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

Abstract

To make it easier for users to verify a method in which areas represented by the area information are set.SOLUTION: The field management method includes generating map information for distinguishably showing, on a map, a first area set as first area information included in first field information by using position information of a work device 100 moving in a first field 500-1 and a second area specified in a map image displayed on an information terminal 300 and set as second area information included in second field information. The field management method also includes outputting the map information. The first field information may include positioning type information representing a method of measuring the position information. Generating the map information may further includes generating the map information representing the positioning type information in association with the first area information represented on the map.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, there has been much research into agricultural management using information on field work. For example, one technology is being considered that would support the analysis of agricultural management by allowing users to specify the area of ​​a field on a map displayed on a computer, register the field in a system, and record the harvest yield and other data for the registered field.

[0003] On the other hand, Patent Document 1 discloses a technology for enabling a work vehicle such as a tractor to drive autonomously by determining the position and shape of a field by measuring its own position and traveling along the contours of the field. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 7142597 Summary of the Invention [Problem to be solved by the invention]

[0005] The accuracy of area information representing the area of ​​a field for autonomous driving differs from the accuracy of area information representing the area of ​​a field registered for agricultural management. The inventors discovered that when the area information of a field for autonomous driving and the area information of a field registered for agricultural management are displayed on the same map image, the user cannot easily grasp the accuracy of each field. For example, because the user cannot easily grasp the accuracy of each field, it becomes difficult for the user to determine whether a route for autonomous driving can be set in each field.

[0006] In view of the above, one object of the present disclosure is to facilitate user confirmation of the method by which the area represented in the area information was set. Other objects can be understood from the following description and the description 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 generating map information that distinguishably displays on a map a first area set as first area information included in the first field information using position information of a work implement (100) moving within a first field (500-1) and a second area that is specified on a map image displayed on an information terminal (300) and set as second area information included in the second field information. The farm field management method also includes outputting the map information.

[0009] To achieve the above object, a farm field management system (1000) according to one embodiment includes a map information generation unit (270) and an output unit (280). The map information generation unit (270) generates map information that uses position information of a work implement (100) moving within a first farm field (500-1) to distinguishably represent on a map a first area set as first area information included in the first farm field information and a second area specified in a map image displayed on an information terminal (300) and set as second area information included in the second farm field information. The output unit (280) outputs the map information.

[0010] To achieve the above object, a field management program (420) according to one embodiment causes a computing device (120, 220, 320) to generate map information that distinguishably displays on a map a first area set as first area information included in the first field information using position information of a work implement (100) moving within a first field (500-1) and a second area that is specified in a map image displayed on an information terminal (300) and set as second area information included in the second field information. The field management program (420) also causes the computing device (120, 220, 320) to output the map information. [Effects of the Invention]

[0011] According to the above aspect, the user can easily check how the areas were set in the field registered in the system. [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] 10A and 10B are diagrams for explaining a method by which a work implement determines an area of ​​a farm field in one embodiment. [Figure 3] 10 is a diagram for explaining a method by which a user inputs information about a field area into an information terminal in one embodiment. FIG. [Figure 4] FIG. 2 is a diagram for explaining map information showing a field area displayed by an information terminal in one embodiment. [Figure 5] 1 is a diagram illustrating a configuration of a working device according to an embodiment. [Figure 6] FIG. 2 is a diagram illustrating functional blocks executed by a farm land management system according to an embodiment. [Figure 7] 1 is a diagram illustrating a configuration of a farm land management device according to an embodiment. [Figure 8] FIG. 1 is a diagram illustrating a configuration of an information terminal according to an embodiment. [Figure 9]10 is a flowchart illustrating a process in which a farm field management system according to an embodiment registers a farm field by manually specifying the area of ​​the farm field. [Figure 10] 10 is a flowchart illustrating a process in which a farm field management system according to an embodiment registers a farm field using position information of a work implement. [Figure 11] 10 is a flowchart illustrating a process in which a farm field management system displays farm field information in one embodiment. [Figure 12] 10 is a diagram illustrating an image displayed on an information terminal for confirming download of area information according to an embodiment. FIG. [Figure 13] FIG. 2 is a diagram for explaining map information showing a field area displayed by an information terminal in 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 work device 100, a farm land management device 200, and an information terminal 300. The farm land management device 200 is communicably connected to the work device 100 and the information terminal 300 via a network 20, for example the Internet.

[0014] The work implement 100 performs work while moving in, for example, a farm field 500. The work implement 100 includes, for example, a tractor that pulls a work machine. The work implement 100 may also include a combine harvester that is formed integrally with a work machine. The work implement 100 may also include a drone that flies to perform agricultural work, such as spraying pesticides.

[0015] The task device 100 moves within the field 500 while measuring its own position, and determines the area of ​​the field 500, for example, its position and shape. For example, as shown in FIG. 2 , the task device 100 measures its own position, for example, its latitude and longitude, at predetermined intervals, for example, every 10 seconds. Therefore, the measured position 600 is measured along a trajectory 610 traveled by the task device 100. As the task device 100 moves along the contour of the field 500, the measured position 600 represents a position along the contour of the field 500. Therefore, the task device 100 determines the area of ​​the field 500, for example, its position and shape, based on the measured position 600 when moving along the contour of the field 500. The task device 100 determines a work path 630 along which to move to perform work within the determined area of ​​the field 500, and travels along the work path 630, thereby autonomously traveling within the field 500. Therefore, the area of ​​the field 500 determined using the position information of the task device 100 has a high degree of accuracy. Area information indicating the determined area of ​​the field 500 is transmitted to the farm field management device 200 and stored in the farm field management system 1000.

[0016] Meanwhile, a user uses the information terminal 300 to register the field 500 by specifying the area of ​​the field 500, for example, its location and shape, on a map image that displays an area including the field 500. For example, as shown in FIG. 3 , the information terminal 300 displays a map image that shows an area including the field 500. The user specifies positions that represent multiple vertices 650 of the field 500 on the displayed map image. The farm field management system 1000 determines the area of ​​the field 500 to be the area inside a polygon whose vertices are the multiple vertices 650 that correspond to the specified positions. Area information that shows the determined area of ​​the field 500 is stored in the farm field management system 1000.

[0017] The farm field management system 1000 displays area information for the registered farm field 500 in association with information indicating how the area in the area information was set on a map image showing an area including the registered farm field 500. For example, as shown in FIG. 4, the information terminal 300 displays a map image that distinguishes between the area of ​​a first farm field 500-1 set using the positioning position 600 of the working device 100 and the area of ​​a second farm field 500-2 set by specifying vertices 650 on the map. This allows the user to easily distinguish between the first farm field 500-1, which has a relatively high accuracy in terms of position and shape, and the second farm field 500-2, which has a relatively low accuracy. For example, the user can easily understand that a route for autonomous driving can be set in the first farm field 500-1. Furthermore, the user can easily understand that even if the information terminal 300 displays information showing the same yield, the accuracy may differ between the first field 500-1 and the second field 500-2.

[0018] (Configuration of the farm management system) The configuration of the task device 100 included in the farmland management system 1000 shown in Fig. 1 will be described. As shown in Fig. 5, the task device 100 includes an input / output device 110, a positioning device 115, a computing device 120, a communication device 130, and a storage device 140. Information for controlling the task device 100 is input to the input / output device 110. The input / output device 110 also outputs information for controlling the task device 100, such as the speed of the task device 100. The input / output device 110 also includes various input and output devices, and may include, for example, a steering wheel, buttons, levers, a display, a touch panel, etc.

[0019] Positioning device 115 acquires position information representing the position of operating apparatus 100 at each time, for example, latitude and longitude. For example, positioning device 115 measures the position of operating apparatus 100 at a predetermined interval (for example, every 10 seconds) and outputs position information representing the measured position 600 to computing device 120. For example, positioning device 115 may include a GNSS (Global Navigation Satellite System) receiver, a quantum compass, etc. The position information may also include information representing the measured time in association with the position 600.

[0020] The communication device 130 is communicatively connected to the network 20 and communicates with each device via the network 20. For example, the communication device 130 transfers a signal acquired from the farm land management device 200 to the calculation device 120. The communication device 130 also transfers a signal generated by the calculation device 120 to the farm land management device 200. The communication device 130 may acquire information from other devices without going through the network 20. For example, the communication device 130 may acquire information from other devices via any storage medium, such as a memory card or a USB (Universal Serial Bus) memory. The communication device 130 may also acquire information from other devices directly connected via a USB terminal or the like. The communication device 130 includes 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 terminal, and a communication terminal.

[0021] The storage device 140 stores various data for determining the area of ​​the farm field 500, such as the area determination program 400. The storage device 140 is used as a non-transitory tangible storage medium for storing the area determination program 400. The area determination 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.

[0022] The arithmetic device 120 reads and executes the area determination program 400 from the storage device 140, and performs various data processing to determine the area of ​​the farm field 500. For example, the arithmetic device 120 may include an ECU (Electric Control Unit), a central processing unit (CPU), and the like.

[0023] By reading and executing the area determination program 400, the arithmetic device 120 cooperates with the storage device 140 to implement an area determination unit 150 and a control unit 160, as shown in FIG. 6. The area determination unit 150 determines the area of ​​the field 500, for example, its position and shape, based on position information obtained when the working implement 100 is manually moved along the contour of the field 500. The control unit 160 determines a work path 630 for performing work in the field 500 for which the area has been determined, and controls the working implement 100 to perform work while moving along the work path 630.

[0024] The working apparatus 100 may have a removable control terminal and be controlled by the control terminal. For example, a removable control terminal may be provided so that an operator can use the control terminal to make an emergency stop of the working apparatus 100 when the working apparatus 100 is performing work by autonomous traveling.

[0025] Next, the configuration of the farm land management device 200 will be described. As shown in Fig. 7, 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 a computer including, for example, a cloud server. 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, such as a keyboard, a mouse, a microphone, a display, a speaker, and a touch panel. The input / output device 210 may be omitted.

[0026] The communication device 230 is connected to the network 20 and communicates with each device via the network 20. The communication device 230, for example, transfers information acquired from the maintenance device 100 to the arithmetic device 220. The communication device 230 also transfers a signal generated by the arithmetic device 220 to the information terminal 300. The communication device 230 includes various interfaces, for example, a network interface card (NIC) and a USB.

[0027] The storage device 240 stores various data, such as the field data 410, for displaying information that identifiably represents the field 500 according to the method for setting the area of ​​the field 500 represented in the field information, and the field management program 420. The storage device 240 is used as a non-transitory tangible storage medium that stores the field management program 420. The field management program 420 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 field data 410 stores field information related to the field 500, such as the area, the method by which the area was established, and information related to the work performed in the field 500. For example, the field information includes area information that represents the area of ​​the field 500. The area information represents, for example, the latitude and longitude of each vertex 650 and associates each vertex 650 with other vertices 650 adjacent to each other along the contour of the field 500. The field information also represents information related to the method by which the area represented in the area information was established (for example, whether the area was determined using the position information of the work device 100, whether the area was specified by manual input, etc.) in association with the area information. Furthermore, the field information may represent information related to the work performed in the field 500 related to the area information (for example, yield per unit area, harvest volume, etc.) in association with the area information. The field information may also represent information related to the name of the field 500 related to the area information in association with the area information.

[0029] The arithmetic device 220 reads and executes the field management program 420 from the storage device 240, and performs various data processing to display information that identifiably represents the field 500 according to the method by which the field information area is set. For example, the arithmetic device 220 includes a central processing unit (CPU) and the like.

[0030] By reading and executing the field management program 420, the arithmetic device 220 cooperates with the storage device 240 to implement a data storage unit 250, an overlap determination unit 260, a map information generation unit 270, and an output unit 280, as shown in FIG. 6 . The data storage unit 250 stores field data 410. The overlap determination unit 260 determines whether the area of ​​the field 500 stored in the field data 410 overlaps with an area determined using the position information of the work device 100. The map information generation unit 270 generates map information that shows an image of the field 500 stored in the field data 410 on a map. The output unit 280 outputs the generated map information to the information terminal 300.

[0031] Next, the configuration of the information terminal 300 shown in Fig. 1 will be described. As shown in Fig. 8, the information terminal 300 includes an input / output device 310, an arithmetic device 320, a communication device 330, and a storage device 340. The information 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, such as a keyboard, a mouse, a microphone, a display, a speaker, and a touch panel.

[0032] The communication device 330 is connected to the network 20 and communicates with each device via the network 20. The communication device 330, for example, transfers map information acquired from the farm land management device 200 to the calculation device 320. The communication device 330 also transfers signals generated by the calculation device 320 to the farm land management device 200. The communication device 330 may output information to other devices that are not connected via the network 20. For example, the communication device 330 may output information to other devices via any storage medium, such as a memory card or a Universal Serial Bus (USB) memory. The communication device 330 may also acquire information from other devices directly connected via a USB or the like. 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 USB, etc.

[0033] The storage device 340 stores various data, such as a display program 430, for displaying map information acquired from the farm land management device 200. The storage device 340 is used as a non-transitory tangible storage medium for storing the display program 430. The display program 430 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.

[0034] The arithmetic unit 320 reads and executes the display program 430 from the storage device 340 to perform various data processing for displaying map information. For example, the arithmetic unit 320 includes a central processing unit (CPU) and the like.

[0035] By reading and executing the display program 430, the arithmetic device 320 cooperates with the storage device 340 and the input / output device 310 to implement a registration information receiving unit 350, a display unit 360, and a selection information receiving unit 370, as shown in Fig. 6. The registration information receiving unit 350 receives registration information representing a field 500 registered by a user, such as area information representing the area of ​​the field 500. The display unit 360 displays map information acquired from the field management device 200. The selection information receiving unit 370 receives selection information representing a field 500 selected by the user from among the fields 500 represented in the map information.

[0036] (Registration of area by manual input) First, the operation of the farm field management system 1000 when a user manually specifies the area of ​​the farm field 500 and registers the farm field 500 will be described. For example, the user inputs an operation to register the farm field 500 into the input / output device 310 of the information terminal 300. In response to the operation, the arithmetic device 320 of the information terminal 300 reads and executes a display program 430 from the storage device 340. When the display program 430 is executed, the arithmetic device 320 starts the processing shown in FIG. 9, which is part of a farm field management method.

[0037] In step S110, the registration information receiving unit 350, which is realized by the calculation device 320, receives registration information for the field 500 input by the user. For example, as shown in FIG. 3, the registration information receiving unit 350 displays a map image of an area including the field 500 on the input / output device 310. On the displayed map image, the user specifies positions representing vertices 650 of the field 500 in an order following the contour of the field 500. For example, on the map image displayed on the information terminal 300, the user specifies, in that order, a position representing a first vertex 650-1, a position representing a second vertex 650-2, a position representing a third vertex 650-3, and a position representing a fourth vertex 650-4. The registration information receiving unit 350 receives information representing the specified vertices 650 and the order of specification as registration information.

[0038] The user may also input the name of the field 500 into the input / output device 310. Furthermore, the user may input information about work performed in the field 500, for example, the yield of a crop harvested in the field 500, into the input / output device 310. The registration information receiving unit 350 may also receive information about the field 500 input by the user as registration information. The received registration information is output to the field management device 200 by the registration information receiving unit 350.

[0039] In step S120 shown in FIG. 9 , the data storage unit 250 of the farm field management apparatus 200 registers the corresponding farm field 500 based on the acquired registration information. For example, the data storage unit 250 determines the area inside a polygon formed by the multiple vertices 650 represented in the registration information as the area of ​​the farm field 500. For example, the data storage unit 250 determines the area inside a line connecting the multiple vertices 650 in a specified order as the area of ​​the farm field 500. The data storage unit 250 stores field information indicating the determined area of ​​the farm field 500 and that the area has been manually set by the user in the field data 410. The data storage unit 250 may also include information on work performed in the farm field 500 in the field information it stores. The field information may further indicate the name of the field 500.

[0040] In this way, the registration information about the field 500 input by the user is stored in the field data 410 of the field management apparatus 200. As a result, the field 500 is registered in the field management system 1000.

[0041] (Registration operation based on the location information of the work device) Next, the operation of the farmland management system 1000 when registering the field 500 using the position information of the task device 100 will be described. For example, the field 500 is registered in the farmland management system 1000 when the task device 100 starts work by autonomous traveling. For example, before the task device 100 starts work by autonomous traveling, the worker inputs an operation to the input / output device 110 of the task device 100 to register the area of ​​the field 500, such as its position and shape. When the operation to register the field 500 is input to the input / output device 110, the arithmetic device 120 of the task device 100 reads and executes the area determination program 400 from the storage device 140. When the area determination program 400 is executed, the arithmetic device 120 starts the processing shown in FIG. 10 , which is part of a farmland management method.

[0042] In step S210, the area determination unit 150 realized by the calculation device 120 prompts the worker to move the task implement 100 around along the contour of the field 500, and starts measuring the position of the task implement 100. For example, the area determination unit 150 displays on the input / output device 110 a message instructing the worker to move the task implement 100 around along the contour of the field 500. The area determination unit 150 also acquires position information representing the position of the task implement 100 from the positioning device 115. As the user moves the task implement 100 around along the contour of the field 500, the area determination unit 150 acquires position information representing a measured position 600 along the contour of the field 500, as shown in FIG. 2 .

[0043] In step S220 shown in FIG. 10 , the area determination unit 150 determines the area of ​​the field 500 based on the positioning positions 600 measured when the working device 100 moves around along the contour of the field 500. For example, as shown in FIG. 2 , the area determination unit 150 connects the positioning positions 600 in the order in which they were measured with a line, and determines the area of ​​the field 500 as an inner area formed by connecting the positioning positions 600 when the working device 100 moves around and stops with the positioning positions 600 when the working device 100 starts moving around with a line. For example, the area determination unit 150 determines the area of ​​the field 500 as an inner area formed by connecting the positioning positions 600 with straight line segments. Furthermore, the area determination unit 150 may determine the area of ​​the field 500 as an area expanded from the area connecting the positioning positions 600 with a line depending on the width 620 of the working device 100, for example, the working width. For example, the area determination unit 150 may determine the area of ​​the field 500 by expanding the area connecting the positioning positions 600 with a line by a distance that is half the width 620 of the task device 100. The area determination unit 150 may determine the area of ​​the field 500 by expanding the area connecting the positioning positions 600 with a line in a direction perpendicular to the traveling direction of the task device 100 by a distance that is from the position of the positioning device 115 to the edge of the outer periphery when the task device 100 goes around the field 500. Information indicating the determined area of ​​the field 500 is output by the area determination unit 150 to the field management device 200.

[0044] In step S230 shown in FIG. 10 , the overlap determination unit 260 of the farm field management apparatus 200 determines whether there is any field information stored in the field data 410 whose area overlaps with the area of ​​the determined field 500. For example, the overlap determination unit 260 extracts field information from the field data 410 and determines whether the area of ​​the field 500 represented in the extracted field information overlaps with the area of ​​the determined field 500. For example, the overlap determination unit 260 determines that the two areas overlap when the area of ​​the area where the determined field 500 area and the area of ​​the field 500 represented in the extracted field information overlap is larger than a threshold. Alternatively, the overlap determination unit 260 may determine whether the two areas overlap based on the ratio of the area of ​​the area where both areas overlap to the area of ​​the area included in both areas. In this case, for example, the overlap determination unit 260 calculates the area of ​​the area included in both regions by subtracting the area of ​​the overlapping area between both regions from the total area of ​​both regions. The overlap determination unit 260 calculates a ratio by dividing the area of ​​the overlapping area between both regions by the calculated area of ​​the area included in both regions. For example, when the obtained ratio is greater than a threshold, the overlap determination unit 260 determines that both regions overlap. For example, the overlap determination unit 260 determines whether the area of ​​the field 500 in all the field information stored in the field data 410 overlaps with the area of ​​the determined field 500. If there is no field information representing an area overlapping with the area of ​​the determined field 500 (NO), the overlap determination unit 260 executes the process of step S240. If there is field information representing an area overlapping with the area of ​​the determined field 500 (YES), the overlap determination unit 260 executes the process of step S250.

[0045] In step S240, the overlap determination unit 260 registers a new field 500 having the area of ​​the determined field 500. For example, the overlap determination unit 260 stores field information representing the field 500 having the determined area in the field data 410. Therefore, the stored field information represents the area of ​​the determined field 500. The overlap determination unit 260 also includes, in the stored field information, information representing that the area of ​​the newly registered field 500 has been set using the position information of the working device 100. The stored field information may also include information representing the name of the field 500. In this case, the name of the field 500 may be input to the input / output device 110 of the working device 100 when work is performed in the field 500. The name input to the input / output device 110 may be transmitted to the field management device 200 by the area determination unit 150 together with the area information. When the processing of step S240 is completed, the processing of registering the field 500 in the farm field management system 1000 is completed.

[0046] When there is field information representing an area that overlaps with the area of ​​the determined field 500, in step S250, the overlap determination unit 260 changes the area information of the corresponding field information stored in the field data 410 to area information representing the area of ​​the determined field 500. For example, the overlap determination unit 260 extracts field information representing an area that overlaps with the area of ​​the determined field 500. The overlap determination unit 260 changes the area of ​​the field 500 represented in the extracted field information to the area of ​​the determined field 500. As a result, the field information is changed to represent the area determined using the position information of the work device 100. Therefore, the overlap determination unit 260 also changes the information in the field information representing the method by which the area represented in the area information was set to indicate that the area was determined using the position information of the work device 100.

[0047] In this way, the field 500 where work is performed by the autonomous traveling working device 100 is registered in the field management system 1000 as field information representing an area determined using the position information of the working device 100. Furthermore, even if the field information for the field 500 has already been registered to represent an area specified by manual input, it is changed to represent an area using the position information. This allows the field information managed by the field management system 1000 to represent an area with higher accuracy.

[0048] The task apparatus 100 performs work by autonomous travel in the field 500 whose area has been determined. For example, as shown in FIG. 2 , the control unit 160 of the task apparatus 100 determines a work path 630 along which the task apparatus 100 will move while performing work in the field 500. At this time, information necessary for determining the work path 630, such as the work width of the task apparatus 100 performing the work and overlap settings, is input by the user to the input / output device 110. Once the work path 630 has been determined, the control unit 160 controls the task apparatus 100 to move along the determined work path 630 and perform work.

[0049] (Display of field information) Next, the operation of the farm land management system 1000 to display field information representing a registered farm land 500 will be described. For example, in order to check the field information, a user inputs an operation to display the field information into the input / output device 310 of the information terminal 300. In response to the operation, the arithmetic device 320 of the information terminal 300 reads and executes a display program 430 from the storage device 340. When the display program 430 is executed, the arithmetic device 320 starts the processing shown in FIG. 11, which is part of a farm land management method.

[0050] In step S310, the display unit 360 implemented by the arithmetic device 320 requests the farm land management device 200 to provide map information that displays the farm land information on a map.

[0051] In step S320, the map information generation unit 270 of the farm field management device 200 generates map information that displays the field information on a map. For example, as shown in FIG. 4, the map information generation unit 270 generates map information that displays an image showing the area of ​​one or more farm fields 500 on a map that displays an area including one or more farm fields 500. For example, the map information indicates the range of the map shown in the image and the range of the area of ​​the farm field 500 shown in the image. The map information also distinguishably displays the area of ​​the first farm field 500-1 registered using the position information of the work device 100 from the area of ​​the second farm field 500-2 specified and registered in the map information displayed on the information terminal 300. The generated map information is output to the information terminal 300 by the output unit 280.

[0052] 11, the display unit 360 of the information terminal 300 displays the map information acquired from the farm field management device 200. For example, the display unit 360 displays an image showing the areas of one or more farm fields 500 on a map based on the map information, as shown in FIG. 4. For example, the display unit 360 displays the area representing the first farm field 500-1 and the area representing the second farm field 500-2 in a distinguishable manner. For example, the display unit 360 displays the area representing the first farm field 500-1 in a display format, such as a color or pattern, that is different from the display format of the area representing the second farm field 500-2.

[0053] In step S340 shown in FIG. 11 , the selection information receiving unit 370 determines whether it has received selection information representing a field 500 selected by the user from among the displayed fields 500. For example, the selection information receiving unit 370 determines whether the user has selected a field 500 from the fields 500 displayed on the input / output device 310 using any method. For example, the selection information receiving unit 370 determines whether the user has selected any of the areas representing the fields 500. When any of the fields 500 is selected by the user, the selection information receiving unit 370 determines that it has received selection information. If it determines that it has received selection information (YES), it executes the process of step S350. If it does not determine that it has received selection information (NO), the selection information receiving unit 370 repeatedly executes the process of step S340 and waits until it receives selection information. For example, the selection information represents the field 500 selected by the user. Here, the selected field 500 is also called a selected field.

[0054] In step S350, the selection information receiving unit 370 determines whether the selected field represented by the selection information is a field 500 registered using the position information of the work device 100. The selection information receiving unit 370 determines, for example, whether the area of ​​the field information of the selected field represented by the selection information is set using the position information of the work device 100. If the selection information receiving unit 370 determines that the area of ​​the field information of the selected field is set using the position information of the work device 100 (YES), it executes the process of step S360. If the selection information receiving unit 370 determines that the field information of the selected field is specified on the map displayed on the information terminal 300 (NO), it returns to the process of step S340 and repeats the process.

[0055] In step S360, the selection information receiving unit 370 determines whether area information for the selected field 500 has been requested. For example, when a field 500 registered using the position information of the working device 100 is selected, the selection information receiving unit 370 displays a confirmation display area 700, as shown in FIG. 12, to confirm whether or not to download the area information for the selected field 500. The confirmation display area 700 displays, for example, a user interface for specifying whether or not to download the area information, such as a YES button and a NO button. When the user specifies that downloading is to be performed, for example, by selecting the YES button, the selection information receiving unit 370 determines that area information has been requested (YES) and proceeds to the processing of step S370. When the user specifies that downloading is not to be performed, for example, by selecting the NO button, the selection information receiving unit 370 determines that area information has not been requested (NO), returns to the processing of step S340, and repeats the processing.

[0056] In step S370, the selection information receiving unit 370 outputs area request information indicating a request for area information to the farm field management apparatus 200. The area request information indicates, for example, the farm field 500 selected by the user.

[0057] In step S380, the output unit 280 of the farm field management apparatus 200 outputs, based on the area request information, area information of the farm field 500 represented in the area request information. For example, the output unit 280 extracts field information representing the farm field 500 represented in the area request information from the field data 410. The output unit 280 outputs the area information included in the extracted field information to the information terminal 300.

[0058] In step S390, the selection information receiving unit 370 of the information terminal 300 stores the area information acquired from the farm field management device 200 in the storage device 340 of the information terminal 300. The user uses the input / output device 310 of the information terminal 300 to check the area information stored in the storage device 340 of the information terminal 300. For example, the user may store the area information stored in the storage device 340 in a USB memory using the communication device 330, for example, a USB terminal. The USB memory storing the area information may be connected to the communication device 130 of the working device 100, for example, a USB terminal, and the control unit 160 of the working device 100 may use the area information stored in the USB memory to determine the work route 630. The user may also use the area information stored in the storage device 340 of the information terminal 300 for farm management of the farm field 500.

[0059] (Variation) The above-described embodiments and modifications are merely examples. 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, as shown in FIG. 13, the display unit 360 of the information terminal 300 may display a positioning type display area 710 associated with an area of ​​the field 500, indicating the method by which the position information used to define the area was measured. For example, the first positioning type display area 710-1 indicates that the associated area of ​​the field 500 was defined using position information measured using Real Time Kinematic-GNSS (RTK-GNSS), which acquires position information from a reference station and corrects the measured position of the device itself. In addition, the second positioning type display area 710-2 indicates that the area of ​​the associated field 500 has been set using position information measured using D-GNSS (Differential-GNSS), which obtains errors in the position measured at a reference station and corrects the measured position of the vehicle itself.

[0060] In this case, for example, in step S220 shown in Fig. 10 , the area determination unit 150 of the task device 100 outputs, together with the area information, positioning type information indicating the method by which the position of the task device 100 was measured to the field management apparatus 200. In step S240 or step S250, the overlap determination unit 260 of the field management apparatus 200 includes the positioning type information in the field information and stores the information in the field data 410. Furthermore, in step S320 shown in Fig. 11 , the map information generation unit 270 may generate map information indicating the positioning type information in association with the area information indicating the area of ​​the field 500.

[0061] In step S360 shown in FIG. 11 , the selection information receiving unit 370 of the information terminal 300 may indicate, in any manner, that the output of area information is permitted for the field information whose displayed area is set using the position information of the work device 100. Specifically, the selection information receiving unit 370 indicates that the output of area information is permitted by displaying the confirmation display area 700 shown in FIG. 12 , but is not limited to this. For example, when a field 500 for which the output of area information is permitted is selected, the selection information receiving unit 370 may display a menu including an item for downloading as a list of operable items. For example, the menu may include an item for displaying information about work performed in the selected field 500.

[0062] Furthermore, although the selection information receiving unit 370 indicates that the output of area information for field information whose displayed area is manually specified is prohibited by not displaying the confirmation display area 700, any other method may be used to indicate this. For example, when field information whose displayed area is manually specified is selected, the selection information receiving unit 370 may display a menu in which the items for downloading are displayed in a format that makes them unselectable. Displaying an item in a format that makes it unselectable indicates that the process represented by the item will not be executed even if the item is selected, for example, by displaying the item in a lighter font than other items.

[0063] In step S110 shown in FIG. 9 , the registration information accepting unit 350 of the information terminal 300 may accept area information from the user using any input method for specifying the area of ​​the field 500 to be registered. For example, the user may input an operation to the input / output device 310 to move the selected position along the position representing the outline of the field 500 on the displayed map image. For example, the user may move the selected position along the position representing the outline of the field 500 while touching the touch panel of the map image displayed on the input / output device 310, for example, a touch panel. The registration information accepting unit 350 outputs information representing the line formed by the movement of the selected position to the field management device 200. In step S120, the data storage unit 250 of the field management device 200 determines the range indicated inside the line formed by the movement of the selected position as the area of ​​the field 500.

[0064] 10 , an example has been shown in which the area determination unit 150 of the task implement 100 determines the area of ​​the field 500 using position information obtained when the task implement 100 moves around along the contour of the field 500, but the example is not limited to this. The task implement 100 may move along any route within the field 500 as long as it moves in a way that allows the area of ​​the field 500 to be determined.

[0065] 10 , the overlap determination unit 260 of the farm field management apparatus 200 may determine whether there is field information indicating that the represented area overlaps with the determined area of ​​the field 500 and that the represented area has been manually specified. In this case, for example, the overlap determination unit 260 extracts, from the field data 410, field information indicating that the represented area has been manually specified, and determines whether the area represented in the extracted field information overlaps with the determined area of ​​the field 500.

[0066] Information related to the work performed in the field 500 may be input by any method other than being input by a user as described in the processing of step S110 in FIG. 9 . For example, the task device 100 may acquire information related to the work performed in the field 500 and output the acquired information to the field management apparatus 200. For example, the task device 100 may measure the yield of the harvested crops while harvesting in the field 500. Information indicating the measured yield may be output from the task device 100 to the field management apparatus 200. The task device 100 may also measure the amount of fertilizer applied in the field 500 and output information indicating the measured amount of fertilizer to the field management apparatus 200.

[0067] 10 , the overlap determination unit 260 of the farm land management apparatus 200 does not have to change the area indicated in the area information included in the field information to the area determined using the position information of the work device 100. For example, when there is field information with overlapping areas, the overlap determination unit 260 may use an area that has already been registered instead of the determined area. In this case, the processing of step S250 is omitted.

[0068] The overlap determination unit 260 may also register the field 500 without checking whether the areas overlap. In this case, the overlap determination unit 260 stores the field information representing the determined area of ​​the field 500 in the field data 410 without determining whether the areas overlap.

[0069] Furthermore, the positioning device 115 of the task tool 100 may start measuring its own position when the task tool 100 is started up.

[0070] The area information may represent the area of ​​the field 500 in any format.

[0071] For example, the area determination unit 150 of the task device 100 may be executed by the farm field management apparatus 200. In this case, the farm field management apparatus 200 acquires position information from the task device 100 when the task device 100 moves within the farm field 500. Also, some or all of the processing of the information terminal 300 may be executed by the farm field management apparatus 200. Some or all of the processing of the farm field management apparatus 200 may be executed by the task device 100 or the information terminal 300. Some or all of the processing of the information terminal 300 may be executed by the task device 100. The farm field management program 420 may include the area determination program 400 and may include the display program 430.

[0072] The information terminal 300 that displays the map information may be the same as the information terminal 300 that accepts the registration information, or may be different.

[0073] The farm land management system 1000 may not include the information terminal 300, and may acquire registration information from an external terminal not included in the farm land management system 1000, and may also display map information on the external terminal. Furthermore, the farm land management system 1000 may not include the work implement 100, and may acquire information about the farm land 500 from an external work implement not included in the farm land management system 1000.

[0074] When the working implement 100 does not perform autonomous traveling and only performs processing to determine the area of ​​the farm field 500, the control unit 160 of the working implement 100 may be omitted.

[0075] (Addendum) The farm land management method, farm land management system, and farm land management program described in each embodiment can be described as follows.

[0076] A farmland management method according to a first aspect includes: generating map information that identifiably displays on a map a first area that is set as first area information included in the first field information using position information of a work implement moving within the first field, and a second area that is specified on a map image displayed on the information terminal and set as second area information included in the second field information; outputting the map information; Includes.

[0077] A farm field management method according to a second aspect is the farm field management method according to the first aspect, the first field information includes positioning type information that indicates a method for measuring the location information, The generating of the map information includes: generating the map information representing the positioning type information in association with the first area information displayed on a map; Includes.

[0078] A farm land management method according to a third aspect is the farm land management method according to the first or second aspect, Displaying the map information Further includes:

[0079] A farm field management method according to a fourth aspect is the farm field management method according to the third aspect, receiving selection information representing a selected field selected from a plurality of fields represented in a plurality of pieces of field information including the first field information representing the first area set using position information of a work device and the second field information representing the second area specified on a map image; indicating that, when the selected field indicated in the selection information is included in the first field indicated in the first field information, output of the first region information of the first field information is permitted; indicating that, when the selected field represented in the selection information is included in the second field represented in the second field information, output of the second region information of the second field information is prohibited; Includes.

[0080] A farm field management method according to a fifth aspect is the farm field management method according to any one of the first to third aspects, determining whether a third area determined using position information obtained by a working implement moving within the second field represented in the second field information overlaps with the second area represented in the second field information; and when it is determined that the third area overlaps with the second area, changing the area represented by the second area information of the second field information from the second area to the third area; Includes.

[0081] A farm field management method according to a sixth aspect is the farm field management method according to any one of the first to fifth aspects, determining the first area based on position information of the working implement moved along the contour of the first field; Further includes:

[0082] A farmland management system according to a seventh aspect includes: a map information generation unit that generates map information that identifiably displays on a map a first area that is set as first area information included in the first field information using position information of a work implement moving within the first field, and a second area that is specified on a map image displayed on the information terminal and set as second area information included in the second field information; an output unit that outputs the map information; Equipped with.

[0083] A farmland management program according to an eighth aspect includes: generating map information that identifiably displays on a map a first area that is set as first area information included in the first field information using position information of a work implement moving within the first field, and a second area that is specified on a map image displayed on the information terminal and set as second area information included in the second field information; outputting the map information; The calculation device executes the following. [Explanation of symbols]

[0084] 1, 2, 3: Storage medium 20: Network 100: Work equipment 110: Input / output device 115: Positioning device 120: Arithmetic device 130: Communication equipment 140: Storage device 150: Area determination section 160: Control unit 200: Field management device 210: Input / output device 220: Arithmetic device 230:Communication equipment 240: Storage device 250: Data storage unit 260: Duplicate judgment section 270: Map information generation unit 280: Output section 300: Information terminal 310: Input / output device 320: Arithmetic device 330: Communication equipment 340 :Storage device 350: Registration Information Reception Department 360:Display section 370: Selection information reception unit 400: Area determination program 410: Field data 420: Field Management Program 430: Display program 500: Field 600: Positioning location 610 :Trajectory 620:Width 630: Work route 650: Vertex 700: Confirmation display area 710: Positioning type display area 1000: Field management system

Claims

1. generating map information that identifiably displays on a map a first area that is set as first area information included in the first field information using position information of a work implement moving within the first field, and a second area that is specified on a map image displayed on an information terminal and set as second area information included in the second field information; outputting the map information; A field management method including:

2. the first field information includes positioning type information that indicates a method for measuring the position information, The generating of the map information includes: generating the map information representing the positioning type information in association with the first area information displayed on a map; The farmland management method according to claim 1, comprising:

3. Displaying the map information The farmland management method according to claim 1 or 2, further comprising:

4. receiving selection information representing a selected field selected from a plurality of fields represented in a plurality of pieces of field information including the first field information representing the first area set using position information of a work device and the second field information representing the second area specified on a map image; indicating that, when the selected field represented in the selection information is included in the first field represented in the first field information, output of the first region information of the first field information is permitted; indicating that, when the selected field represented in the selection information is included in the second field represented in the second field information, output of the second region information of the second field information is prohibited; The farmland management method according to claim 3, comprising:

5. determining whether a third area determined using position information obtained by a working implement moving within the second field represented in the second field information overlaps with the second area represented in the second field information; and when it is determined that the third area overlaps with the second area, changing the area represented by the second area information of the second field information from the second area to the third area; The farmland management method according to claim 1 or 2, comprising:

6. determining the first area based on position information of a work implement moved along the contour of the first field; The farmland management method according to claim 1 or 2, further comprising:

7. a map information generation unit that generates map information that identifiably displays on a map a first area that is set as first area information included in the first field information using position information of a work device moving within the first field, and a second area that is specified on a map image displayed on the information terminal and set as second area information included in the second field information; an output unit that outputs the map information; A field management system comprising:

8. generating map information that identifiably displays on a map a first area that is set as first area information included in the first field information using position information of a work implement moving within the first field, and a second area that is specified on a map image displayed on an information terminal and set as second area information included in the second field information; outputting the map information; A field management program that causes a computing device to execute the above.

Images