in which the dispersion value is not set, based on the dispersion map information; a complementing unit that, when the dispersion value unset area exists in the farm field, sets a complemented dispersion value representing a predetermined dispersion value in the dispersion map information to the dispersion value unset area; an output unit that outputs the dispersion map information in a state in which the dispersion values ​​are set over the entire field; Equipped Scatter map completion system.

8. A scatter map complement program for implementing a predetermined process by causing a computing device to execute the program, The process comprises: Acquiring scattering map information in which scattering values ​​related to the amount of a scattering material to be scattered in each of a plurality of areas included in a farm field are set; determining whether or not there is a dispersion value unset area in the field, in which the dispersion value has not been set, based on the dispersion map information; When the dispersion value unset area exists in the farm field, a complementary dispersion value representing a predetermined dispersion value is set in the dispersion value unset area in the dispersion map information; outputting the dispersion map information in a state in which the dispersion values ​​are set over the entire field; Includes Scatter map completion program.

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