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

Abstract

To suppress the occurrence of inconvenience relating to work of a work device caused by changes in a field.SOLUTION: A field management method includes storing route information 700 representing a route for which a work device 30 is caused to automatically travel in a first field 500 and farming information representing a shape of the first field 500 in association with each other. The field management method also includes setting prohibition information representing a prohibition of use in the route information 700 when change information that changes the shape of the first field 500 is received in the farming information. Setting the prohibition information may include deleting the route information 700 for which the prohibition information has been set. When searching for the route information 700 for which the work device 30 is caused to automatically travel in the first field 500, the method may further include performing the search excluding the route information 700 for which the prohibition information has been set, and outputting search result information representing the searched results.SELECTED DRAWING: Figure 11

Description

[Technical Field]

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

[0002] In recent years, research has been conducted on work equipment that travels automatically in farm fields to perform agricultural work. For example, Patent Document 1 discloses a technology in which the position and shape of a farm field are determined by manually moving the work equipment along the contour of the field, and a movement path is set for the work equipment to travel automatically in the field to perform agricultural work.

[0003] Meanwhile, research is being conducted into the use of information and communication technology to efficiently manage agricultural operations. For example, technologies are being utilized that use satellite images to register the location and shape of fields, and then manage the types of work performed on the registered fields, such as tilling, sowing, and pesticide application, as well as work results such as field yields. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 7142597 Summary of the Invention [Problem to be solved by the invention]

[0005] Currently, information indicating the route for automated driving and information used for agricultural management are managed separately and independently. For example, even if information about a field, such as a change in the shape of the field, is registered in an agricultural management system, the change is not reflected in the system that manages automated driving. For this reason, the inventors discovered that if a work implement is automatically driven using a route set before the change, problems such as the work implement colliding with a ridge or work not being performed in part of the field may occur.

[0006] In view of the above circumstances, one of the objects of the present disclosure is to reduce the occurrence of inconveniences related to the operation of a work implement caused by a change in the field by reflecting a change in information used for agricultural management in information for automatic control when the change is made. Other objects can be understood from the following description and explanation of the embodiment. [Means for solving the problem]

[0007] The following describes the means for solving the problems using the numbers and symbols used in the description of the invention. These numbers and symbols are added in parentheses for reference purposes to show an example of the correspondence between the claims and the description of the invention. Therefore, the claims should not be interpreted as being limited by the parenthetical descriptions.

[0008] To achieve the above object, a farm field management method according to one embodiment includes storing route information (700) representing a route for automatically moving a work implement (30) in a first field (500) in association with farming information representing the shape of the first field (500). The farm field management method also includes setting prohibition information representing a prohibition of use in the route information (700) when change information for changing the shape of the first field (500) is received in the farming information.

[0009] To achieve the above object, a farm field management system (1000) according to one embodiment includes a data storage unit (250) and a prohibition setting unit (260). The data storage unit (250) stores route information (700) representing a route for automatically moving a work implement (30) in a first farm field (500) in association with farming information representing the shape of the first farm field (500). When change information for changing the shape of the first farm field (500) is received from the farming information, the prohibition setting unit (260) sets prohibition information representing a prohibition of use in the route information (700).

[0010] To achieve the above object, a field management program (430) according to one embodiment causes a calculation device (120, 220, 320) to store path information (700) representing a path for automatically moving a working implement (30) in a first field (500) in association with farming information representing the shape of the first field (500). The field management program (430) also causes the calculation device (120, 220, 320) to set prohibition information representing a prohibition of use in the path information (700) when change information for changing the shape of the first field (500) is received in the farming information. [Effects of the Invention]

[0011] According to the above aspect, it is possible to prevent inconveniences related to the work of the work implement caused by changing the field. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a schematic diagram of a farm land management system according to an embodiment. [Figure 2] FIG. 4 is a diagram for explaining route information of a work device according to an embodiment. [Figure 3] FIG. 2 is a diagram showing farming information displayed on a display terminal in one embodiment. [Figure 4] FIG. 10 is a diagram for explaining information about a field to be changed in one embodiment. [Figure 5] FIG. 10 is a diagram illustrating a list of route information displayed on a display terminal according to an embodiment. [Figure 6] FIG. 2 is a diagram illustrating a configuration of a control terminal according to an embodiment. [Figure 7] FIG. 2 is a diagram illustrating functional blocks executed by a farm land management system according to an embodiment. [Figure 8] 1 is a diagram illustrating a configuration of a farm land management device according to an embodiment. [Figure 9] FIG. 2 is a diagram illustrating a configuration of a display terminal according to an embodiment. [Figure 10]10 is a flowchart illustrating a process in which a farm land management system registers route information according to an embodiment. [Figure 11] 10 is a flowchart illustrating a process for changing information about a field registered in a farm field management system according to an embodiment. [Figure 12] 1 is a flowchart showing a process in which a work implement performs work in a farm field using route information registered in a farm field management system according to one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] (Embodiment) A farm land management system 1000 according to this embodiment of the present invention will be described with reference to the drawings. In this embodiment, as shown in Fig. 1, the farm land management system 1000 includes a control terminal 100, a farm land management device 200, and a display terminal 300. The farm land management device 200 is communicatively connected to the control terminal 100 and the display terminal 300 via a network 20, for example the Internet. The control terminal 100 is also communicatively connected to a work device 30.

[0014] The operating device 30 performs work while moving in the field 500. For example, the operating device 30 performs work while automatically moving in the field 500 based on control information from the control terminal 100. For example, the operating device 30 includes a tractor that pulls a work machine, such as a rotary tiller or a fertilizer spreader. The operating device 30 may also include a rice transplanter or a combine harvester that is integrally formed with the work machine. The operating device 30 may also include a drone that flies to perform agricultural work. The operating device 30 is equipped with a positioning device that measures its own position, such as a GNSS (Global Navigation Satellite System) receiver or a quantum compass. The operating device 30 measures its own position at each time, for example, at 10-second intervals, compares the measured position with the movement route indicated in the control information, and performs work while moving along the movement route.

[0015] 2, the control information represents a movement path represented by an instruction path 510 along which the work device 30 moves while performing work, and a connection path 520 that connects two different instruction paths 510. For example, the instruction path 510 is stored in the farm field management device 200 as path information for the work device 30 to perform work in the farm field 500.

[0016] The display terminal 300 acquires and displays farming information related to work performed in the field 500, such as the type of work (e.g., tilling, sowing, pesticide spraying, harvesting, etc.) and the yield of harvested crops, from the field management device 200. For example, as shown in FIG. 3, the display terminal 300 displays information related to work performed in small areas 600 into which the field 500 is divided, such as the yield. Furthermore, as shown in FIG. 4, change information indicating that the field 500 has been reduced in size from the shape of a first field 500-1 to the shape of a second field 500-2 is input to the display terminal 300. The change information may also indicate that the field 500 has been enlarged. The input change information is output to the field management device 200.

[0017] Based on the change information, the farm land management device 200 sets prohibition information, which indicates that use is prohibited, to route information that represents the instruction route 510 along which the work device 30 moves while performing work. Setting the prohibition information prevents the work device 30 from performing work using the route information that was set before the change. For example, as shown in FIG. 5, when route information 700 to be used by the work device 30 is selected, the control terminal 100 displays that the route information 700 that was set before the change (e.g., first route information 700-1 and second route information 700-2) cannot be used.

[0018] This prevents the work implement 30 from performing work using the path information 700 before the field 500 is changed.

[0019] (Configuration of the farm management system) The configuration of the control terminal 100 included in the farm land management system 1000 shown in Fig. 1 will be described. As shown in Fig. 6, the control terminal 100 includes an input / output device 110, a calculation device 120, a communication device 130, and a storage device 140. The control terminal 100 includes, for example, a computer, a tablet, a mobile terminal, etc. Information used by the calculation device 120 to execute processing is input to the input / output device 110. The input / output device 110 also outputs the results of processing executed by the calculation device 120. The input / output device 110 includes various input devices and output devices, and may include, for example, a keyboard, a mouse, a microphone, a display, a speaker, a touch panel, etc.

[0020] The communication device 130 is communicably connected to the maintenance device 30. For example, the communication device 130 is connected to the maintenance device 30 wirelessly, for example, via a wireless LAN (Local Area Network), and transfers signals acquired from the maintenance device 30 to the arithmetic device 120. The communication device 130 also transfers signals generated by the arithmetic device 120 to the maintenance device 30.

[0021] The communication device 130 is communicatively connected to the network 20 and communicates with each device via the network 20. The communication device 130 transfers signals acquired from the farm land management device 200 to the calculation device 120. The communication device 130 also transfers signals generated by the calculation device 120 to the farm land management device 200. The communication device 130 may acquire information from another device without using the network 20. For example, the communication device 130 may acquire information from another device, such as the farm land management device 200, via any storage medium, such as a memory card or a Universal Serial Bus (USB) memory. The communication device 130 may also acquire information from another device directly connected via a USB or the like. The communication device 130 may include various interfaces, such as a transceiver used for wireless communication, such as a wireless local area network (LAN) or a cellular network, a network interface card (NIC), a USB, or a communication terminal.

[0022] The storage device 140 stores various data for controlling the working device 30, such as a control program 400. The storage device 140 is used as a non-transitory tangible storage medium for storing the control program 400. The control program 400 may be provided as a computer program product recorded on a computer-readable storage medium 1, or may be provided as a computer program product downloadable from a server.

[0023] The arithmetic device 120 reads out the control program 400 from the storage device 140 and executes it to perform various data processing for controlling the maintenance device 30. For example, the arithmetic device 120 includes a central processing unit (CPU) and the like.

[0024] By reading and executing the control program 400, the arithmetic device 120 cooperates with the storage device 140 to implement a device control unit 150 and a path display unit 160, as shown in Fig. 7. The device control unit 150 generates control information for controlling the maintenance device 30 based on path information 700, and outputs the generated control information to the maintenance device 30. The path display unit 160 displays the path information 700 that represents an instruction path 510 along which the maintenance device 30 moves while performing work, and accepts selection of the path information 700 to be used for the maintenance device 30.

[0025] Next, the configuration of the farm land management device 200 shown in Fig. 1 will be described. As shown in Fig. 8, the farm land management device 200 includes an input / output device 210, a calculation device 220, a communication device 230, and a storage device 240. The farm land management device 200 is, for example, a computer. Information used by the calculation device 220 to execute processing is input to the input / output device 210. The input / output device 210 also outputs the results of processing executed by the calculation device 220. The input / output device 210 includes various input devices and output devices, and may include, for example, a keyboard, a mouse, a microphone, a display, a speaker, a touch panel, etc. The input / output device 210 may be omitted.

[0026] The communication device 230 is communicatively connected to the network 20 and communicates with each device via the network 20. The communication device 230, for example, transfers route information 700 acquired from the control terminal 100 to the arithmetic device 220. The communication device 230 also transfers signals generated by the arithmetic device 220 to the control terminal 100 or the display terminal 300. The communication device 230 includes various interfaces, for example, a network interface card (NIC) and a universal serial bus (USB).

[0027] The storage device 240 stores various data for managing the path information 700 in association with farming information related to work performed in the field 500, such as path data 410, farming data 420, and a field management program 430. The storage device 240 is used as a non-transitory tangible storage medium for storing the field management program 430. The field management program 430 may be provided as a computer program product recorded on a computer-readable storage medium 2, or may be provided as a computer program product downloadable from a server.

[0028] The path data 410 stores path information 700 that represents an instruction path 510 along which the work device 30 moves while performing work. The path information 700 includes information about the field 500 along which work will be performed using the instruction path 510, such as information representing the position and shape of the field 500.

[0029] The farming data 420 stores farming information related to work performed in the field 500. The farming information includes information related to the field 500 where the work was performed, such as information representing the position and shape of the field 500. The position and shape of the field 500 represented in the farming information are set using any method. For example, the position and shape of the field 500 may be set by a user specifying the area of ​​the field 500 in an image that represents the area including the field 500 on a map. Alternatively, the position and shape of the field 500 may be determined by a user selecting the corresponding field 500 from the areas of one or more fields 500 recognized from a satellite image. The farming information may also include information related to work performed in the field 500, such as information representing the yield and the amount of pesticide applied.

[0030] The arithmetic device 220 reads and executes the farm field management program 430 from the storage device 240, and performs various data processing to associate and manage the path information 700 and farming information. For example, the arithmetic device 220 includes a central processing unit (CPU) and the like.

[0031] By reading and executing the field management program 430, the arithmetic device 220 cooperates with the storage device 240 to implement a data storage unit 250, a prohibition setting unit 260, and a search unit 270, as shown in FIG. 7. The data storage unit 250 stores route data 410 and farming data 420. When change information indicating a change to the shape of the field 500 is received, the prohibition setting unit 260 sets prohibition information indicating a prohibition of use in the route information 700 of the corresponding field 500. The search unit 270 searches the route information 700 indicating a route for automatically moving the working device 30 in the selected field 500.

[0032] Next, the configuration of the display terminal 300 shown in Fig. 1 will be described. As shown in Fig. 9, the display terminal 300 includes an input / output device 310, an arithmetic device 320, a communication device 330, and a storage device 340. The display terminal 300 includes, for example, a computer, a tablet, a mobile phone, etc. Information used by the arithmetic device 320 to execute processing is input to the input / output device 310. The input / output device 310 also outputs the results of processing executed by the arithmetic device 320. The input / output device 310 includes various input devices and output devices, and may include, for example, a keyboard, a mouse, a microphone, a display, a speaker, a touch panel, etc.

[0033] The communication device 330 is communicatively connected to the network 20 and communicates with each device via the network 20. The communication device 330 transfers signals acquired from the farm land management device 200 to the arithmetic device 320. The communication device 330 also transfers signals generated by the arithmetic device 320 to the farm land management device 200. The communication device 330 includes various interfaces, such as a transceiver used for wireless communication via a wireless local area network (LAN) or a cellular network, a network interface card (NIC), a universal serial bus (USB), and the like.

[0034] The storage device 340 stores various data, such as a display program 440, for displaying farming information related to work performed in the field 500. The storage device 340 is used as a non-transitory tangible storage medium for storing the display program 440. The display program 440 may be provided as a computer program product recorded on a computer-readable storage medium 3, or may be provided as a computer program product downloadable from a server.

[0035] 7, the arithmetic device 320 reads and executes the display program 440, thereby realizing the display unit 350 in cooperation with the storage device 340 and the input / output device 310. The display unit 350 displays farming information related to work performed in the field 500. The display unit 350 also outputs, to the field management device 200, change information indicating changes to the shape of the field 500 input by a user, for example, the owner of the field 500.

[0036] (Registering route information) The operation of the farm land management system 1000 will be described. First, a method for registering route information 700 representing a route that the task device 30 will take when it moves automatically to perform work in the farm field 500 will be described. For example, a worker performing work in the farm field 500 starts the drive device of the task device 30, such as an engine or electric motor, and moves the task device 30 to the farm field 500. Here, once the drive device is started, the task device 30 continues to measure its own position at each time using a positioning device.

[0037] When the worker moves the working device 30 to the field 500, he starts up the control terminal 100 and inputs a registration operation to the input / output device 110 of the control terminal 100, which operation represents an operation for registering the position and shape of the field 500. When the registration operation is input, the arithmetic device 120 of the control terminal 100 reads and executes the control program 400. When the control program 400 is executed, the arithmetic device 120 starts the processing shown in Fig. 10, which is part of the field management method.

[0038] In step S110, the device control unit 150, which is realized by the calculation device 120, determines the position and shape of the field 500. For example, the device control unit 150 prompts the input / output device 110 to prompt the worker to make one or more revolutions of the working device 30 along the contour of the field 500. The worker manually moves the working device 30 and makes one or more revolutions within the field 500 along the contour of the field 500. The working device 30 continues to measure its own position at each time, measures its position along the contour of the field 500, and outputs position information that associates the measured position with the measurement time to the control terminal 100. The device control unit 150 of the control terminal 100 determines the position and shape of the field 500 based on the position information of the working device 30. For example, the device control unit 150 connects the positions represented in the position information with lines, such as straight line segments, in the order of the measurement times. The device control unit 150 determines the shape of the field 500 whose outline is the connecting lines, and determines the position of that shape as the position of the field 500. The device control unit 150 may also determine the shape of the field 500 as a shape that is expanded from the shape whose outline is the connecting lines by the width of the work device 30. The device control unit 150 may also determine the area inside the connecting lines as the area in the field 500 where work will be performed.

[0039] In step S120, the device control unit 150 determines an instruction path 510 along which the working device 30 will move while performing work, based on the determined shape of the field 500. For example, as shown in FIG. 2, the device control unit 150 determines an instruction path 510 within the field 500 along which the working device 30 will move while performing work. For example, the direction in which the instruction path 510 extends and the distance between two adjacent instruction paths 510 are input by the worker to the input / output device 110 of the control terminal 100. The device control unit 150 determines an instruction path 510 that extends linearly along the input direction so as to traverse the field 500. The device control unit 150 may also determine an instruction path 510 so as to traverse the area where work will be performed. For example, the instruction paths 510 are determined so that they are parallel to each other and the distance between two adjacent instruction paths 510 is the input distance.

[0040] 10, the device control unit 150 outputs path information 700 representing the determined instruction path 510 to the farm field management device 200. For example, the path information 700 may include information about the farm field 500 where work will be performed according to the instruction path 510, such as information representing the position and shape of the farm field 500. The path information 700 may also include information representing the position and shape of the area where work will be performed.

[0041] In step S140, the data storage unit 250 of the farm land management device 200 associates the route information 700 acquired from the control terminal 100 with the farming information of the corresponding field 500 and stores it in the route data 410. For example, the data storage unit 250 determines, by any method, the field 500 for which work is to be performed based on the route information 700 and the farming information for the same field 500. For example, the data storage unit 250 searches the farming data 420 for farming information representing the field 500 located closest to the location of the field 500 represented in the route information 700 acquired from the control terminal 100. If the distance between the location of the field 500 represented in the searched farming information and the location of the field 500 represented in the route information 700 is smaller than a threshold, the data storage unit 250 associates the route information 700 with the searched farming information and stores it in the route data 410. Here, the threshold value may be a fixed value set in advance, or may be determined depending on the size of the farm field 500.

[0042] In step S150, the device control unit 150 of the control terminal 100 determines a movement path along which the work device 30 will automatically move to perform work in the field 500. For example, the device control unit 150 determines a connecting path 520 connecting multiple instruction paths 510 to determine a movement path along which the work device 30 will move in the field 500. For example, in the example shown in FIG. 2 , the device control unit 150 determines the connecting paths 520 so that the work device 30 moves in the order of a first instruction path 510-1, a second instruction path 510-2, and a third instruction path 510-3. In this case, the device control unit 150 determines a connecting path 520 connecting the first instruction path 510-1 and the second instruction path 510-2, and a connecting path 520 connecting the second instruction path 510-2 and the third instruction path 510-3. Similarly, the device control unit 150 determines connecting paths 520 that connect the other two adjacent instruction paths 510. In this case, the device control unit 150 may determine the connection path 520 so that the working device 30 moves in the first direction along the instruction path 510, or may determine the connection path 520 so that the working device 30 moves in the opposite direction to the first direction. The device control unit 150 may also determine the connection path 520 that connects two instruction paths 510 that have one or more instruction paths 510 therebetween. For example, the device control unit 150 may determine the connection path 520 that connects the first instruction path 510-1 and the third instruction path 510-3.

[0043] 10, the device control section 150 outputs control information representing the determined movement route to the maintenance device 30. The maintenance device 30 performs work while automatically moving along the movement route represented in the control information.

[0044] In this way, the farm land management system 1000 associates and stores the route information 700 set for automatic movement of the work implement 30 with the farming information. Note that work performed in the farm field 500, such as raising and lowering the rotary tillage implement, may also be performed manually by a worker.

[0045] (Reflecting changes in farming information on route information) Next, a method for reflecting changes to farming information in the route information 700 will be described. A user, for example, the owner of the field 500, inputs a farming display operation representing an operation for displaying farming information to the input / output device 310 of the display terminal 300. When the farming display operation is input, the arithmetic device 320 of the display terminal 300 reads and executes the display program 440. When the display program 440 is executed, the arithmetic device 320 starts the processing shown in Figure 11, which is part of a field management method.

[0046] In step S210, the display unit 350 realized by the calculation device 320 receives display field information representing a target field 500 for which farming information is to be displayed. For example, the display unit 350 displays an image showing a list of one or more fields 500 corresponding to one or more pieces of farming information stored in the farming data 420. The display unit 350 may also display an image showing on a map the areas of one or more fields 500 corresponding to one or more pieces of farming information. For example, the user selects a target field 500 for which the farming field is to be displayed in the displayed image and inputs display field information representing the target field 500 for which the farming information is to be displayed. The display unit 350 outputs the input display field information to the field management device 200.

[0047] In step S220, the data storage unit 250 of the farm field management device 200 searches for farming information related to the field 500 shown in the displayed field information. For example, the data storage unit 250 searches for farming information related to the field 500 shown in the displayed field information from the farming information stored in the farming data 420. The searched farming information is output to the display terminal 300 by the data storage unit 250.

[0048] In step S230, the display unit 350 of the display terminal 300 displays the farming information acquired from the farm field management device 200. For example, the display unit 350 displays information related to work in the farm field 500, as shown in Fig. 3. For example, the display unit 350 displays an image showing the yield of crops harvested in a plurality of small areas 600 into which the farm field 500 is divided.

[0049] In step S240 shown in Figure 11, the display unit 350 determines whether change information indicating the content of changes to the information about the field 500 has been received. For example, after checking the farming information, the user inputs change information to change the shape of the area of ​​the displayed field 500, as shown in Figure 4. When the display unit 350 determines that the change information has been input and received (YES), it executes the processing of step S250. When the display unit 350 receives an operation to end the display of the farming information without inputting change information (NO), it ends the processing.

[0050] In step S250, the display unit 350 outputs change information indicating the content of the change related to the received information about the field 500 to the field management device 200. For example, the change information indicates the type of information that has been changed (e.g., the shape) among the information about the field 500, and the content after the change (e.g., the shape of the field 500 after the change). The change information may also indicate the content before the change, for example, the shape of the field 500 before the change.

[0051] In step S260, the prohibition setting unit 260 of the farm field management apparatus 200 sets prohibition information in the route information 700 related to the changed field 500 based on the change information from the display terminal 300. For example, when the change information satisfies a predetermined prohibition condition, the prohibition setting unit 260 sets prohibition information indicating that use of the route information 700 is prohibited in the route information 700 related to the field 500 represented in the change information. For example, when the change information satisfies the condition, the prohibition setting unit 260 searches the route information 700 stored in the route data 410 for route information 700 related to the field 500 represented as the change target in the change information. The prohibition setting unit 260 updates one or more pieces of route information 700 found in the route data 410 to the route information 700 for which prohibition information has been set. When the change information does not satisfy the prohibition condition, the route information 700 in the route data 410 is not updated, and the process proceeds to step S270.

[0052] The prohibition conditions may be registered in advance by a user, or may be determined during the design of the farm land management system 1000. The prohibition conditions may include, for example, a condition that the change information indicates a change to the shape of the farm field 500. In this case, when the change information indicates a change to the shape of the farm field 500, the prohibition setting unit 260 searches the route information 700 related to the field 500 whose shape has been changed from the route data 410. The prohibition setting unit 260 sets the prohibition information in the searched route information 700 and updates the route information 700 in the route data 410.

[0053] In step S270, the data storage unit 250 updates the farming information stored in the farming data 420 based on the change information. For example, the data storage unit 250 searches the farming information stored in the farming data 420 for farming information related to the field 500 that is indicated as the target of change in the change information. The data storage unit 250 changes the type of information that has been changed among the searched farming information to the changed content. The data storage unit 250 updates the farming information stored in the farming data 420 to the changed farming information.

[0054] In this way, when a change occurs in the farming information regarding the field 500, and the change satisfies the prohibition condition, the field management system 1000 sets prohibition information in the route information 700 regarding the field 500. The route information 700 with prohibition information set therein indicates that it cannot be used for subsequent work in the field 500.

[0055] (Use of route information) Next, a description will be given of the operation when a worker performs work in the field 500 using the route information 700 stored in the field management device 200. As in the case of registering the route information 700, the worker performing work in the field 500 starts the drive device of the work device 30 and moves the work device 30 to the field 500. Here, once the drive device is started, the work device 30 continues to measure its own position at each time using the positioning device.

[0056] When the worker moves the work tool 30 to the field 500, he starts the control terminal 100 and inputs a use operation that indicates an operation for performing work using the route information 700. When the use operation is input, the arithmetic device 120 of the control terminal 100 reads and executes the control program 400. When the control program 400 is executed, the arithmetic device 120 starts the processing shown in FIG. 12, which is part of the field management method.

[0057] In step S310, the path display unit 160 realized by the calculation device 120 receives target field information that indicates the field 500 where work is planned to be performed. For example, the path display unit 160 displays, on the input / output device 110, information that indicates the field 500 for which path information 700 is registered. The user selects the field 500 for which work is planned to be performed from the displayed information. The path display unit 160 receives the information that indicates the selected field 500 as target field information. The path display unit 160 outputs the received target field information to the field management device 200. Note that the path display unit 160 may obtain information that indicates the field 500 for which path information 700 is registered from the field management device 200 as a list of the fields 500 that are represented in the path information 700 stored in the path data 410. In addition, information representing the fields 500 in which the route information 700 is registered may be stored by the device control unit 150 as a list of the fields 500 at the time the route information 700 was registered, and may be read out by the route display unit 160.

[0058] In step S320, the search unit 270 of the farm field management apparatus 200 searches for route information 700 stored in the route data 410 based on the target field information acquired from the control terminal 100. For example, the search unit 270 searches for one or more pieces of route information 700 for the field 500 represented in the target field information from among the pieces of route information 700 stored in the route data 410. Search result information representing the one or more pieces of route information 700 found is output by the search unit 270 to the control terminal 100. Here, the search result information distinguishes between route information 700 for which prohibition information is set and other route information 700.

[0059] In step S330, the route display unit 160 of the control terminal 100 displays one or more pieces of route information 700 included in the search result information acquired from the farm field management device 200. For example, as shown in FIG. 5, the route display unit 160 displays a list of route information 700 related to the field 500 where work is planned to be performed. The list of route information 700 indicates, for each piece of route information 700, whether or not it can be used for the upcoming work in the field 500. When prohibition information is set in the route information 700, the route display unit 160 displays information indicating that it cannot be used for the upcoming work in the field 500. In the example shown in FIG. 5, the "usability" of the first route information 700-1 indicates that prohibition information has been set, indicating that it cannot be used for the upcoming work in the field 500 because the shape of the field 500 has changed since the first route information 700-1 was registered. The "usability" of the second route information 700-2 also indicates that prohibition information has been set, indicating that the shape of the field 500 has changed since the second route information 700-2 was registered and therefore the second route information 700-2 cannot be used for upcoming work on the field 500. The "usability" of the third route information 700-3 indicates that prohibition information has not been set, indicating that the shape of the field 500 has not changed since the third route information 700-3 was registered and therefore the third route information 700-3 can be used for upcoming work on the field 500. The route display unit 160 may also display any information related to the route information 700, such as the date the route information 700 was registered, or a work type indicating the type of work performed using the route information 700.

[0060] A user, for example, a worker, selects from the displayed route information 700 route information 700 that matches the work to be performed in the field 500. For example, the user selects usage route information that represents a route for automatically moving the work implement 30 to perform work in the field 500. For example, the user selects the third route information 700-3 as the usage route information.

[0061] When the route information 700 is selected, in step S340 shown in Fig. 12, the device control section 150 determines a movement route along which the work device 30 will automatically move to perform work in the field 500, based on the selected route information 700. The processing in step S340 is similar to the processing in step S150 shown in Fig. 10, and therefore a detailed description thereof will be omitted.

[0062] 10, the device control section 150 outputs control information representing the determined movement path to the maintenance device 30. The maintenance device 30 performs work while automatically moving along the movement path represented in the control information.

[0063] In this way, the farm field management system 1000 sets prohibition information on the route information 700 that can no longer be used for work in response to changes in the information about the field 500 in the farming information, and manages the route information 700 for which prohibition information has been set separately from other route information 700. This prevents users, for example, workers, from performing work using route information 700 that can no longer be used for work. Furthermore, by displaying the route information 700 that can no longer be used, the workers can understand that they cannot use the route information 700 that was previously registered.

[0064] (Variation) The configuration described in the embodiment is merely an example, and the configuration can be changed as long as the functionality is not impaired. For example, the route information 700 may represent both the instruction route 510 and the connection route 520. In this case, the process of step S150 shown in FIG. 10 is executed before step S130. In step S130, the device control unit 150 of the control terminal 100 outputs the route information 700 representing the instruction route 510 and the connection route 520 to the farm field management device 200. In step S140, the data storage unit 250 of the farm field management device 200 associates the route information 700 representing the instruction route 510 and the connection route 520 with the farming information of the corresponding farm field 500 and stores it in the route data 410. Furthermore, because the route information 700 represents the instruction route 510 and the connection route 520, the process of step S340 shown in FIG. 12 may be omitted.

[0065] 11 , the prohibition condition for setting prohibition information in the route information 700 may include the change information indicating any change that affects the route information 700. For example, the prohibition condition may include the change information indicating that at least a portion of the area of ​​the field 500 has been excluded from the area of ​​the field 500. By excluding at least a portion of the area of ​​the field 500, the area in which work is performed by the work implement 30 may be reduced. For this reason, if work is performed using the past route information 700, there is a possibility that the work implement 30 may collide with a bank, for example.

[0066] The prohibition condition may also include a condition in which the change information indicates that at least a portion of an area within a predetermined distance from the instruction path 510 has been excluded from the area of ​​the field 500. When the path information 700 represents the instruction path 510 and the connection path 520, the prohibition condition may also include a condition in which at least a portion of an area within a predetermined distance from the instruction path 510 or the connection path 520 has been excluded from the field 500. The prohibition condition may also include a change in the cropping type of the crop cultivated in the field 500, such as the type of crop, the row spacing, or the plant spacing. The prohibition condition may also include a combination of multiple conditions. For example, the prohibition condition may include a change in the shape of the field 500 and a change in the row spacing of the crop cultivated in the field 500. The prohibition condition may also include a change in the shape of the field 500 or a change in the row spacing of the crop cultivated in the field 500.

[0067] 10 , the data storage unit 250 of the farm land management device 200 may use any method to determine the farming information for the same field 500 as the field 500 for which work is to be performed according to the route information 700. For example, when the area of ​​the field 500 for which the farming information is to be performed overlaps with at least a portion of the area of ​​the field 500 for which work is to be performed according to the route information 700, the data storage unit 250 may determine that the farming information is the farming information corresponding to the route information 700.

[0068] 12, the path display unit 160 of the control terminal 100 may use any method to determine the field 500 where work is to be performed. For example, the path display unit 160 may acquire location information indicating the location of the work implement 30 and determine the field 500 where work is to be performed based on the acquired location information. For example, the path display unit 160 may determine the field 500 closest to the location indicated in the location information as the field 500 where work is to be performed.

[0069] In step S330 shown in FIG. 12 , the path display unit 160 of the control terminal 100 may display only the path information 700 corresponding to the task type of the task to be performed in the field 500. For example, the path display unit 160 determines the task type of the task to be performed by the task implement 30 based on the type of task implement 30 to be controlled. For example, when the task implement 30 is towing a rotary tiller, the path display unit 160 determines the task type of the task to be performed by the task implement 30 to be tilling. When the task implement 30 is towing a seed drill, the path display unit 160 determines the task type of the task to be performed by the task implement 30 to be sowing. When the task implement 30 is a combine harvester, the path display unit 160 determines the task type of the task to be performed by the task implement 30 to be harvesting. The path display unit 160 may display only the path information 700 that indicates the determined task type.

[0070] Furthermore, if the route information 700 can only be used for maintenance devices 30 of the same model, the route display unit 160 may display only the route information 700 that corresponds to the model of the maintenance device 30 that is scheduled to perform the work. In this case, in step S130 shown in FIG. 10 , the device control unit 150 of the control terminal 100 acquires information indicating the model of the maintenance device 30 from the maintenance device 30. The model of the maintenance device 30 may also be input by the user to the input / output device 110 of the control terminal 100. In this case, the device control unit 150 includes information indicating the model of the maintenance device 30 in the route information 700.

[0071] The route display unit 160 may display only the route information 700 that can be used by the work device 30 that is scheduled to perform work in the field 500. For example, the route display unit 160 may display a list of the route information 700, excluding the route information 700 for which prohibition information has been set. Furthermore, in step S320 shown in FIG. 12 , the search unit 270 of the farmland management apparatus 200 may exclude the route information 700 for which prohibition information has been set from the search result information. In this case, the search result information does not include the route information 700 for which prohibition information has been set, and therefore the route display unit 160 of the control terminal 100 does not display the route information 700 for which prohibition information has been set. Furthermore, in step S260 shown in FIG. 11 , the prohibition setting unit 260 of the farmland management apparatus 200 may delete the route information 700 for which prohibition information has been set from the route data 410.

[0072] 12 , when the user selects the route information 700 in which prohibition information has been set, the route display unit 160 may display information indicating that prohibition information has been set in the selected route information 700. For example, the route display unit 160 may notify the user that information about the field 500, such as the shape of the field 500, has been changed since the selected route information 700 was set.

[0073] 12, the user may change the displayed route information 700. The route display unit 160 outputs the changed route information 700 to the farm field management device 200. The data storage unit 250 of the farm field management device 200 associates the acquired route information 700 with the farming information of the corresponding farm field 500 and stores it in the route data 410, similar to step S140 shown in FIG.

[0074] The above-described embodiments and modifications are merely examples, and the configurations described in each embodiment and modification may be arbitrarily modified and / or combined as long as the functionality is not impaired. Furthermore, some of the functions described in the embodiments and modifications may be omitted as long as the necessary functionality is achieved. For example, some of the processing of the control terminal 100 may be performed by the farmland management device 200. Furthermore, some or all of the processing of the farmland management device 200 may be performed by the control terminal 100 or the display terminal 300. Some or all of the processing of the display terminal 300 may be performed by the control terminal 100 or the farmland management device 200. Furthermore, the farmland management device 200 may be implemented by multiple computers. In this case, for example, the computer that stores the route data 410 may be different from the computer that stores the farming data 420.

[0075] Furthermore, the farm land management program 430 may include the control program 400 and may include a display program 440 .

[0076] Furthermore, the farm land management system 1000 may not include the display terminal 300 and may acquire change information from an external terminal that is not included in the farm land management system 1000. In this case, the farm management information may be displayed on the external terminal that is not included in the farm land management system 1000.

[0077] Furthermore, the farm land management system 1000 may not include the control terminal 100 and may acquire the route information 700 from an external control terminal that is not included in the farm land management system 1000. In this case, one or more pieces of route information 700 included in the search result information are displayed by the external control terminal.

[0078] Furthermore, the communication device 130 of the control terminal 100 may be communicably connected to the maintenance device 30 via the network 20 .

[0079] The farming information may indicate only the position and shape of the field 500 without including information related to work performed in the field 500. In this case, the farming information is used when displaying the position and shape of the field 500 on the display terminal 300.

[0080] (Addendum) The farm land management method, farm land management system, and farm land management program described in each embodiment can be described as follows.

[0081] A farmland management method according to a first aspect includes: storing route information representing a route for automatically moving a work implement in a first field and farming information representing the shape of the first field in association with each other; When change information for changing the shape of the first field is received in the farming information, prohibition information indicating a prohibition of use is set in the route information; Includes.

[0082] A farm field management method according to a second aspect is the farm field management method according to the first aspect, Setting the prohibition information includes: deleting the route information in which the prohibition information is set; Includes.

[0083] A farm field management method according to a third aspect is the farm field management method according to the first or second aspect, When searching for the route information for automatically moving the work implement in the first field, the route information for which the prohibition information is set is excluded from the search, and search result information representing the search result is output. Further includes:

[0084] A farm field management method according to a fourth aspect is the farm field management method according to the third aspect, Displaying the search result information Includes.

[0085] A farm field management method according to a fifth aspect is the farm field management method according to the first aspect, When searching for the route information for automatically moving the work implement in the first field, outputting search result information that indicates the search result by distinguishing between the route information for which the prohibition information is set and other route information. Further includes:

[0086] A farm field management method according to a sixth aspect is the farm field management method according to the fifth aspect, displaying the search result information; receiving, from the route information included in the search result information, usage route information to be used for automatically moving the work device; notifying the user that the shape of the first field has been changed when the prohibition information is set in the use route information; Further includes:

[0087] A farm field management method according to a seventh aspect is the farm field management method according to the fifth or sixth aspect, Displaying the search result information includes: The search result information is displayed so that the route information in which the prohibition information is set can be distinguished from the other route information. Includes.

[0088] A farm field management method according to an eighth aspect is the farm field management method according to the fifth or sixth aspect, Displaying the search result information includes: Displaying the route information included in the search result information excluding the route information for which the prohibition information is set. Includes.

[0089] A farmland management system according to a ninth aspect includes: a data storage unit that stores route information representing a route for automatically moving a work implement in a first field and farming information representing the shape of the first field in association with each other; a prohibition setting unit that sets prohibition information indicating a prohibition of use in the route information when change information that changes the shape of the first field is received in the farming information; Equipped with.

[0090] A farmland management program according to a tenth aspect includes: storing, in association with each other, schedule setting information indicating the content of the planned work for the first field, route information indicating a route for automatically moving a work implement in the first field to perform the first work in the first field, and farming information indicating the shape of the first field; When change information for changing the shape of the first field is received in the farming information, prohibition information indicating a prohibition of use is set in the route information; The calculation device executes the following. [Explanation of symbols]

[0091] 1, 2, 3: Storage medium 20: Network 30: Work equipment 100: Control terminal 110: Input / output device 120: Arithmetic device 130: Communication equipment 140: Storage device 150: Device control section 160: Route display section 200: Field management device 210: Input / output device 220: Arithmetic device 230: Communication equipment 240: Storage device 250: Data storage unit 260:Prohibition setting section 270: Search section 300: Display terminal 310: Input / output device 320: Arithmetic device 330: Communication equipment 340 :Storage device 350:Display section 400: Control program 410: Route data 420: Farming data 430: Field Management Program 440: Display program 500: Field 510: Instruction path 520: Connection path 600: Small area 700: Route information 1000: Field management system

Claims

1. storing route information representing a route for automatically moving a work implement in a first field and farming information representing the shape of the first field in association with each other; When change information for changing the shape of the first field is received in the farming information, prohibition information indicating a prohibition of use is set in the route information; A field management method including:

2. Setting the prohibition information includes: deleting the route information in which the prohibition information is set; The farmland management method according to claim 1, comprising:

3. When searching for the route information for automatically moving the work implement in the first field, the route information for which the prohibition information is set is excluded from the search, and search result information representing the search result is output. The farmland management method according to claim 1 or 2, further comprising:

4. Displaying the search result information The farmland management method according to claim 3, further comprising:

5. When searching for the route information for automatically moving the work implement in the first field, search result information is outputted, which indicates the search result by distinguishing between the route information for which the prohibition information is set and other route information. The farmland management method according to claim 1, further comprising:

6. displaying the search result information; receiving, from the route information included in the search result information, usage route information to be used for automatically moving the work device; notifying the user that the shape of the first field has been changed when the prohibition information is set in the use route information; and The farmland management method according to claim 5, further comprising:

7. Displaying the search result information includes: The search result information is displayed so that the route information in which the prohibition information is set can be distinguished from the other route information. The farmland management method according to claim 5 or 6, comprising:

8. Displaying the search result information includes: Displaying the route information included in the search result information excluding the route information for which the prohibition information is set. The farmland management method according to claim 5 or 6, comprising:

9. a data storage unit that stores route information representing a route for automatically moving a work implement in a first field and farming information representing the shape of the first field in association with each other; a prohibition setting unit that sets prohibition information indicating a prohibition of use in the route information when change information for changing the shape of the first field is received in the farming information; A field management system comprising:

10. storing route information representing a route for automatically moving a work implement in a first field and farming information representing the shape of the first field in association with each other; When change information for changing the shape of the first field is received in the farming information, prohibition information indicating a prohibition of use is set in the route information; A field management program that causes a computing device to execute the above.

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