Ridge information management method, ridge information management system, and ridge information management program

Abstract

To further accurately determine an area in which seedlings are transplanted or sown.SOLUTION: A ridge information management method includes determining a work area 800 where transplanting or sowing is performed, based on ridge formation position information that indicates the position of a ridge formation device 100 performing ridge formation work and work position information that indicates the position of a work device 200 that transplants or sows seedlings into at least a portion of one or more ridges 610 formed by the ridge formation work. The ridge information management method also includes outputting area information that indicates the determined work area 800. Determining the work area 800 may include determining one or more ridge formation areas 740 that represent respective areas of the one or more ridges 610 formed in the ridge formation work based on the ridge formation position information, without using the work position information.SELECTED DRAWING: Figure 10

Description

[Technical Field]

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

[0002] In recent years, there has been much research into agricultural management using information on field operations.

[0003] Meanwhile, Patent Document 1 discloses a technology for detecting the position of ridges using position information from a work vehicle, such as a planting machine, and managing the planting amount for each detected ridge. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 7281123 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when planting seedlings, work vehicles are moved manually while adjusting steering to plant the seedlings as close to the center of the furrow as possible. Also, if there are not enough seedlings, the work vehicle will stop work even if it is in the middle of a furrow, and will resume work after replenishing the seedlings. As a result, the position information of work vehicles is not arranged in a straight line, and even when working on a single furrow, it may be separated into multiple parts. Also, the shape of the furrow obtained from the position information may be distorted. Similar problems occur not only when transplanting seedlings, but also when sowing seeds.

[0006] On the other hand, ridge making is an example of a task that can be performed in a linear fashion compared to planting, without having to stop work midway through the ridges. However, because seedlings may not be planted at the ends of the ridges, even if the position information of the work vehicle that performed the ridge making task is used, it may not be possible to obtain the area where the seedlings were actually planted. Similarly, with sowing, it may not be possible to obtain the area where the seeds were actually sown.

[0007] In view of the above circumstances, one of the objects of the present disclosure is to more accurately determine the area where seedlings have been transplanted or sown. Other objects can be understood from the following description and explanation of the embodiments. [Means for solving the problem]

[0008] 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.

[0009] To achieve the above object, one embodiment of a ridge information management method includes determining a work area (800) where transplanting or sowing has been performed, based on ridge formation position information indicating the position of a ridge formation device (100) performing ridge formation work and work position information indicating the position of a work device (200) that transplants or sows seedlings into at least a portion of one or more ridges (610) formed by the ridge formation work. The ridge information management method also includes outputting area information indicating the determined work area (800).

[0010] To achieve the above object, one embodiment of a ridge information management system (1000) includes an area determination unit (360) and an output unit (370). The area determination unit (360) determines a work area (800) where transplanting or sowing has been performed, based on ridge formation position information indicating the position of a ridge formation device (100) performing ridge formation work and work position information indicating the position of a work device (200) that transplants or sows seedlings into at least a portion of one or more ridges (610) formed by the ridge formation work. The output unit (370) outputs area information indicating the determined work area (800).

[0011] To achieve the above object, a ridge information management program (530) according to one embodiment causes a calculation device (120, 220, 320, 420) to determine a work area (800) where transplanting or sowing has been performed, based on ridge formation position information indicating the position of a ridge formation device (100) performing ridge formation work and work position information indicating the position of a work device (200) that transplants or sows seedlings into at least a portion of one or more ridges (610) formed by the ridge formation work. The ridge information management program (530) also causes the calculation device (120, 220, 320, 420) to output area information indicating the determined work area (800). [Effects of the Invention]

[0012] According to the above embodiment, the area where seedlings have been transplanted or sown can be determined more accurately. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a schematic diagram of a ridge information management system according to one embodiment. [Figure 2] 10A and 10B are diagrams for explaining a method for performing ridge forming work by a ridge forming device in one embodiment. [Figure 3] 10A and 10B are diagrams illustrating a method for transplanting or sowing seedlings using a working device according to an embodiment. [Figure 4] A diagram for explaining the work area determined by the ridge information management system in one embodiment. [Figure 5] FIG. 1 is a diagram illustrating a configuration of a ridge forming device according to an embodiment. [Figure 6] A diagram showing functional blocks executed by a ridge information management system in one embodiment. [Figure 7] 1 is a diagram illustrating a configuration of a working device according to an embodiment. [Figure 8] 1 is a diagram showing the configuration of a ridge information management device in one embodiment. FIG. [Figure 9] FIG. 2 is a diagram illustrating a configuration of a display terminal according to an embodiment. [Figure 10] 10 is a flowchart showing the process of determining a work area by a ridge information management system in one embodiment. [Figure 11] A diagram for explaining a method in which a ridge information management system in one embodiment determines a ridge formation area. [Figure 12] A diagram for explaining how a ridge information management system in one embodiment determines a working ridge area. [Figure 13] A diagram for explaining a method in one embodiment in which a ridge information management system determines a ridge formation area corresponding to a working ridge area. [Figure 14] A diagram for explaining a method in one embodiment in which a ridge information management system determines temporary end points of a work area corresponding to the work ridge end points of a work ridge area. [Figure 15] A diagram for explaining a method in one embodiment in which the ridge information management system determines the end points of the work area from the tentative end points of the work area. [Figure 16] A figure showing the work area after the endpoints of the work area have been determined by the ridge information management system in one embodiment. [Figure 17] A diagram for explaining a method in which a ridge information management system in one embodiment determines a work area with a width in a direction perpendicular to the ridge direction. [Figure 18] A diagram for explaining the work area when a ridge formation area that does not correspond to the work ridge area exists in one embodiment of the ridge information management system. DETAILED DESCRIPTION OF THE INVENTION

[0014] (Embodiment) A ridge information 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 ridge information management system 1000 comprises a ridge forming device 100, an operation device 200, a ridge information management device 300, and a display terminal 400. The ridge information management device 300 is communicably connected to the ridge forming device 100, the operation device 200, and the display terminal 400 via a network 20, for example the Internet.

[0015] The ridge forming device 100 performs ridge forming work while moving in, for example, a field 600. The ridge forming device 100 includes, for example, a tractor that pulls the ridge forming machine. The ridge forming device 100 may also be formed integrally with the ridge forming machine. For example, as shown in FIG. 2, the ridge forming device 100 moves in a first direction to form four ridges 610 extending in the first direction at one time, such as a first ridge 610-1, a second ridge 610-2, a third ridge 610-3, and a fourth ridge 610-4. The ridge forming device 100 may also form any number of ridges 610 at one time, such as one or two, by moving in the first direction.

[0016] The ridge forming device 100 measures its own position, for example, latitude and longitude, at predetermined intervals, for example, every 10 seconds. Therefore, a ridge forming position 710 representing the measured position is measured along a ridge forming trajectory 700 traveled by the ridge forming device 100. Ridge forming position information representing the ridge forming position 710 is output to the ridge information management device 300.

[0017] The work apparatus 200 transplants seedlings into the ridges 610 while moving along the ridges 610 in the field 600. The work apparatus 200 may also sow seeds into the ridges 610 while moving along the ridges 610. For example, the work apparatus 200 may include a tractor that pulls a transplanter or a seeding machine, or may be formed integrally with the transplanter or the seeding machine. For example, as shown in FIG. 3 , the work apparatus 200 transplants or sows seedlings into two ridges 610 extending in the first direction at one time, for example, a first ridge 610-1 and a second ridge 610-2. The work apparatus 200 may transplant or sow seedlings into any number of ridges 610 at one time, for example, one or three ridges 610, by moving in the first direction.

[0018] The work device 200 measures its own position, such as latitude and longitude, at predetermined intervals, for example, every 10 seconds. Therefore, a measured position 760 representing the measured position is measured along a movement trajectory 750 traveled by the work device 200. Work position information representing the measured position 760 is output to the ridge information management device 300.

[0019] The ridge information management device 300 determines the work area where seedlings have been transplanted or seeds have been sown, based on the ridge formation position information acquired from the ridge formation device 100 and the work position information acquired from the work device 200. In ridge formation work, the ridge formation device 100 generally performs the work without stopping midway through the formation of one ridge 610. Furthermore, when forming a linear ridge 610, the ridge formation device 100 performs the ridge formation work by moving in a straight line, relatively without adjusting steering. For this reason, the ridge information management device 300 determines the area of ​​the ridge 610, for example, its position and shape, based on the ridge formation position information.

[0020] On the other hand, as shown in Figure 3, seedlings are often not transplanted or sown at ridge end 620, which represents the end of ridge 610. For this reason, the ridge information management device 300 determines the work area where seedlings are transplanted or sown in the determined area of ​​ridge 610 based on the work position information. For example, as shown in Figure 4, the ridge information management device 300 determines the area of ​​ridge 610 formed by ridge forming device 100, excluding ridge end 620, as work area 800.

[0021] For example, the determined work area 800 may represent the position of each ridge 610. For example, the work area 800 may represent the position of each ridge 610 by a line extending in the direction of extension of each ridge 610. For example, the area where seedlings have been transplanted or sown in the first ridge 610-1 may be represented by a first work area 800-1, which is part of the work area 800. Similarly, the area where seedlings have been transplanted or sown in the second ridge 610-2 may be represented by a second work area 800-2, and the area where seedlings have been transplanted or sown in the third ridge 610-3 may be represented by a third work area 800-3.

[0022] In this way, the ridge information management system 1000 determines the work area 800 representing the area of ​​the ridge 610 where seedlings have been transplanted or sown, based on the ridge formation position information of the ridge formation device 100 and the work position information of the work device 200. This allows the ridge information management system 1000 to determine a more accurate work area 800.

[0023] Note that area information representing the determined work area 800 may be displayed by the display terminal 400. For example, the display terminal 400 displays an image representing the work area 800 on a map. For example, as shown in Fig. 4, the display terminal 400 displays an image representing on a map the work area 800 corresponding to the position of the ridge 610 where work (transplanting seedlings or sowing seeds) was performed. The user can ascertain the area of ​​the ridge 610 where work was performed by checking the image displayed on the display terminal 400.

[0024] (Configuration of the ridge information management system) The configuration of the ridge forming device 100 included in the ridge information management system 1000 shown in Figure 1 will be described. As shown in Figure 5, the ridge forming device 100 comprises 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 ridge forming device 100 is input to the input / output device 110. The input / output device 110 also outputs information for controlling the ridge forming device 100, such as the speed of the ridge forming 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.

[0025] The positioning device 115 acquires ridge formation position information representing the position of the ridge forming device 100 at each time, for example, latitude and longitude. For example, the positioning device 115 measures the position of the ridge forming device 100 at a predetermined interval (for example, every 10 seconds) and outputs ridge formation position information representing the measured ridge formation position 710 to the calculation device 120. For example, the positioning device 115 may include a GNSS (Global Navigation Satellite System) receiver, a quantum compass, etc. The ridge formation position information may also include information representing the measured time in association with the ridge formation position 710.

[0026] The communication device 130 is communicatively connected to the network 20 and communicates with each device via the network 20. The communication device 130, for example, transfers signals acquired from the ridge information management device 300 to the calculation device 120. The communication device 130 also transfers signals generated by the calculation device 120 to the ridge information management device 300. 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.

[0027] The storage device 140 stores various data, such as the control program 500, for performing ridge formation work in the field 600. The storage device 140 is used as a non-transitory tangible storage medium for storing the control program 500. The control program 500 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.

[0028] The arithmetic device 120 reads and executes the control program 500 from the storage device 140, and performs various data processing for performing ridge formation work in the field 600. For example, the arithmetic device 120 may include an ECU (Electric Control Unit), a central processing unit (CPU), and the like.

[0029] By reading and executing the control program 500, the calculation device 120 cooperates with the storage device 140 to realize a ridge formation information output unit 150 and a control unit 160, as shown in FIG. 6. The ridge formation information output unit 150 outputs ridge formation position information indicating the ridge formation position 710 measured by the positioning device 115 to the ridge information management device 300. The control unit 160 controls the ridge formation device 100 to perform ridge formation work in the field 600. For example, the control unit 160 may control the ridge formation device 100 to move in a straight line when performing ridge formation work.

[0030] The ridge forming device 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 emergency stop the ridge forming device 100 when the ridge forming device 100 is performing work by autonomous traveling.

[0031] Next, the configuration of the operational apparatus 200 will be described. As shown in Fig. 7, the operational apparatus 200 includes an input / output device 210, a positioning device 215, a calculation device 220, a communication device 230, and a storage device 240. Information for controlling the operational apparatus 200 is input to the input / output device 210. The input / output device 210 also outputs information for controlling the operational apparatus 200, such as the speed of the operational apparatus 200. The input / output device 210 also includes various input devices and output devices, and may include, for example, a steering wheel, buttons, levers, a display, a touch panel, etc.

[0032] The positioning device 215 acquires work position information indicating the position of the work device 200 at each time, for example, latitude and longitude. For example, the positioning device 215 measures the position of the work device 200 at a predetermined interval (for example, every 10 seconds) and outputs ridge-making work position information indicating the measured position 760 to the calculation device 220. For example, the positioning device 215 may include a GNSS (Global Navigation Satellite System) receiver, a quantum compass, etc. The work position information may also include information indicating the measured time in association with the measured position 760.

[0033] 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 signals acquired from the ridge information management device 300 to the calculation device 220. The communication device 230 also transfers signals generated by the calculation device 220 to the ridge information management device 300. The communication device 230 may acquire information from other devices without going through the network 20. For example, the communication device 230 may acquire information from other devices via any storage medium, such as a memory card or a Universal Serial Bus (USB) memory. The communication device 230 may also acquire information from other devices directly connected via a USB terminal or the like. The communication device 230 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.

[0034] The storage device 240 stores various data, such as an information output program 510, for outputting work position information representing the positioning position 760 measured by the positioning device 215. The storage device 240 is used as a non-transitory tangible storage medium for storing the information output program 510. The information output program 510 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.

[0035] The arithmetic device 220 reads and executes the information output program 510 from the storage device 240 and performs various data processing to output work position information. For example, the arithmetic device 220 may include an ECU (Electric Control Unit), a central processing unit (CPU), etc.

[0036] The arithmetic device 220 reads and executes the information output program 510, thereby realizing the work information output unit 250 in cooperation with the storage device 240, as shown in Fig. 6. The work information output unit 250 outputs work position information representing the positioning position 760 measured by the positioning device 215 to the ridge information management device 300.

[0037] Next, the configuration of the ridge information management device 300 will be described. As shown in FIG. 8, the ridge information management device 300 includes an input / output device 310, a calculation device 320, a communication device 330, and a storage device 340. The ridge information management device 300 is a computer including, for example, a cloud server. Information used by the calculation 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 calculation device 320. The input / output device 310 includes various input and output devices, such as a keyboard, a mouse, a microphone, a display, a speaker, and a touch panel. The input / output device 310 may be omitted.

[0038] 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 ridge forming position information acquired from the ridge forming device 100 to the calculation device 320. The communication device 330 also transfers work position information acquired from the work device 200 to the calculation device 320. Furthermore, the communication device 330 transfers a signal generated by the calculation device 320 to the display terminal 400. The communication device 330 includes various interfaces, for example, a network interface card (NIC) and a USB.

[0039] The storage device 340 stores various data, such as field data 520, for determining the work area 800 where seedlings have been transplanted or sown in the field 600, and the ridge information management program 530. The storage device 340 is used as a non-transitory tangible storage medium for storing the ridge information management program 530. The ridge information management program 530 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.

[0040] The field data 520 stores field information related to the field 600, such as information indicating the area of ​​the field 600 (e.g., position, shape, etc.), ridge formation position information, work position information, and work area 800. The field information may also include information related to work performed in the field 600 (e.g., yield, harvest amount, etc.). The field information may also include information indicating the name of the field 600. The field information represents each piece of information related to the same field 600 in association with each other.

[0041] The arithmetic unit 320 reads and executes the ridge information management program 530 from the storage device 340, and performs various data processing to determine the work area 800 where seedlings have been transplanted or sown. For example, the arithmetic unit 320 includes a central processing unit (CPU) and the like.

[0042] By reading and executing the ridge information management program 530, the arithmetic device 320 cooperates with the storage device 340 to implement a data storage unit 350, an area determination unit 360, and an output unit 370, as shown in FIG. 6. The data storage unit 350 stores the field data 520. The area determination unit 360 determines the work area 800 where seedlings were transplanted or sown, based on the ridge formation position information and the work position information. The output unit 370 outputs area information representing the work area 800 to the display terminal 400.

[0043] The area determination unit 360 includes a ridge formation area determination unit 361, a work ridge end point determination unit 362, and a work area determination unit 363. The ridge formation area determination unit 361 determines one or more ridge formation areas representing the areas of one or more ridges 610 formed in the ridge formation work, based on ridge formation position information of the ridge formation device 100. The work ridge end point determination unit 362 determines work ridge end points representing the positions of the end points of the ridges 610 where seedlings have been transplanted or sown, based on the work position information. The work area determination unit 363 determines the work area 800 based on the ridge formation area and the work ridge end points.

[0044] Next, the configuration of the display terminal 400 will be described. As shown in Fig. 9, the display terminal 400 includes an input / output device 410, a calculation device 420, a communication device 430, and a storage device 440. The display terminal 400 includes, for example, a computer, a tablet, a mobile phone, etc. Information used by the calculation device 420 to execute processing is input to the input / output device 410. The input / output device 410 also outputs the results of processing executed by the calculation device 420. The input / output device 410 includes various input devices and output devices, such as a keyboard, a mouse, a microphone, a display, a speaker, and a touch panel.

[0045] The communication device 430 is connected to the network 20 and communicates with each device via the network 20. The communication device 430, for example, transfers area information acquired from the ridge information management device 300 to the calculation device 420. The communication device 430 also transfers signals generated by the calculation device 420 to the ridge information management device 300. The communication device 430 includes various interfaces, such as a transceiver used for wireless communication via a wireless LAN (Local Area Network) or a cellular network, a NIC (Network Interface Card), a USB, and the like.

[0046] The storage device 440 stores various data, such as a display program 540, for displaying the area information acquired from the ridge information management device 300. The storage device 440 is used as a non-transitory tangible storage medium for storing the display program 540. The display program 540 may be provided as a computer program product recorded on a computer-readable storage medium 4, or may be provided as a computer program product downloadable from a server.

[0047] The arithmetic unit 420 reads and executes the display program 540 from the storage device 440, and performs various data processing for displaying the region information. For example, the arithmetic unit 420 includes a central processing unit (CPU) and the like.

[0048] 6, the arithmetic device 420 reads and executes the display program 540, thereby realizing a display unit 450 in cooperation with the storage device 440 and the input / output device 410. The display unit 450 displays the area information acquired from the ridge information management device 300.

[0049] (Operation of the ridge information management system) The operation of the ridge information management system 1000 will be described. First, the operation when the ridge forming device 100 performs ridge forming work in the field 600 will be described. For example, an operator starts the ridge forming device 100 in order to move the ridge forming device 100 to the field 600 and perform work. When the ridge forming device 100 is started, the calculation device 120 of the ridge forming device 100 reads and executes the control program 500. When the control program 500 is executed, the calculation device 120 starts processing that is part of the ridge information management method. For example, the ridge forming information output unit 150 realized by the calculation device 120 starts measuring the ridge forming position 710, which represents the position of the ridge forming device 100, using the positioning device 115. For example, the ridge forming information output unit 150 measures the ridge forming position 710 at a predetermined interval, for example, every 10 seconds.

[0050] When the worker moves the ridge forming device 100 to the field 600, the worker starts the ridge forming operation in the field 600. For example, as shown in FIG. 2 , the worker moves the ridge forming device 100 in a first direction from the edge of the field 600 to form a ridge 610 extending in the first direction. At this time, the worker may automatically control the ridge forming device 100 so that it moves in a straight line. For example, when moving the ridge forming device 100 in the first direction, the worker inputs to the input / output device 110 so that the ridge forming device 100 moves in a straight line while forming the ridges. In response to the input to the input / output device 110, the control unit 160 of the ridge forming device 100 controls the ridge forming device 100 so that it moves in a straight line while performing the ridge forming operation. The ridge forming information output unit 150 continues to measure the position of the ridge forming device 100 even when the ridge forming device 100 is performing ridge forming work.

[0051] When the ridge forming device 100 reaches the end of the field 600 in the first direction, the worker manually turns the ridge forming device 100. For example, the worker turns the ridge forming device 100 180 degrees so that the direction of travel of the ridge forming device 100 faces the opposite direction to the first direction. The worker then moves the ridge forming device 100 in the direction opposite to the first direction to form a ridge 610 adjacent to the ridge 610 formed by moving in the first direction. By repeating this process, the worker uses the ridge forming device 100 to form a ridge 610 in the field 600.

[0052] When the operator completes the formation of the ridges 610 in the field 600, he stops the ridge forming device 100. When the ridge forming device 100 is stopped, the ridge forming information output unit 150 outputs ridge forming position information that indicates the ridge forming positions 710 measured from when the ridge forming device 100 is started until when it is stopped to the ridge information management device 300. The ridge forming information output unit 150 may output the ridge forming position information to the ridge information management device 300 sequentially.

[0053] The data storage unit 350 of the ridge information management device 300 stores the received ridge formation position information in the field data 520. For example, the data storage unit 350 identifies the field 600 whose area includes the position represented by the ridge formation position information, based on information representing the area of ​​the field 600 stored in the field data 520. The data storage unit 350 associates the ridge formation position information with the information representing the identified field 600 and stores the ridge formation position information in the field data 520. The data storage unit 350 may convert the position represented in the ridge formation position information from the position where the positioning device 115 of the ridge forming device 100 is installed to the position where ridge formation will be performed. As shown in FIG. 2, the positioning device 115 of the ridge forming device 100 measures the positioning device position 101 where the positioning device 115 is installed at each time. Therefore, the position where the work was actually performed may differ from the positioning device position 101. The data storage unit 350 may convert the position indicated in the ridge forming position information by an offset distance 102 that indicates the distance between the positioning device position 101 and the position where the work is actually performed. Here, the offset distance 102 of each ridge forming device 100 is stored in advance in the data storage unit 350.

[0054] Next, the operation of the ridge information management system 1000 when determining the work area 800 when the work device 200 transplants seedlings or sows seeds in the field 600 will be described. For example, as when performing ridge formation work, the worker starts up the work device 200 to move the work device 200 to the field 600 and perform the work. When the work device 200 is started up, the calculation device 220 of the work device 200 reads and executes the information output program 510. When the information output program 510 is executed, the calculation device 220 starts the processing shown in FIG. 10, which is part of the ridge information management method.

[0055] In step S110, the work information output unit 250 implemented by the computing device 220 begins measuring the position of the work device 200 using the positioning device 215. For example, the work information output unit 250 measures the position of the work device 200 as the measured position 760 at a predetermined interval, for example, every 10 seconds. When the worker moves the work device 200 to the field 600, the worker starts the work of transplanting seedlings or sowing seeds in the field 600, as shown in FIG.

[0056] Similar to the ridge-making work, the worker moves the work device 200 in a first direction from the edge of the field 600, and transplants or sows seedlings in the ridges 610 extending in the first direction. When the work device 200 reaches the edge of the field 600 in the first direction, the worker turns the direction of travel of the work device 200 so that it faces the opposite direction to the first direction, and transplants or sows seedlings in a ridge 610 adjacent to the ridge 610 in which the seedlings were transplanted or sown. By repeating this process, the worker uses the work device 200 to transplant or sow seedlings in at least a portion of one or more ridges 610 formed in the field 600. Note that when transplanting or sowing seedlings, if the seedlings or seeds loaded on the work device 200 run out, the worker stops the operation of the work device 200, refills with seedlings or seeds, and resumes the work.

[0057] When the worker has completed transplanting or sowing seedlings in the ridges 610 of the field 600, he stops the work device 200. When the work device 200 is stopped, the work information output unit 250 outputs work position information indicating the positioning position 760 measured from when the work device 200 was started until when it was stopped to the ridge information management device 300. The work information output unit 250 may sequentially output the work position information to the ridge information management device 300.

[0058] In step S120 shown in FIG. 10, when the ridge information management device 300 receives the work position information, the ridge formation region determination unit 361 of the ridge information management device 300 determines one or more ridge formation regions using any method based on the ridge formation position information. For example, first, the ridge formation region determination unit 361 extracts a ridge formation work position representing the position when the ridge forming device 100 is forming the ridge 610 from a ridge formation position 710 on the ridge formation trajectory 700 along which the ridge forming device 100 has moved, as shown in FIG. 2. For example, the ridge formation region determination unit 361 extracts the ridge formation work position based on the speed of the ridge forming device 100 at the ridge formation position 710. For example, the ridge formation region determination unit 361 calculates the speed at the ridge formation position 710 using the distance between the ridge formation position 710 at the time of measurement and the adjacent ridge formation position 710. When the calculated speed at the ridge forming position 710 is within the range of speeds when the ridge forming device 100 performs ridge forming, the ridge forming region determination unit 361 extracts the ridge forming position 710 as a ridge forming work position. The ridge forming region determination unit 361 may also extract the ridge forming work position using the traveling direction of the ridge forming device 100 at the ridge forming position 710.

[0059] Next, as shown in FIG. 11 , the ridge formation region determination unit 361 determines a ridge formation work trajectory 720 representing the trajectory traveled while forming the ridges 610 based on the extracted ridge formation work positions. For example, the ridge formation region determination unit 361 determines one or more straight segments of a line connecting the ridge formation work positions in the order of measurement time as the ridge formation work trajectory 720. For example, the ridge formation region determination unit 361 extracts straight segments of a line connecting a predetermined number or more consecutive ridge formation work positions from the lines connecting the ridge formation work positions in the order of measurement time. For example, when the difference in azimuth angles between two consecutive line segments connecting two ridge formation work positions is smaller than a threshold value, the ridge formation region determination unit 361 determines the two line segments to be straight segments. The ridge formation region determination unit 361 determines a line formed by a plurality of consecutive line segments that have been determined to be straight as the ridge formation work trajectory 720. Alternatively, the ridge formation region determination unit 361 may determine a straight line segment that connects both ends of a line formed by a plurality of consecutive line segments that have been determined to be straight as the ridge formation work trajectory 720. Alternatively, the ridge formation region determination unit 361 may classify the extracted ridge formation work positions based on the time at which the ridge formation work positions were measured, and determine a line connecting the classified ridge formation work positions in the order in which they were measured as the ridge formation work trajectory 720.

[0060] Next, based on the ridge formation work loci 720, the ridge formation region determination unit 361 determines an inter-locus distance 730 that represents the distance between adjacent ridge formation work loci 720. For example, the ridge formation region determination unit 361 determines an inter-locus distance 730 that represents the distance between an adjacent ridge formation work locus 720 in a direction perpendicular to the ridge direction in which the ridge formation work locus 720 extends. For example, the ridge formation region determination unit 361 determines an inter-locus distance 730 from the first ridge formation work locus 720-1 to the second ridge formation work locus 720-2. The ridge formation region determination unit 361 determines, for example, from each position on the first ridge formation work trajectory 720-1, the position on the second ridge formation work trajectory 720-2 that intersects with a straight line extending in a direction perpendicular to the ridge direction in which the first ridge formation work trajectory 720-1 extends. The ridge formation region determination unit 361 determines the inter-trajectory distance 730 based on each position on the first ridge formation work trajectory 720-1, for example, the distance from the ridge formation position 710 to the determined position of the second ridge formation work trajectory 720-2. The ridge formation region determination unit 361 determines a statistical value of the distance between the position of the first ridge formation work locus 720-1 and the position of the second ridge formation work locus 720-2, such as the average, median, minimum, or maximum, as the inter-locus distance 730 between the first ridge formation work locus 720-1 and the second ridge formation work locus 720-2. The ridge formation region determination unit 361 also determines the inter-locus distances 730 between adjacent ridge formation work loci 720 for the other ridge formation work loci 720, including the second ridge formation work locus 720-2. The ridge formation region determination unit 361 determines the statistical value of the inter-locus distances 730 between adjacent ridge formation work loci 720 as the inter-locus distance 730 in the ridge formation work. Here, the ridge direction represents, for example, the direction in which a straight line extends connecting two ridge formation positions 710 that are the greatest distance apart among the ridge formation positions 710 included in the ridge formation work trajectory 720. The ridge direction may also represent a statistical value, such as an average value or a median, of the direction in which a plurality of straight lines connect adjacent ridge formation positions 710 included in the ridge formation work trajectory 720 extend.

[0061] The ridge formation region determination unit 361 determines the number of ridges 610 to be formed at one time by moving the ridge forming device 100 in the first direction, based on the inter-locus distance 730. For example, the ridge formation region determination unit 361 has a range of inter-locus distance 730 according to the number of ridges 610 to be formed at one time, and determines the number corresponding to the range that includes the determined inter-locus distance 730 as the number of ridges 610 to be formed at one time. For example, when the inter-locus distance 730 is less than a first threshold, the ridge formation region determination unit 361 determines that the number of ridges 610 to be formed at one time is one. When the inter-locus distance 730 is equal to or greater than the first threshold and less than a second threshold, the ridge formation region determination unit 361 determines that the number of ridges 610 to be formed at one time is two. When the inter-locus distance 730 is equal to or greater than the second threshold and less than the third threshold, the ridge formation region determination unit 361 determines that the number of ridges 610 to be formed at one time is 3. In this way, the ridge formation region determination unit 361 determines the number of ridges 610 to be formed at one time depending on the range that includes the inter-locus distance 730.

[0062] Next, the ridge formation region determination unit 361 determines one or more ridge formation regions 740 representing the regions of one or more ridges 610 formed in the ridge formation work, based on the ridge formation work locus 720 and the number of ridges 610 formed at one time. For example, the ridge formation region determination unit 361 determines the spacing between the ridges 610 based on the inter-path distance 730 between adjacent ridge formation work loci 720 and the number of ridges 610 formed at one time. For example, the ridge formation region determination unit 361 determines the spacing between the ridges 610 by dividing the inter-path distance 730 between adjacent ridge formation work loci 720 by the number of ridges 610 formed at one time. The ridge formation area determination unit 361 translates the ridge formation work trajectory 720 in a direction perpendicular to the ridge direction by a distance corresponding to the ridge spacing, and determines ridge formation areas 740 that are aligned on both sides of the ridge formation work trajectory 720.

[0063] For example, when the number of ridges 610 formed at one time is an even number, the ridge formation region determination unit 361 translates the ridge formation work trajectory 720 by half the distance between the ridges in a direction perpendicular to the ridge direction and in the opposite direction to determine two ridge formation regions 740. For example, the ridge formation region determination unit 361 translates the first ridge formation work trajectory 720-1 by half the distance between the ridges to determine a second ridge formation region 740-2 and a third ridge formation region 740-3. Furthermore, the ridge formation region determination unit 361 translates the two determined ridge formation regions 740 in a direction away from the ridge formation work trajectory 720 by the distance between the ridges to determine two more ridge formation regions 740. For example, the ridge formation region determination unit 361 determines a first ridge formation region 740-1 and a fourth ridge formation region 740-4, which are translated from the second ridge formation region 740-2 and the third ridge formation region 740-3 by the distance between the ridges. In this way, ridge formation regions 740 are determined based on the ridge formation work trajectory 720 for the number of ridges 610 to be formed at one time.

[0064] In the ridge direction, both ends of the ridge formation region 740 represent the positions of both ends of the corresponding ridge formation work trajectory 720. For example, the positions of the ridge direction end points of the first ridge formation region 740-1, the second ridge formation region 740-2, the third ridge formation region 740-3, and the fourth ridge formation region 740-4 represent the position of the first ridge formation end point 721, which represents the ridge direction end of the corresponding first ridge formation work trajectory 720-1, in the ridge direction. The positions of the end points in the opposite direction of the ridge direction of the first ridge forming area 740-1, the second ridge forming area 740-2, the third ridge forming area 740-3, and the fourth ridge forming area 740-4 represent the position of the second ridge forming end point 722, which represents the end in the opposite direction of the ridge direction of the corresponding first ridge forming work trajectory 720-1.

[0065] Furthermore, when the number of ridges 610 formed at one time is odd, the ridge formation region determination unit 361 determines the ridge formation work trajectory 720 as one ridge formation region 740. Furthermore, the ridge formation region determination unit 361 translates the ridge formation work trajectory 720 in a direction perpendicular to the ridge direction and in the opposite direction by the distance between the ridges to determine two ridge formation regions 740. The ridge formation region determination unit 361 translates the two determined ridge formation regions 740 in a direction away from the ridge formation work trajectory 720 by the distance between the ridges to determine two more ridge formation regions 740. In this way, ridge formation regions 740 are determined based on the ridge formation work trajectory 720 for the number of ridges 610 formed at one time.

[0066] Note that, similar to the position represented by the ridge formation position information, the data storage unit 350 may convert the position represented by the received work position information from the position where the positioning device 215 of the work device 200 is installed to the position where the seedlings will be transplanted or sowed. For example, as shown in FIG. 3 , the data storage unit 350 may convert the position represented in the work position information by an offset distance 202 representing the distance between the positioning device position 201 where the positioning device 215 is installed and the position where the work will actually be performed. Here, the offset distance 202 for each work device 200 is stored in advance in the data storage unit 350.

[0067] 10, once the ridge formation area 740 has been determined, the work ridge endpoint determination unit 362 determines one or more work ridge areas representing the areas where seedlings have been transplanted or sown, using any method based on the work position information. The work ridge endpoint determination unit 362 determines the work ridge areas using processing similar to that of step S120. For example, as shown in FIG. 3, the work ridge endpoint determination unit 362 extracts a work position representing the position where the work device 200 was transplanting or sowing seedlings from a positioning position 760 on the movement trajectory 750 along which the work device 200 moved.

[0068] The work ridge endpoint determination unit 362 determines a work trajectory 770 representing the trajectory traveled while transplanting or sowing seedlings based on the extracted work positions, as shown in Figure 12. Here, as shown by the first work trajectory 770-1 and the second work trajectory 770-2 in Figure 12, even work on a single ridge 610 may be divided into multiple work trajectories 770. The work ridge endpoint determination unit 362 extracts two work trajectories 770, for example, the first work trajectory 770-1 and the second work trajectory 770-2, whose distance from each other is shorter than a predetermined distance in a direction perpendicular to the ridge direction in which the work trajectories 770 extend. The work ridge endpoint determination unit 362 combines the two extracted first work trajectories 770-1 and second work trajectories 770-2 in any manner, treating them as work trajectories for one ridge 610. For example, the work ridge endpoint determination unit 362 combines the two points of the two first work trajectories 770-1 and the second work trajectory 770-2 that are closest to them into one work trajectory 770.

[0069] Next, the work ridge endpoint determination unit 362 determines an inter-trajectory distance 780 representing the distance between adjacent work trajectories 770 based on the work trajectory 770. The work ridge endpoint determination unit 362 determines the number of ridges 610 in which seedlings will be transplanted or sown at one time by the work device 200 moving in the first direction based on the inter-trajectory distance 780. Next, the work ridge endpoint determination unit 362 determines one or more work ridge areas 790 representing the areas of one or more ridges 610 in which seedlings have been transplanted or sown, based on the work trajectory 770 and the number of ridges 610 in which seedlings have been transplanted or sown at one time.

[0070] In addition, in the ridge direction, both ends of the work ridge area 790 represent the positions of both ends of the corresponding work locus 770. For example, the position of the ridge direction endpoint of the first work ridge area 790-1 and the second work ridge area 790-2 represents the position of the first work endpoint 771, which represents the ridge direction end of the corresponding third work locus 770-3, in the ridge direction. The position of the endpoint in the opposite direction in the ridge direction of the first work ridge area 790-1 and the second work ridge area 790-2 represents the position of the second work endpoint 772, which represents the end in the opposite direction in the ridge direction of the corresponding first work ridge area 790-1, in the ridge direction.

[0071] In step S140 shown in FIG. 10, once the work ridge area 790 is determined, the work area determination unit 363 determines the ridge creation area 740 that corresponds to the work ridge area 790. The work area determination unit 363 determines the corresponding ridge creation area 740 based on the distance between the work ridge area 790 and the ridge creation area 740. For example, the work area determination unit 363 determines each position of the work ridge area 790, for example, the position of the ridge creation area 740 that intersects with a straight line extending from the positioning position 760 in a direction perpendicular to the ridge direction of the work ridge area 790. The work area determination unit 363 determines the distance between the work ridge area 790 and the ridge creation area 740 based on the distance from each position of the work ridge area 790 to the determined position of the ridge creation area 740. The work area determination unit 363 determines a statistical value, such as the average, median, minimum, or maximum value, of the distance between the position of the work ridge area 790 and the position of the ridge creation area 740 as the distance between the work ridge area 790 and the ridge creation area 740. The work area determination unit 363 determines the ridge creation area 740 with the smallest determined distance as the corresponding ridge creation area 740.

[0072] 13, the first ridge formation region 740-1 closest to the first work ridge region 790-1 is determined as the ridge formation region 740 corresponding to the first work ridge region 790-1. The second ridge formation region 740-2 closest to the second work ridge region 790-2 is determined as the ridge formation region 740 corresponding to the second work ridge region 790-2.

[0073] In step S150 shown in Figure 10, the work ridge end point determination unit 362 determines work ridge end points representing the ends of the work ridge area 790 in the ridge direction based on the work ridge area 790. As shown in Figure 14, the work ridge end point determination unit 362 determines the end of the ridge direction in which the work ridge area 790 extends as the first work ridge end point 791. In addition, it determines the end in the opposite direction to the ridge direction in which the work ridge area 790 extends as the second work ridge end point 792. The work ridge end point determination unit 362 determines the first work ridge end point 791 and the second work ridge end point 792 for each work ridge area 790.

[0074] In step S160 shown in FIG. 10, the work area determination unit 363 determines tentative endpoints representing temporary endpoints of the work area 800 based on the ridge creation area 740 and the work ridge endpoints, for example, the first work ridge endpoint 791 and the second work ridge endpoint 792. For example, as shown in FIG. 14, the work area determination unit 363 determines positions in the ridge creation area 740 in the ridge direction that correspond to the positions of the work ridge endpoints of the work ridge area 790, for example, the first work ridge endpoint 791 and the second work ridge endpoint 792, as the tentative endpoints of the work area 800. For example, the work area determination unit 363 determines the position of the ridge creation area 740 that passes through the first work ridge endpoint 791 and intersects with a straight line extending in a direction perpendicular to the ridge direction of the ridge creation area 740 as the first temporary endpoint 801. The work area determination unit 363 also determines the position of the ridge formation region 740 that passes through the second work ridge end point 792 and intersects with a line extending in a direction perpendicular to the ridge direction of the ridge formation region 740 as a second temporary end point 802. The work area determination unit 363 determines a first temporary end point 801 and a second temporary end point 802 for each of the ridge formation regions 740 that correspond to the work ridge region 790. The work area determination unit 363 also determines the area of ​​the corresponding ridge formation region 740 that is sandwiched between the first temporary end point 801 and the second temporary end point 802 as a temporary work area 800.

[0075] 10, the work area determination unit 363 determines the work area 800 based on tentative endpoints of the temporary work area 800, for example, a first tentative endpoint 801 and a second tentative endpoint 802. For example, as shown in FIG. 15, the work area determination unit 363 determines a first approximation line 803, for example, an approximation straight line, for the positions of one or more first tentative endpoints 801. Similarly, the work area determination unit 363 determines a second approximation line 804, for example, an approximation straight line, for the positions of one or more second tentative endpoints 802.

[0076] 16 , the work area determination unit 363 determines the endpoints of the work area 800 based on the determined first approximation line 803 and second approximation line 804. For example, the work area determination unit 363 determines the position obtained by moving from the position of the temporary tentative endpoint to the approximation line in the ridge direction as the endpoint of the work area 800. For example, the work area determination unit 363 determines the position obtained by moving from the first tentative endpoint 801 to the first approximation line 803 in the ridge direction along which the work area 800 extends or in the opposite direction as the first endpoint 811 of the work area 800. Similarly, the work area determination unit 363 determines the position obtained by moving from the second tentative endpoint 802 to the second approximation line 804 in the ridge direction along which the work area 800 extends or in the opposite direction as the second endpoint 812 of the work area 800. The work area determination unit 363 may determine the positions where the ridge formation area 740 including the tentative endpoints intersect with the approximation line as the endpoints of the work area 800.

[0077] The work area determination unit 363 determines the work area 800 in which the seedlings were transplanted or sown based on the determined endpoints, for example, the first endpoint 811 and the second endpoint 812. For example, the work area determination unit 363 determines one or more lines connecting the first endpoint 811 and the second endpoint 812 in a straight line as the work area 800. The work area determination unit 363 may also determine one or more ridge creation areas 740, an area sandwiched between the determined endpoints, for example, the first endpoint 811 and the second endpoint 812, as the work area 800. Here, the endpoints are determined to be the ridges 610 represented by the ridge creation areas 740 that correspond to the work ridge area 790, and therefore the ridge creation areas 740 that do not correspond to the work ridge area 790 are excluded from the work area 800.

[0078] Note that the working area determination unit 363 may exclude tentative endpoints whose distance from the determined approximation line is greater than a threshold value and determine the approximation line again. For example, the working area determination unit 363 may exclude first tentative endpoints 801 whose distance from the determined first approximation line 803 is greater than a threshold value and determine the first approximation line for the remaining first tentative endpoints 801. As a result of carefully moving the working device 200 immediately after starting work, the positioning position 760 during work may not be extracted as the work position during work. For this reason, by excluding tentative endpoints far from the approximation line and determining the approximation line again, it is possible to determine the endpoints of the working area 800 more accurately.

[0079] 10, the output unit 370 outputs area information representing the determined work area 800 to the display terminal 400. For example, the area information represents an image of the work area 800 on a map.

[0080] 10, the display unit 450 of the display terminal 400 displays the area information acquired from the ridge information management device 300. For example, the display unit 450 displays an image showing the work area 800 on a map, as shown in FIG.

[0081] In this way, the ridge information management system 1000 determines the position of the ridge 610 based on the ridge creation position information, and determines the area of ​​the ridge 610 where seedlings have been transplanted or seeds have been sown based on the work position information. This allows for a more accurate determination of the work area 800.

[0082] (Variation) The above-described embodiments and modifications are merely examples, and the configurations described in each embodiment and modification may be modified and / or combined as desired without impairing functionality. Furthermore, some of the functions described in the embodiments and modifications may be omitted as long as the required functionality is achieved. For example, the work area determination unit 363 of the ridge information management device 300 may determine a work area 800B having a width in a direction perpendicular to the ridge direction of the ridge 610, as shown in FIG. 17.

[0083] For example, in this case, the work area determination unit 363 may determine a work area 800 that represents the position of the ridge 610 with a line, as in the processing up to step S170 shown in FIG. 10, and then modify the work area 800 to a work area 800B that has width in a direction perpendicular to the ridge direction. For example, the work area determination unit 363 extracts a first work area 800-1 located at an end in a direction perpendicular to the ridge direction, as shown in FIG. 17, from one or more work areas 800 determined in the processing up to step S170. Here, the ridge direction may represent the ridge direction of any one of the one or more work areas 800, or may represent a statistical value of the ridge direction of one or more work areas 800, such as an average value or a median value. The work area determination unit 363 determines the area extending in the direction perpendicular to the ridge direction from the extracted first work area 800-1 located at one end to the work area 800 located at the other end as the modified work area 800B. For example, post-correction work area 800B represents an area surrounded by pre-correction first work area 800-1 located at one end, pre-correction work area 800 located at the other end, and two approximation lines (e.g., first approximation line 803 and second approximation line 804). Furthermore, the line forming the end of the ridge direction may be formed by connecting two adjacent endpoints (e.g., first endpoint 811 or second endpoint 812) from pre-correction first work area 800-1 located at one end to pre-correction work area 800 located at the other end in a direction perpendicular to the ridge direction.

[0084] The work area determination unit 363 may also extend the ends of the corrected work area 800B in the direction perpendicular to the ridge direction in accordance with the width of the ridge 610. For example, the work area determination unit 363 determines a furrow distance 820 that represents the distance between two adjacent pre-correction work areas 800 in the direction perpendicular to the ridge direction. The furrow distance 820 represents, for example, a statistical value of the distance between two adjacent pre-correction work areas 800, such as the minimum, average, or median. Here, the respective distances between two adjacent pre-correction work areas 800 are calculated in the same manner as, for example, the trajectory distance 730 between two adjacent ridge-making work trajectories 720 or the trajectory distance 780 between two adjacent work trajectories 770. The working area determination unit 363 may determine, as the corrected working area 800B, an area expanded in a direction perpendicular to the ridge direction from the working area 800 before the end correction by an expansion distance 825 representing half the distance between the furrows 820. For example, the working area determination unit 363 may expand the working area 800 before the end correction by the expansion distance 825 in the direction from the center of the corrected working area 800B to where the working area 800 before the correction is located.

[0085] Here, in the processing of step S140 shown in Figure 10, when a ridge making area 740 that does not correspond to the work ridge area 790 is located, the work area determination unit 363 may exclude the ridge making area 740 that does not correspond to the work ridge area 790 from the corrected work area 800B. For example, the work area determination unit 363 determines two pre-correction work areas 800 adjacent to the ridge making area 740 that does not correspond to the work ridge area 790 in a direction perpendicular to the ridge direction as the pre-correction work areas 800 located at the edges. For example, as shown in Figure 18, the work area determination unit 363 extracts a fifth ridge making area 740-5 that does not correspond to the work ridge area 790. The work area determination unit 363 determines the pre-correction fourth work area 800-4 and the pre-correction fifth work area 800-5, which are adjacent to the fifth ridge creation area 740-5 in the direction perpendicular to the ridge direction, as the pre-correction work area 800 located at the ends of the post-correction work area 800B. The work area determination unit 363 determines the area from the pre-correction first work area 800-1 located at one end to the pre-correction fourth work area 800-4 located at the other end in the direction perpendicular to the ridge direction as the post-correction first work area 800B-1. The work area determination unit 363 also determines the area from the pre-correction fifth work area 800-5 located at one end to the pre-correction work area 800 located at the other end in the direction perpendicular to the ridge direction as the post-correction second work area 800B-2.

[0086] Furthermore, the corrected first working area 800B-1 and second working area 800B-2 may be expanded by a distance corresponding to the furrow space 820, similar to the working area 800B that does not exclude the ridge creation area 740 that does not correspond to the working ridge area 790. For example, the working area determination unit 363 may determine, as the corrected working area 800B, an area expanded in a direction perpendicular to the ridge direction from the pre-correction working area 800 at the end by half the distance of the furrow space 820. For example, the working area determination unit 363 may expand the pre-correction fourth working area 800-4 by an expansion distance 825 from the center of the corrected first working area 800B-1 in the direction where the pre-correction fourth working area 800-4 is located.

[0087] 10, step S120 has been shown in which the ridge formation region determination unit 361 of the ridge information management device 300 determines the inter-trajectory distance 730 as the distance between adjacent ridge formation regions 740 in a direction perpendicular to the ridge direction in which one ridge formation region 740 extends, but this is not limiting. For example, the ridge direction may not be determined for each of one or more ridge formation regions 740, but may be determined as one for one or more ridge formation regions 740 in the field 600. In this case, for example, the ridge formation region determination unit 361 may determine as the ridge direction a statistical value, such as an average value or median, in the direction in which each of one or more ridge formation regions 740 extends. Similarly, the ridge formation area determination unit 361 may not determine the direction in which the ridge formation work trajectory 720 extends for each ridge formation work trajectory 720, but may determine one direction for one or more ridge formation work trajectories 720 in the field 600. Furthermore, the ridge direction in which the ridge formation area 740 extends may be the same as the direction in which the ridge formation work trajectory 720 extends. Similarly, in step S130, the work ridge endpoint determination unit 362 may not determine the ridge direction for each of one or more work ridge areas 790, but may determine one direction for one or more work ridge areas 790 in the field 600. Furthermore, the ridge direction in which one or more work ridge areas 790 in the field 600 extend may be the same as the ridge direction of one or more ridge formation work trajectories 720.

[0088] In step S120 shown in FIG. 10, the ridge formation region determination unit 361 of the ridge information management device 300 may determine the ridge direction in which one or more ridge formation regions 740 extend and a representative position within one or more ridge formation regions 740, without determining one or more ridge formation regions 740. The representative position represents the position of one or more ridge formation regions 740, for example, in a direction perpendicular to the ridge direction. In this case, for example, the ridge formation region determination unit 361 extracts a ridge formation work position that represents the position when ridge formation is being performed from the ridge formation position 710, classifies the ridge formation work position based on the time when the extracted ridge formation work position was measured, and determines an approximate straight line for the classified ridge formation work position. The ridge formation region determination unit 361 determines the direction in which the ridge formation work trajectory 720 extends based on a statistical value, such as the average or median, of the direction in which an approximate straight line of one or more ridge formation work positions extends. The direction in which the ridge formation work trajectory 720 extends represents the ridge direction. Furthermore, the ridge formation region determination unit 361 determines a position on the ridge formation work trajectory 720 using the classified ridge formation work positions. For example, the ridge formation region determination unit 361 determines the geometric center of the classified ridge formation work positions as a position on the ridge formation work trajectory 720. Therefore, the ridge formation region determination unit 361 determines that each ridge formation work trajectory 720 extends on a straight line that passes through a position on the ridge formation work trajectory 720 and extends in the ridge direction. The ridge formation area determination unit 361 determines the number of ridges 610 to be formed at one time based on the inter-path distance 730 between two adjacent ridge formation work trajectories 720, and determines a straight line along which one or more ridge formation areas 740 extend. A representative position representing a position within one or more ridge formation areas 740 is determined to represent any point on the determined straight line. In step S160, the work area determination unit 363 determines temporary endpoints of the work area 800 based on the work ridge area 790 and the straight line along which one or more ridge formation areas 740 extend. In this way, the work area 800 may be determined based on the ridge direction along which one or more ridge formation areas 740 extend, a representative position within one or more ridge formation areas 740, and the work ridge area 790, without determining one or more ridge formation areas 740.

[0089] In step S130 shown in Figure 10, the work ridge end point determination unit 362 of the ridge information management device 300 does not have to combine multiple work trajectories in one ridge 610, for example, the first work trajectory 770-1 and the second work trajectory 770-2 in Figure 12. For example, because the work ridge end point determination unit 362 does not combine multiple work trajectories in one ridge 610, it determines a work ridge area 790 corresponding to each of the multiple work trajectories 770 (for example, the first work trajectory 770-1 and the second work trajectory 770-2). In step S140 shown in Figure 10, the work area determination unit 363 determines the ridge formation area 740 representing the same ridge 610 as the corresponding ridge formation area 740 for the work ridge area 790 corresponding to the first work trajectory 770-1 and the second work trajectory 770-2. In step S160, the work area determination unit 363 determines, in the corresponding ridge formation area 740, positions in the ridge direction that correspond to the work ridge endpoints of the work ridge area 790 as tentative endpoints of the work area 800. Here, since multiple work trajectories 770, for example, a first work trajectory 770-1 and a second work trajectory 770-2, correspond to one ridge formation area 740, there are four or more positions that correspond to the work ridge endpoints in the ridge formation area 740. Of the positions that correspond to the four or more work ridge endpoints, the work area determination unit 363 determines, as tentative endpoints, the positions that correspond to the work ridge endpoints located at the ends of the ridge direction and the positions that correspond to the work ridge endpoints located at the ends in the opposite direction to the ridge direction. In this way, the work ridge endpoint determination unit 362 does not need to combine the work trajectories 770.

[0090] 10, the work area determination unit 363 of the ridge information management device 300 may determine the tentative endpoints as the endpoints of the work area 800 without performing the processing of step S170. In this case, as shown in FIG. 15, the tentative endpoints, for example, the first tentative endpoint 801 and the second tentative endpoint 802, become the endpoints of one or more work areas 800, and therefore the ridge-direction endpoints of one or more work areas 800 may represent different positions in the ridge direction.

[0091] Furthermore, the work area determination unit 363 of the ridge information management device 300 may determine the endpoints of the work area 800 in step S170 without determining tentative endpoints, for example, the first tentative endpoint 801 and the second tentative endpoint 802, in step S160. For example, instead of an approximation line to a tentative endpoint, for example, the first tentative endpoint 801, the work area determination unit 363 may determine an approximation line to an endpoint in the ridge direction of one or more work ridge areas 790. The work area determination unit 363 may determine an intersection point between the determined approximation line and one or more ridge formation areas 740 as one endpoint of the work area 800. Similarly, the work area determination unit 363 may determine an approximation line to an endpoint in the opposite direction of the ridge direction of one or more work ridge areas 790, and determine an intersection point between the determined approximation line and one or more ridge formation areas 740 as the other endpoint of the work area 800. Furthermore, the work area determination unit 363 may determine the intersection of an approximation line to an end point of the work trajectory 770 in the ridge direction with one or more ridge formation areas 740 as one end point of the work area 800. The work area determination unit 363 may also determine the intersection of an approximation line to an end point of the work trajectory 770 in the opposite direction of the ridge direction with one or more ridge formation areas 740 as the other end point of the work area 800. In this case, the work ridge end point determination unit 362 does not need to determine one or more work ridge areas 790.

[0092] In the ridge-forming work, an example has been shown in which the ridge-forming device 100 is automatically controlled when moving in a straight line, but an operator may manually steer the ridge-forming device 100. Furthermore, the ridge-forming device 100 may perform work in the field 600 automatically, not just when moving in a straight line.

[0093] 10 may be executed before seedlings are transplanted or seeds are sown by the work device 200. For example, the process of step S120 may be executed when the ridge information management device 300 receives ridge formation position information from the ridge forming device 100.

[0094] Furthermore, the ridges 610 formed in the field 600 do not have to be formed in a straight line. For example, in this case, in step S120 shown in FIG. 10 , the ridge formation area determination unit 361 of the ridge information management device 300 extracts a ridge formation work position from the ridge formation positions 710, which represents the position of the ridge forming device 100 when the ridge formation work was performed. During the ridge formation work, when the ridge forming device 100 reaches the edge of the field 600, it stops the ridge formation work and changes its direction of travel. Therefore, when the ridge formation area determination unit 361 arranges the information representing the ridge formation work position in order of measured time, if the measured time difference between the information and other adjacent information is greater than a predetermined time, it determines that the ridge forming device 100 turned at that time. The ridge forming area determination unit 361 classifies the ridge forming work positions during one ridge forming operation by classifying the divisions representing the ridge forming work positions before and after the time when the ridge forming device 100 was rotated. The ridge forming area determination unit 361 determines the line connecting the classified ridge forming work positions in the order of the measured times as the ridge forming work trajectory 720.

[0095] For example, all of the processing of the display terminal 400 may be performed by the ridge information management device 300. Also, some or all of the processing of the ridge information management device 300 may be performed by the display terminal 400. Some of the processing of the ridge information management device 300 may be performed by the ridge forming device 100 or the work device 200. The ridge information management program 530 may include a control program 500, an information output program 510, and a display program 540.

[0096] The ridge information management system 1000 may not include the display terminal 400 and may display area information on an external terminal not included in the ridge information management system 1000. The ridge information management system 1000 may also acquire ridge formation position information representing the ridge formation position 710 when work is performed in the field 600 from an external ridge formation device that does not include the ridge formation device 100 and is not included in the ridge information management system 1000. Similarly, the ridge information management system 1000 may acquire work position information representing the measured position 760 when work is performed in the field 600 from an external work device that does not include the work device 200 and is not included in the ridge information management system 1000.

[0097] (Addendum) The ridge information management method, ridge information management system, and ridge information management program described in each embodiment can be described as follows.

[0098] The ridge information management method according to the first aspect includes: determining a work area in which the transplanting or sowing has been performed based on ridge formation position information indicating the position of a ridge formation device that performs ridge formation work and work position information indicating the position of a work device that transplants or sows seedlings into at least a portion of one or more ridges formed by the ridge formation work; outputting area information representing the determined working area; Includes.

[0099] A ridge information management method according to a second aspect is the ridge information management method according to the first aspect, determining the working area determining one or more ridge formation areas representing respective areas of the one or more ridges formed in the ridge formation work based on the ridge formation position information without using the work position information; determining the work area in which the transplanting or the sowing was performed among the one or more ridge formation areas based on the work position information; Includes.

[0100] A ridge information management method according to a third aspect is the ridge information management method according to the second aspect, determining the working area Based on the work position information, determining a first end point representing an end in a ridge direction representing the direction in which the one or more ridge formation areas extend in the work area where the transplanting or sowing has been performed in the one or more ridge formation areas, and a second end point representing an end in the opposite direction to the ridge direction; determining, as the working area, an area between the first end point and the second end point in the one or more ridge forming areas; Includes.

[0101] A ridge information management method according to a fourth aspect is the ridge information management method according to the first aspect, determining the working area determining one or more ridge formation areas representing respective areas of the one or more ridges formed in the ridge formation work based on the ridge formation position information without using the work position information; Based on the work position information, determining a first end point representing an end in a ridge direction representing the direction in which the one or more ridge formation areas extend in the work area where the transplanting or sowing has been performed in the one or more ridge formation areas, and a second end point representing an end in the opposite direction to the ridge direction; determining a shape of an end of the ridge direction in the working area based on the first end point; determining a shape of an end of the working area in a direction opposite to the ridge direction based on the second end point; determining a shape of an end of the working area in the first direction based on a shape of a ridge forming area that exists at an end in a first direction perpendicular to the ridge direction among the one or more ridge forming areas; determining a shape of an end of the working area opposite to the first direction based on a shape of a ridge forming area present at an end in a direction opposite to the first direction among the one or more ridge forming areas; Includes.

[0102] A ridge information management method according to a fifth aspect is the ridge information management method according to the third or fourth aspect, Determining the first endpoint and the second endpoint includes: determining one or more work furrow areas representing areas of one or more furrows where the transplanting or sowing has been performed based on the work position information; determining corresponding ridge formation areas representing ridge formation areas corresponding to each of the one or more working ridge areas among the one or more ridge formation areas; determining a third end point representing one end of the one or more work furrow areas in the direction in which the one or more work furrow areas extend, and a fourth end point representing the other end; determining a position of the corresponding ridge forming region that represents the position of the third end point in the ridge direction in which the corresponding ridge forming region extends as the first end point; determining a position of the corresponding ridge forming region that represents the position of the fourth end point in the ridge direction in which the corresponding ridge forming region extends as the second end point; Includes.

[0103] A ridge information management method according to a sixth aspect is a ridge information management method according to any one of the third to fifth aspects, Determining the first endpoint comprises: determining an approximation line corresponding to one or more of the first endpoints in the one or more ridge regions; changing positions of the one or more first endpoints onto the approximation line based on the approximation line and the one or more ridge regions; Includes.

[0104] A ridge information management method according to a seventh aspect is the ridge information management method according to the third or fourth aspect, Determining the first endpoint and the second endpoint includes: determining one or more work furrow areas representing areas of one or more furrows where the transplanting or sowing has been performed based on the work position information; determining one or more third end points representing one end of the one or more working furrow areas in the direction in which the one or more working furrow areas extend, and one or more fourth end points representing the other end; determining the first endpoint on a first approximation line to the one or more third endpoints in the one or more ridged regions; determining the second end point on a second approximation line for the one or more fourth end points in the one or more ridged regions; Includes.

[0105] A ridge information management method according to an eighth aspect is a ridge information management method according to any one of the second to seventh aspects, determining the working area determining one or more work furrow areas representing areas of one or more furrows where the transplanting or sowing has been performed based on the work position information; determining corresponding ridge formation areas representing ridge formation areas corresponding to each of the one or more working ridge areas among the one or more ridge formation areas; excluding from the working area an area of ​​the one or more ridge making areas that is not included in the corresponding ridge making area; Includes.

[0106] A ridge information management method according to a ninth aspect is the ridge information management method according to the first aspect, determining the working area determining a ridge direction in which the one or more ridges formed in the ridge forming work extend and a representative position representing the position of the one or more ridges in a direction perpendicular to the ridge direction, based on the ridge forming position information without using the work position information; Based on the work position information, determining a first end point representing an end of the work area in the ridge direction and a second end point representing an end in the opposite direction to the ridge direction on one or more straight lines that pass through the representative position and extend in the ridge direction in which the one or more ridges extend; determining an area between the first end point and the second end point as the working area; Includes.

[0107] A ridge information management method according to a tenth aspect is a ridge information management method according to any one of the first to ninth aspects, Displaying the area information Further includes:

[0108] A ridge information management system according to an eleventh aspect includes: an area determination unit that determines a work area in which the transplanting or sowing has been performed based on ridge formation position information that indicates the position of a ridge formation device that performs ridge formation work and work position information that indicates the position of a work device that transplants or sows seedlings into at least a portion of one or more ridges formed by the ridge formation work; an output unit that outputs area information representing the determined work area; Equipped with.

[0109] A ridge information management program according to a twelfth aspect includes: determining a work area in which the transplanting or sowing has been performed based on ridge formation position information indicating the position of a ridge formation device that performs ridge formation work and work position information indicating the position of a work device that transplants or sows seedlings into at least a portion of one or more ridges formed by the ridge formation work; outputting area information representing the determined working area; The calculation device executes the following. [Explanation of symbols]

[0110] 1, 2, 3, 4: Storage medium 20: Network 100: Ridge making device 101: Positioning device location 102: Offset distance 110: Input / output device 115: Positioning device 120: Arithmetic device 130: Communication equipment 140: Storage device 150: Ridge creation information output unit 160: Control unit 200: Work equipment 201: Positioning device location 202: Offset distance 210: Input / output device 215: Positioning equipment 220: Arithmetic device 230:Communication equipment 240: Storage device 250: Work information output section 300: Ridge information management device 310: Input / output device 320: Arithmetic device 330: Communication equipment 340 :Storage device 350: Data storage unit 360: Area determination part 361: Ridge formation area determination unit 362: Working ridge end point determination section 363: Work area determination section 370: Output section 400: Display terminal 410: Input / output device 420: Arithmetic device 430: Communication equipment 440 :Storage device 450:Display section 500: Control program 510: Information output program 520: Field data 530:Furrow information management program 540: Display program 600: Field 610: ridge 620: Ridge end 700: Ridge creation track 710: Ridge position 720: Ridge making work track 721: End point of first ridge 722: End point of second ridge 730: Distance between trajectories 740: Ridge area 750: Movement trajectory 760: Positioning location 770: Work trajectory 771: 1st working end point 772 :Second working end point 780: Distance between trajectories 790: Working ridge area 791: 1st working ridge end point 792: 2nd working ridge end point 800 :Work area 801: First temporary endpoint (third endpoint, first endpoint) 802: Second temporary endpoint (fourth endpoint, second endpoint) 803 :First approximation line 804 :Second approximation line 811 :1st end point 812 :Second end point 820: Furrow 825: Extended Distance 1000: Ridge information management system

Claims

1. determining a work area in which the transplanting or sowing has been performed based on ridge formation position information indicating the position of a ridge formation device that performs ridge formation work and work position information indicating the position of a work device that transplants or sows seedlings into at least a portion of one or more ridges formed by the ridge formation work; outputting area information representing the determined working area; A furrow information management method including:

2. determining the working area determining one or more ridge formation areas representing respective areas of the one or more ridges formed in the ridge formation work based on the ridge formation position information without using the work position information; determining the work area in which the transplanting or the sowing has been performed among the one or more ridge formation areas based on the work position information; Contains The ridge information management method according to claim 1.

3. determining the working area Based on the work position information, determining a first end point representing an end in a ridge direction representing the direction in which the one or more ridge formation areas extend in the work area where the transplanting or sowing has been performed in the one or more ridge formation areas, and a second end point representing an end in the opposite direction to the ridge direction; determining, as the working area, an area between the first end point and the second end point in the one or more ridge forming areas; The ridge information management method according to claim 2, further comprising:

4. determining the working area determining one or more ridge formation areas representing respective areas of the one or more ridges formed in the ridge formation work based on the ridge formation position information without using the work position information; Based on the work position information, determining a first end point representing an end in a ridge direction representing the direction in which the one or more ridge formation areas extend in the work area where the transplanting or sowing has been performed in the one or more ridge formation areas, and a second end point representing an end in the opposite direction to the ridge direction; determining a shape of an end of the work area in the ridge direction based on the first end point; determining a shape of an end of the working area in a direction opposite to the ridge direction based on the second end point; determining a shape of an end of the work area in the first direction based on a shape of a ridge formation area that exists at an end in a first direction perpendicular to the ridge direction, among the one or more ridge formation areas; determining a shape of an end of the working area opposite to the first direction based on a shape of a ridge forming area that exists at an end in a direction opposite to the first direction among the one or more ridge forming areas; The ridge information management method according to claim 2, further comprising:

5. Determining the first endpoint and the second endpoint includes: determining one or more work furrow areas representing areas of one or more furrows where the transplanting or sowing has been performed based on the work position information; determining corresponding ridge formation areas representing ridge formation areas corresponding to each of the one or more working ridge areas among the one or more ridge formation areas; determining a third end point representing one end of the one or more work furrow areas in the direction in which the one or more work furrow areas extend and a fourth end point representing the other end of the one or more work furrow areas; determining, as the first end point, a position of the corresponding ridge forming region that represents the position of the third end point in the ridge direction in which the corresponding ridge forming region extends; determining a position of the corresponding ridge forming region that represents the position of the fourth end point in the ridge direction in which the corresponding ridge forming region extends as the second end point; The ridge information management method according to claim 3 or 4, comprising:

6. Determining the first endpoint comprises: determining an approximation line corresponding to one or more of the first endpoints in the one or more ridge regions; changing positions of the one or more first endpoints onto the approximation line based on the approximation line and the one or more ridge regions; The ridge information management method according to claim 3 or 4, comprising:

7. Determining the first endpoint and the second endpoint includes: determining one or more work furrow areas representing areas of one or more furrows where the transplanting or sowing has been performed based on the work position information; determining one or more third end points representing one end of the one or more work furrow areas in the direction in which the one or more work furrow areas extend, and one or more fourth end points representing the other end of the one or more work furrow areas; determining the first end point on a first approximation line to the one or more third end points in the one or more ridged regions; determining the second end point on a second approximation line for the one or more fourth end points in the one or more ridged regions; The ridge information management method according to claim 3 or 4, comprising:

8. determining the working area determining one or more work furrow areas representing areas of one or more furrows where the transplanting or sowing has been performed based on the work position information; determining corresponding ridge formation areas representing ridge formation areas corresponding to each of the one or more working ridge areas among the one or more ridge formation areas; excluding from the working area an area of ​​the one or more ridge making areas that is not included in the corresponding ridge making area; The ridge information management method according to any one of claims 2 to 4, comprising:

9. determining the working area determining a ridge direction in which the one or more ridges formed in the ridge forming work extend and a representative position representing the position of the one or more ridges in a direction perpendicular to the ridge direction, based on the ridge forming position information without using the work position information; Based on the work position information, determining a first end point representing an end of the work area in the ridge direction and a second end point representing an end in the opposite direction to the ridge direction on one or more straight lines that pass through the representative position and extend in the ridge direction in which the one or more ridges extend; determining an area between the first end point and the second end point as the working area; The ridge information management method according to claim 1, comprising:

10. Displaying the area information The ridge information management method according to claim 1 , further comprising:

11. an area determination unit that determines a work area in which the transplanting or sowing has been performed based on ridge formation position information that indicates the position of a ridge formation device that performs ridge formation work and work position information that indicates the position of a work device that transplants or sows seedlings into at least a portion of one or more ridges formed by the ridge formation work; an output unit that outputs area information representing the determined work area; A furrow information management system equipped with the above.

12. determining a work area in which the transplanting or sowing has been performed based on ridge formation position information indicating the position of a ridge formation device that performs ridge formation work and work position information indicating the position of a work device that transplants or sows seedlings into at least a portion of one or more ridges formed by the ridge formation work; outputting area information representing the determined working area; A ridge information management program that causes a computing device to execute the above.

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