Work information management method, work information management system, and work information management program

Abstract

To more accurately determine a distance by which a working device is moved.SOLUTION: The work information management method includes determining the contour distance 650 from the position 620 indicated in the position information of the work device 30 that has performed work in the field 500 to the contour 510 of the field 500. The work information management method also includes determining a movement distance by which the work device 30 has moved in the field 500, based on the contour distance 650 and the speed of the work device 30 at the position 620 indicated by the position information. Determining the contour distance 650 may include determining a work direction in which the work device 30 has moved while performing work in the field 500. In addition, determining the outline distance 650 may include determining, as the outline distance 650, a distance from an intersection of a straight line passing through the position indicated by the position information and extending in the work direction and the outline 510 of the farm field 500 to the position indicated by the position information.SELECTED DRAWING: Figure 9

Description

[Technical Field]

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

[0002] In recent years, agricultural management using information on work in a field has been studied. In agricultural management, the distance traveled by a work implement performing work in a field may be used.

[0003] Patent Document 1 describes calculating the distance traveled by a working implement from the speed of the implement, while Patent Document 2 describes measuring the position of the implement while it is working at regular time intervals, and calculating the distance traveled by accumulating the length of a line segment connecting two consecutive points among the measured positions. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5817563 [Patent Document 2] Patent No. 5821970 Summary of the Invention [Problem to be solved by the invention]

[0005] However, if the measurement time interval is long, the calculated distance may differ significantly from the actual distance traveled. For example, when calculating distance from the speed of a work vehicle, an increase or decrease in speed will cause the calculated distance to deviate from the actual distance traveled. Also, when calculating distance from the position of a work implement, if the work vehicle turns around at the edge of a field and moves forward, the distance between the two points will differ significantly from the actual distance traveled.

[0006] In view of the above, one object of the present disclosure is to more accurately determine the distance traveled by a working device even when the measurement time interval is long. Other objects can be understood from the following description and explanation of the embodiments. [Means for solving the problem]

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

[0008] To achieve the above object, a work information management method according to one embodiment includes determining a contour distance (650) from a position (620) represented in position information of a work implement (30) that has performed work in a field (500) to a contour (510) of the field (500). The work information management method also includes determining a distance traveled by the work implement (30) in the field (500) based on the contour distance (650) and the speed of the work implement (30) at the position (620) represented in the position information.

[0009] To achieve the above object, a work information management system (1000) according to one embodiment includes a contour distance determination unit (160) and a travel distance determination unit (170). The contour distance determination unit (160) determines a contour distance (650) from a position (620) represented in the position information of a work implement (30) that performed work in a field (500) to a contour (510) of the field (500). The travel distance determination unit (170) determines a travel distance traveled by the work implement (30) in the field (500) based on the contour distance (650) and the speed of the work implement (30) at the position (620) represented in the position information.

[0010] To achieve the above object, a work information management program (420) according to one embodiment causes the calculation device (120, 220) to determine a contour distance (650) from a position (620) represented in the position information of a work implement (30) that has performed work in a field (500) to a contour (510) of the field (500). The work information management program (420) also causes the calculation device (120, 220) to determine a travel distance traveled by the work implement (30) in the field (500) based on the contour distance (650) and the speed of the work implement (30) at the position (620) represented in the position information. [Effects of the Invention]

[0011] According to the above aspect, the distance traveled by the working implement can be determined with greater accuracy. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a schematic diagram of a work information management system according to an embodiment; [Figure 2] 5 is a diagram illustrating the relationship between the measured position of the working device and the travel distance in one embodiment. FIG. [Figure 3] 10A and 10B are diagrams illustrating information used by the work information management system in one embodiment to determine the travel distance of a work implement. [Figure 4] 1 is a diagram illustrating a configuration of a work information management device according to an embodiment. [Figure 5] FIG. 2 is a diagram illustrating functional blocks executed by a work information management system according to an embodiment. [Figure 6] FIG. 2 is a diagram illustrating a configuration of a terminal according to an embodiment. [Figure 7] 10 is a flowchart showing a process in which a work information management system in one embodiment learns a learning model. [Figure 8] A diagram showing the configuration of learning data used by the work information management system in one embodiment to learn a learning model. [Figure 9]10 is a flowchart illustrating a process performed by a work information management system according to an embodiment to determine a travel distance of a work device. [Figure 10] 1 is a histogram of the direction of travel of a work implement as it works in a field in one embodiment. [Figure 11] 10A and 10B are diagrams for explaining a method for determining a rotation adjacent portion along which the position along which the work implement rotates is aligned in one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] (Embodiment) A work 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 work information management system 1000 includes a work information management device 100 and a terminal 200. The work information management device 100 is communicably connected to a work device 30 and the terminal 200 via a network 20, for example, the Internet.

[0014] The work implement 30 performs work while moving, for example, in the field 500. The work implement 30 includes, for example, a tractor that pulls a work machine. The work implement 30 may also include a combine harvester that is formed integrally with the work machine. The work implement 30 may also include a drone that flies to perform agricultural work, such as spraying pesticides.

[0015] The work implement 30 performs work while moving within the field 500 along a movement path 600, for example, as shown in FIG. 2 . For example, the work implement 30 performs work while moving in the work direction along a straight path 601. For example, the work implement 30 moves from a first turning contour portion 511-1 toward a second turning contour portion 511-2 of the contour 510 of the field 500. When the work implement 30 approaches the second turning contour portion 511-2, it suspends work and turns along a turning path 602 so that its direction of travel faces the opposite direction to the work direction. After turning, the work implement 30 performs work while moving along the straight path 601 in the opposite direction to the work direction. For example, the working implement 30 moves from the second turning contour portion 511-2 towards the first turning contour portion 511-1, and when it approaches the first turning contour portion 511-1, it stops working and turns along the turning path 602 so that its direction of travel faces the working direction. By repeating this process, the working implement 30 works in the field 500. Therefore, the position at which the working implement 30 turns is aligned with the turning contour portion 511 of the contour 510 of the field 500.

[0016] The task device 30 has a positioning device that measures its own position at each time, for example, its latitude and longitude. The positioning device includes, for example, a GNSS (Global Navigation Satellite System) receiver, a quantum compass, etc., and measures a long-term position 620 that represents its own position at a predetermined interval (for example, every minute). Position information representing the measured position is output to the task information management device 100. The position information may represent the task device's own position and the time when the position was measured. The task device 30 also outputs speed information representing the task device's own speed at the measured position to the task information management device 100.

[0017] If the time interval at which speed information is measured becomes longer, the working device 30 accelerates or decelerates between the times of measurement, and the traveled distance calculated by multiplying the speed by the measurement time interval will deviate from the actual traveled distance. For example, if the measurement time interval is short (e.g., 10 seconds), the working device 30 measures the short-time determined position 610 as its own position at each time. Because the measurement time interval is short, there is little change in speed between the times of measurement. Therefore, the traveled distance calculated by multiplying the time interval at which the short-time determined position 610 is measured by the speed of the working device 30 at the short-time determined position 610 approximates the actual traveled distance.

[0018] However, if the measured time interval is long, the speed of the task device 30 will change from the speed at the long-term positioning position 620 by the time of the next measurement. For example, when the task device 30 moves from the eighth short-term positioning position 610-8 to the ninth short-term positioning position 610-9, the task device 30 accelerates or decelerates along the turning path 602. In this case, for example, the traveled distance obtained by multiplying the speed at the eighth short-term positioning position 610-8 by the time interval from the time the eighth short-term positioning position 610-8 was measured to the time the ninth short-term positioning position 610-9 was measured will deviate from the actual traveled distance. For example, the calculated traveled distance may be longer than the actual traveled distance.

[0019] Furthermore, as the time interval measured by the positioning device becomes longer, the traveled distance calculated from the cumulative total of the distances between two measured positions also deviates from the actual traveled distance. For example, when the measurement time interval is short (e.g., 10 seconds), the working device 30 measures the short-time positioning position 610 as its own position at each time. Since the short-time positioning position 610 measures the position of the working device even while moving along the turning path 602, the traveled distance is calculated with high accuracy from the cumulative total of the distances between two points.

[0020] However, in long-term positioning position 620, which has a long time interval, the aircraft's position may not be measured while moving along turning path 602. For example, when eighth short-term positioning position 610-8 and ninth short-term positioning position 610-9 are measured consecutively as long-term positioning position 620, the aircraft's position is not measured while moving along turning path 602. For this reason, the distance between these two points is a value shorter than the actual distance traveled.

[0021] The difference between the calculated travel distance and the actual travel distance tends to increase as the measured position is closer to the contour 510 of the field 500. For this reason, the work information management device 100 determines the travel distance that the work device 30 has traveled between two points on the long-term positioning position 620 based on the long-term positioning position 620 and the speed of the work device 30 at the long-term positioning position 620. For example, as shown in FIG. 3 , the work information management device 100 determines the travel distance based on a contour distance 650 that indicates the distance from the measured long-term positioning position 620 to the contour 510 of the field 500 and the speed of the work device 30.

[0022] This allows the work information management system 1000 to determine the traveled distance with higher accuracy even when the measurement time interval is long.

[0023] (Configuration of work information management system) The configuration of the work information management device 100 included in the work information management system 1000 shown in FIG. 1 will be described. As shown in FIG. 4, the work information management device 100 includes an input / output device 110, a calculation device 120, a communication device 130, and a storage device 140. The work information management device 100 is a computer including, for example, a cloud server. Information used by the calculation device 120 to execute processing is input to the input / output device 110. The input / output device 110 also outputs the results of processing executed by the calculation device 120. The input / output device 110 includes various input and output devices, such as a keyboard, mouse, microphone, display, speaker, and touch panel. The input / output device 110 may be omitted.

[0024] The communication device 130 is connected to the network 20 and communicates with each device via the network 20. The communication device 130, for example, transfers information acquired from the maintenance device 30 to the arithmetic device 120. The communication device 130 also transfers a signal generated by the arithmetic device 120 to the terminal 200. The communication device 130 includes various interfaces, for example, a network interface card (NIC) and a USB terminal.

[0025] The storage device 140 stores various data for determining the distance traveled by the work implement 30 in the field 500, such as field data 400, model data 410, and a work information management program 420. The storage device 140 is used as a non-transitory tangible storage medium that stores the work information management program 420. The work information management program 420 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.

[0026] The field data 400 stores field information related to the field 500, for example, information representing the contour 510 of the field 500. The information representing the contour 510 represents, for example, the latitude and longitude of each vertex and the relationship of each vertex to other vertices adjacent to it along the contour 510 of the field 500. For example, the information representing the contour 510 represents the latitude and longitude of each vertex and the order in which each vertex is located when arranged clockwise along the contour 510. The field information may also represent the amount of work performed in the field 500 (for example, the harvest yield).

[0027] The model data 410 stores a learning model that has been trained to output the distance traveled by the implement 30 from the contour distance 650 from the long-term positioning position 620 of the implement 30 to the contour 510 of the field 500 and the speed of the implement 30. The learning model includes any model, such as a neural network, that can be trained to output the distance traveled from the contour distance 650 and the speed of the implement 30.

[0028] The arithmetic device 120 reads and executes the work information management program 420 from the storage device 140, and performs various data processing to determine the distance traveled by the work device 30 in the field 500. For example, the arithmetic device 120 includes a central processing unit (CPU) and the like.

[0029] By reading and executing the work information management program 420, the calculation device 120 cooperates with the storage device 140 to implement a data storage unit 150, a contour distance determination unit 160, a movement distance determination unit 170, a learning unit 180, and an output unit 190, as shown in FIG. 5 . The data storage unit 150 stores field data 400 and model data 410. The contour distance determination unit 160 determines a contour distance 650, which represents the distance from the position indicated in the position information acquired from the work device 30 to the contour 510. The movement distance determination unit 170 determines the distance traveled by the work device 30 based on the contour distance 650 and the speed of the work device 30. The learning unit 180 uses the learning data to train the learning model stored in the model data 410. The output unit 190 determines evaluation information (for example, yield per unit area) using the travel distance based on the amount of work (for example, yield) stored in the farm field data 400, and outputs the evaluation information to the terminal 200.

[0030] Next, the configuration of the terminal 200 shown in Fig. 1 will be described. As shown in Fig. 6, the terminal 200 includes an input / output device 210, an arithmetic device 220, a communication device 230, and a storage device 240. The terminal 200 includes, for example, a computer, a tablet, a mobile phone, etc. Information used by the arithmetic device 220 to execute processing is input to the input / output device 210. The input / output device 210 also outputs the results of processing executed by the arithmetic device 220. The input / output device 210 includes various input devices and output devices, such as a keyboard, a mouse, a microphone, a display, a speaker, and a touch panel.

[0031] The communication device 230 is connected to the network 20 and communicates with each device via the network 20. For example, the communication device 230 transfers evaluation information acquired from the work information management device 100 to the calculation device 220. The communication device 230 also transfers signals generated by the calculation device 220 to the work information management device 100. The communication device 230 may output information to another device not connected via the network 20. For example, the communication device 230 may output information to another device via any storage medium, such as a memory card or a USB (Universal Serial Bus) memory. The communication device 230 may also acquire information from another device directly connected via a USB terminal or the like. The communication device 230 includes various interfaces, such as a transceiver used for wireless communication via a wireless LAN (Local Area Network) or a cellular network, a network interface card (NIC), a USB terminal, etc.

[0032] The storage device 240 stores various data, such as a display program 430, for displaying the evaluation information obtained from the work information management device 100. The storage device 240 is used as a non-transitory tangible storage medium for storing the display program 430. The display program 430 may be provided as a computer program product recorded on a computer-readable storage medium 2, or may be provided as a computer program product downloadable from a server.

[0033] The arithmetic unit 220 reads out and executes the display program 430 from the storage device 240, and performs various data processing for displaying the evaluation information. For example, the arithmetic unit 220 includes a central processing unit (CPU) and the like.

[0034] 5, the arithmetic device 220 reads and executes the display program 430, thereby realizing the display unit 250 in cooperation with the storage device 240 and the input / output device 210. The display unit 250 displays the evaluation information obtained from the work information management device 100.

[0035] (Learning model) First, the operation of the work information management system 1000 when learning the learning model stored in the model data 410 will be described. For example, the learning model is learned using information representing the short-term positioning position 610 shown in FIG. 2. For example, when the calculation device 120 of the work information management device 100 acquires location information representing the short-term positioning position 610 and speed information representing the speed of the work device 30 at the short-term positioning position 610, it reads and executes the work information management program 420. When the work information management program 420 is executed, the calculation device 120 starts the processing shown in FIG. 7, which is part of a work information management method.

[0036] In step S110, data storage unit 150, which is realized by calculation device 120, extracts learning data for training a learning model based on position information representing short-term position 610 and corresponding speed information. For example, as shown in FIG. 2, data storage unit 150 extracts position information representing long-term position 620 from position information representing short-term position 610. Here, the time interval of the position information representing long-term position 620 is matched to the time interval between position information and speed information actually acquired from operation device 30. For example, when acquiring position information and speed information at one-minute intervals from operation device 30, data storage unit 150 extracts learning data from position information representing short-term position 610 so that the position information is at one-minute intervals.

[0037] For example, the data storage unit 150 extracts, as learning data, position information representing short time determined positions 610 that sandwich five short time determined positions 610 in order of measurement time from the multiple short time determined positions 610. For example, the data storage unit 150 extracts, as learning data, position information representing the first short time determined position 610-1, the fourth short time determined position 610-4, the seventh short time determined position 610-7, the eighth short time determined position 610-8, the ninth short time determined position 610-9, etc.

[0038] Furthermore, the data storage unit 150 extracts, as learning data, speed information that indicates the speed of the working device 30 at the position indicated by the extracted position information. For example, the data storage unit 150 extracts, as learning data, speed information that indicates the speed of the working device 30 at the first short-time positioning position 610-1, the fourth short-time positioning position 610-4, the seventh short-time positioning position 610-7, the eighth short-time positioning position 610-8, the ninth short-time positioning position 610-9, etc.

[0039] The data storage unit 150 may extract, as new learning data, position information measured next to each extracted piece of position information. For example, the data storage unit 150 may extract, as new learning data, position information representing the second short-term positioning position 610-2, the fifth short-term positioning position 610-5, etc. Similarly, the data storage unit 150 extracts, as learning data, speed information representing the speed of the working device 30 at the position represented by the extracted position information. For example, the data storage unit 150 extracts, as learning data, speed information representing the speed of the working device 30 at the second short-term positioning position 610-2, the fifth short-term positioning position 610-5, etc.

[0040] Furthermore, the data storage unit 150 extracts, as new learning data, position information indicating the third short-time positioning position 610-3, the sixth short-time positioning position 610-6, etc., and speed information indicating the speed of the working implement 30 at those positions.

[0041] For example, when the short-term positioning position 610 is acquired at 10-second intervals, the data storage unit 150 may extract six sets of learning data at one-minute intervals. Also, when the short-term positioning position 610 is acquired at five-second intervals, the data storage unit 150 may extract twelve sets of learning data at one-minute intervals.

[0042] Furthermore, the data storage unit 150 calculates the travel distance traveled by the working device 30 during the time interval when the long term positioning positions 620 were measured, from the speed information of the working device 30 at the short term positioning positions 610. For example, the data storage unit 150 calculates the travel distance traveled by the working device 30 from the first short term positioning position 610-1 to the fourth short term positioning position 610-4, assuming that the two long term positioning positions 620 were measured at adjacent times. In this case, for example, the data storage unit 150 calculates the cumulative total of the travel distance traveled by the working device 30 between the two short term positioning positions 610 measured at adjacent times as the travel distance traveled by the working device 30 during the time interval when the long term positioning positions 620 were measured.

[0043] For example, the travel distance of the working device 30 between two short-time positioning positions 610 whose measurement times are adjacent is calculated by multiplying the speed at one of the short-time positioning positions 610 by the interval between the measured times. For example, the travel distance from the first short-time positioning position 610-1 to the second short-time positioning position 610-2 is calculated by multiplying the speed of the working device 30 at the first short-time positioning position 610-1 by the time interval between the measurement of the first short-time positioning position 610-1 and the second short-time positioning position 610-2. Similarly, the data storage unit 150 calculates each travel distance between two short-time positioning positions 610 whose measurement times are adjacent, for example, the travel distance from the second short-time positioning position 610-2 to the third short-time positioning position 610-3. Of the calculated travel distances, the travel distances between the short-term positioning positions 610 included between two long-term positioning positions 620 whose measurement times are adjacent are summed to calculate the travel distance between the long-term positioning positions 620. For example, the travel distance from the first short-term positioning position 610-1 to the fourth short-term positioning position 610-4 extracted as the long-term positioning position 620 is calculated by summing the travel distances of each short-term positioning position 610 from the first short-term positioning position 610-1 to the fourth short-term positioning position 610-4. The calculated travel distances between the long-term positioning positions 620 are used as training data when training a learning model.

[0044] Next, in step S120 shown in FIG. 7, the contour distance determiner 160 determines the working direction in which the working implement 30 moved when working in the field 500, based on the long-term positioning position 620 of the position information included in the extracted learning data. For example, the working direction represents the angle with an arbitrary reference direction, such as north, and is expressed as a range from -90 degrees to 90 degrees. Therefore, in the working direction, a certain direction and its opposite direction represent the same direction. For example, in the example shown in FIG. 3, the direction from the first turning contour portion 511-1 to the second turning contour portion 511-2 and the direction from the second turning contour portion 511-2 to the first turning contour portion 511-1 represent the same direction.

[0045] For example, the contour distance determination unit 160 determines the working direction based on the extending direction of a plurality of straight lines connecting two long-term positioning positions 620 whose measurement times are adjacent to each other. For example, the contour distance determination unit 160 determines, as the working direction, a statistical value, such as an average value or a median, of the extending direction of a plurality of straight lines connecting two long-term positioning positions 620 whose measurement times are adjacent to each other.

[0046] 3, the contour distance determiner 160 calculates the direction of a straight line connecting the first long-term positioning position 620-1 and the second long-term positioning position 620-2. Similarly, the contour distance determiner 160 calculates the direction of a straight line connecting the second long-term positioning position 620-2 and the third long-term positioning position 620-3 and the direction of a straight line connecting the fourth long-term positioning position 620-4 and the fifth long-term positioning position 620-5. In this way, the contour distance determiner 160 calculates the direction of a plurality of straight lines connecting two long-term positioning positions 620 measured at adjacent times. The contour distance determiner 160 determines the direction of extension of the calculated plurality of straight lines, for example, the average of the angles with the north direction, as the working direction, for example, the angle between the north direction and the working direction.

[0047] 7 , the contour distance determiner 160 determines a contour distance 650 for each long-term positioning position 620 based on the determined work direction and the long-term positioning position 620 in the position information included in the learning data. For example, the contour distance determiner 160 determines the distance from the long-term positioning position 620 to the contour 510 of the field 500 on a straight line that passes through the long-term positioning position 620 and extends in the work direction as the contour distance 650. For example, the contour distance determiner 160 determines the shorter of the distances from the long-term positioning position 620 to the contour 510 of the field 500 on a straight line that extends from the long-term positioning position 620 in the work direction as the contour distance 650.

[0048] 3 , the contour distance determiner 160 determines, for example, a contour distance 650 of a first long-term positioning position 620-1. In this case, the contour distance determiner 160 determines an intersection 655 between a straight line that passes through the first long-term positioning position 620-1 and extends in the working direction and the contour 510 of the field 500. For example, the contour distance determiner 160 determines a first intersection 655-1 and a second intersection 655-2 as the intersection 655 between the straight line that extends in the working direction and the contour 510. The contour distance determiner 160 determines, from the determined intersections 655, a first contour distance 650-1 that is closest to the first long-term positioning position 620-1 to the first long-term positioning position 620-1, as the contour distance 650 for the first long-term positioning position 620-1.

[0049] Similarly, the contour distance determiner 160 determines a contour distance 650 for each long-term positioning position 620. For example, the contour distance determiner 160 determines the contour distance 650 for a fourth long-term positioning position 620-4. In this case, the contour distance determiner 160 determines intersections 655 (e.g., a first intersection 655-1 and a second intersection 655-2) between a line that passes through the fourth long-term positioning position 620-4 and extends in the working direction and the contour 510 of the field 500. Of the determined intersections 655, the contour distance determiner 160 determines a second contour distance 650-2 from the second intersection 655-2 closest to the fourth long-term positioning position 620-4 to the fourth long-term positioning position 620-4 as the contour distance 650 for the fourth long-term positioning position 620-4.

[0050] 7, the learning unit 180 generates learning data for learning the learning model. For example, the learning unit 180 generates the learning data using position information representing the long-term positioning position 620, the speed of the working implement 30 at the long-term positioning position 620, and the contour distance 650.

[0051] For example, as shown in FIG. 8 , the learning data includes information representing "speed," "contour distance," "speed of next positioning position," "distance to next positioning position," and "partial movement distance" for each long-term positioning position 620. "Speed" represents the speed of the working device 30 at the corresponding long-term positioning position 620. "Contour distance" represents the contour distance 650 for the corresponding long-term positioning position 620. "Speed ​​of next positioning position" represents the speed of the working device 30 at the long-term positioning position 620 measured next to the corresponding long-term positioning position 620. "Distance to next positioning position" represents the straight-line distance from the corresponding long-term positioning position 620 to the next measured long-term positioning position 620. "Partial movement distance" represents the movement distance of the working device 30 from the corresponding long-term positioning position 620 to the next measured long-term positioning position 620.

[0052] For example, the "speed" of the learning data corresponding to the first long-term positioning position 620-1 shown in FIG. 3 represents the speed of the working device 30 at the first long-term positioning position 620-1. The "contour distance" of this learning data represents the first contour distance 650-1 relative to the first long-term positioning position 620-1. The "speed of the next positioning position" of this learning data represents the speed of the working device 30 at the second long-term positioning position 620-2 measured after the first long-term positioning position 620-1. The "distance to the next positioning position" of this learning data represents the straight-line distance from the first long-term positioning position 620-1 to the second long-term positioning position 620-2. The "partial movement distance" of this learning data represents the first partial movement distance 660-1 traveled by the working device 30 from the first long-term positioning position 620-1 to the second long-term positioning position 620-2. 2, which corresponds to the first long-term positioning position 620-1, to the fourth short-term positioning position 610-4, which corresponds to the second long-term positioning position 620-2. Here, the “partial movement distance” represents training data for training the learning model.

[0053] 3 , the learning data for fourth long-term positioning position 620-4 also includes information representing the speed of the work device 30 at fourth long-term positioning position 620-4 and a second contour distance 650-2 for fourth long-term positioning position 620-4. This learning data also includes information representing the speed of the work device 30 at fifth long-term positioning position 620-5, which is measured immediately after fourth long-term positioning position 620-4, and the straight-line distance from fourth long-term positioning position 620-4 to fifth long-term positioning position 620-5. Furthermore, this learning data also includes information representing a second partial movement distance 660-2, calculated using short-term positioning position 610, that the work device 30 has traveled from fourth long-term positioning position 620-4 to fifth long-term positioning position 620-5.

[0054] In this way, the learning data represents the speed of the working device 30 at the long-term positioning position 620, the contour distance 650, the speed of the working device 30 at the next measured long-term positioning position 620, the straight-line distance from the long-term positioning position 620 to the next measured long-term positioning position 620, and the partial movement distance 660. The learning unit 180 generates learning data corresponding to each of the long-term positioning positions 620.

[0055] 7, the learning unit 180 uses the generated learning data to learn the learning model stored in the model data 410. Specifically, as shown in FIG. 8, the learning unit 180 learns the learning model so that when the "speed", "contour distance", "speed of the next positioning position", and "distance from the next positioning position" of the learning data are input, the learning unit 180 outputs a "partial movement distance".

[0056] As a result, the learning model is trained to output the partial movement distance 660 from the position information of the working device 30, the speed of the working device 30 at the position indicated in the position information, and the contour distance 650.

[0057] (Determine the distance traveled) Next, a method for determining the travel distance will be described using the work information management system 1000. Here, an example will be shown in which the work information management system 1000 uses the travel distance to output the harvest yield per unit area of ​​the field 500 as evaluation data.

[0058] When performing work in the field 500, the work device 30 measures its own position at each time and outputs position information indicating the measured position and time to the work information management device 100. For example, the work device 30 measures its own position at long intervals, for example, at one-minute intervals, and outputs position information indicating the measured position and time to the work information management device 100. The work device 30 also outputs speed information indicating the speed at which the work device 30 measured its own position to the work information management device 100.

[0059] When the work device 30 harvests crops in the field 500, the harvested crops are stored in a container, such as a grain tank, provided on the work device 30. When the container is filled with the harvested crops, the work device 30 discharges the crops stored in the container, for example, to an adjacent transport vehicle. The work device 30 outputs, for example, information indicating the time when the crops stored in the container were discharged to the work information management device 100.

[0060] The various pieces of information output to the work information management device 100 may be output sequentially from the work device 30, or may be output all at once when the work device 30 stops.

[0061] When the arithmetic device 120 of the work information management device 100 receives various information from the work device 30, it reads and executes the work information management program 420 from the storage device 140. When the work information management program 420 is executed, the arithmetic device 120 starts the processing shown in Fig. 9, which is part of the work information management method.

[0062] In step S210, the contour distance determination unit 160 realized by the calculation device 120 determines the working direction when the working device 30 works in the field 500, based on the position information of the working device 30. The processing in step S210 is similar to the processing in step S120 shown in Figure 7, and therefore a detailed description thereof will be omitted.

[0063] 9, contour distance determination unit 160 determines contour distance 650 for each positioning position based on the determined work direction and the positioning position indicated in the position information of work tool 30. The process in step S220 is similar to the process in step S130 shown in FIG. 7, and therefore a detailed description thereof will be omitted.

[0064] In step S230 shown in FIG. 9, the travel distance determination unit 170 generates input data to be input to the learning model based on the determined contour distance 650 and the position information and speed information of the working device 30. For example, the travel distance determination unit 170 determines, for each positioning position represented in the position information, "speed," "contour distance," "speed of next positioning position," and "distance from next positioning position" from the items shown in FIG. 8, and generates each determined value as input data. For example, in the example shown in FIG. 3, the travel distance determination unit 170 generates input data for the first long-term positioning position 620-1. The process of generating input data is the same as the process of step S140 shown in FIG. 7 except for the determination of the "partial travel distance," and therefore a detailed description thereof will be omitted.

[0065] 9, the travel distance determination unit 170 determines the travel distance traveled by the task apparatus 30 based on the generated input data. For example, the travel distance determination unit 170 determines a partial travel distance 660 traveled by the task apparatus 30 between two positioning positions (e.g., long-term positioning position 620) whose measurement times are adjacent, based on the input data. For example, the travel distance determination unit 170 inputs input data related to the first long-term positioning position 620-1 shown in FIG. 3 to the learning model, and determines the value output by the learning model as the first partial travel distance 660-1 from the first long-term positioning position 620-1 to the second long-term positioning position 620-2. Similarly, the travel distance determination unit 170 inputs input data related to each long-term positioning position 620 to the learning model, and determines the partial travel distance 660 between the two long-term positioning positions 620 whose measurement times are adjacent. The travel distance determiner 170 determines the travel distance traveled by the task tool 30 by accumulating the partial travel distance 660 between the two determined long-term positioning positions 620 .

[0066] In step S250 shown in FIG. 9 , the output unit 190 determines the harvest yield per unit area in the field 500 as evaluation information based on the travel distance of the working device 30 and the number of times the working device 30 has discharged the crops stored in the container. For example, the output unit 190 acquires information indicating the time when the crops stored in the container were discharged from the working device 30. The output unit 190 determines the number of times in the acquired information as the number of times the working device 30 has discharged the crops stored in the container. The output unit 190 multiplies the determined number of times by the capacity of the container to determine the harvest yield harvested by the working device 30. The output unit 190 also multiplies the determined travel distance by the working width of the working device 30 to determine the area worked by the working device 30. The output unit 190 determines the harvest yield per unit area in the field 500 by dividing the determined harvest yield of the working device 30 by the area worked by the working device 30. The working width of the working device 30 and the capacity of the container of the working device 30 are registered in advance in the work information management device 100 and stored in the storage device 140 of the work information management device 100.

[0067] The output unit 190 outputs evaluation information indicating the determined yield per unit area to the terminal 200. The evaluation information may include information about the field 500 where the implement 30 performed the work. For example, the evaluation information includes information indicating the name and location of the field 500. For example, the name of the field 500 is determined by the output unit 190 based on the location information of the implement 30 and information about the field 500 included in the field data 400. For example, the output unit 190 identifies, from one or more fields 500 represented in the information stored in the field data 400, a field 500 whose area includes the location represented by the location information of the implement 30. The output unit 190 obtains the name of the identified field 500 from the field data 400. Similarly, the output unit 190 acquires the position of the identified field 500 from the field data 400.

[0068] In step S260, the display unit 250 of the terminal 200 displays the evaluation information acquired from the work information management device 100 on the input / output device 210. For example, the display unit 250 displays information representing the harvest yield per unit area indicated in the evaluation information in association with the corresponding field 500. For example, the display unit 250 displays the name of the field 500 in association with the harvest yield per unit area in the field 500. The display unit 250 may also display an image on a map representing the area indicating the field 500 in association with the harvest yield per unit area.

[0069] In this way, the work information management system 1000 determines the travel distance with high accuracy even when there is a long time interval between acquiring the position information and speed information of the work device 30. Therefore, when calculating evaluation information from the travel distance, the work information management system 1000 can calculate highly accurate evaluation information.

[0070] (Variation) The above-described embodiments and modifications are merely examples. The configurations described in each embodiment and modification may be arbitrarily modified and / or combined as long as the functionality is not impaired. Furthermore, some of the functions described in the embodiments and modifications may be omitted as long as the required functionality is realized. For example, in step S120 shown in FIG. 7 and step S210 shown in FIG. 9, the contour distance determination unit 160 of the work information management device 100 may determine the work direction traveled by the work device 30 when performing work using any method. For example, the contour distance determination unit 160 may determine the work direction based on the distribution of virtual traveling directions at the positioning position (e.g., long-term positioning position 620) of the work device 30. For example, as shown in FIG. 10, the contour distance determination unit 160 may determine the direction of a straight line connecting two long-term positioning positions 620 measured at adjacent times as the virtual traveling direction, and then determine the direction 700 with the highest frequency of the determined virtual traveling direction as the work direction.

[0071] 7 and step S210 in Fig. 9, examples have been shown in which the angle formed with an arbitrary reference direction is expressed as the working direction, but the contour distance determination unit 160 may determine the reference direction based on the virtual traveling direction of the working device 30. For example, the contour distance determination unit 160 may determine the direction 700 that is the most frequently occurring virtual traveling direction as the reference direction.

[0072] 7 and step S220 shown in FIG. 9 , the contour distance determiner 160 of the work information management device 100 may determine, as the contour distance 650, the distance from a turning contour portion 511 of the contour 510 of the field 500 to the positioning position. For example, based on the determined work direction, the contour distance determiner 160 determines two turning contour portions 511 along which the positions at which the work implement 30 has turned when working in the field 500 are aligned. For example, as shown in FIG. 11 , the contour distance determiner 160 determines, as the turning contour portion 511, a portion of the contour 510 of the field 500 that passes through a center point 520 of the field 500, for example, the geometric center, and intersects with a center line 710 extending in the work direction. The turning contour portion 511 represents, for example, a portion of the contour 510 from a vertex of the field 500 to another vertex adjacent to that vertex along the contour 510.

[0073] 3, the contour distance determination unit 160 may determine the turning contour portion 511 based on the number of intersections 655 at which the contour 510 intersects with a plurality of straight lines that pass through the positioning position (e.g., the long-term positioning position 620) and extend in the working direction. For example, when the number of intersections 655 in a portion from a vertex of the field 500 to another vertex adjacent to that vertex along the contour 510 is greater than a threshold, the contour distance determination unit 160 determines that portion as the turning contour portion 511. Note that the threshold in this case may be a fixed value or may be determined according to the size of the field 500. For example, the threshold may be determined to be larger as the field 500 becomes larger.

[0074] In addition, the contour distance determination unit 160 may determine the two vertices with the largest number of intersections 655 in the section from the vertex of the field 500 to another vertex adjacent to that vertex along the contour 510 as the turning contour portion 511.

[0075] The contour distance determination unit 160 determines the distance from the determined turning contour portion 511 to the positioning position as the contour distance 650. For example, when there is an intersection 655 where a line that passes through the positioning position and extends in the work direction intersects with the turning contour portion 511, the contour distance determination unit 160 determines the distance from the positioning position to the intersection 655 as the contour distance 650. When there is no intersection 655 where a line that passes through the positioning position and extends in the work direction intersects with the turning contour portion 511, the contour distance determination unit 160 determines the shortest distance from the positioning position to any position included in the turning contour portion 511 as the contour distance 650. Furthermore, when there is no intersection 655 where a line that passes through the positioning position and extends in the work direction intersects with the turning contour portion 511, the contour distance determination unit 160 may determine the distance from the positioning position to a line extending into the turning contour portion 511 as the contour distance 650.

[0076] 7, the learning unit 180 of the work information management device 100 may generate learning data for each long-term positioning position 620 so as to further include information indicating the "speed of the most recently determined position" and the "distance from the most recently determined position." The "speed of the most recently determined position" indicates the speed of the long-term positioning position 620 measured immediately before the corresponding long-term positioning position 620. The "distance from the most recently determined position" indicates the straight-line distance from the corresponding long-term positioning position 620 to the long-term positioning position 620 measured immediately before.

[0077] In this case, the "speed" of the learning data corresponding to the second long-term positioning position 620-2 shown in FIG. 3 represents the speed of the working device 30 at the second long-term positioning position 620-2. The "contour distance" of this learning data represents the contour distance 650 at the second long-term positioning position 620-2. The "speed of the next positioning position" of this learning data represents the speed of the working device 30 at the third long-term positioning position 620-3 measured after the second long-term positioning position 620-2. The "distance to the next positioning position" of this learning data represents the distance from the second long-term positioning position 620-2 to the third long-term positioning position 620-3. The "partial movement distance" of this learning data represents the movement distance of the working device 30 from the second long-term positioning position 620-2 to the third long-term positioning position 620-3. The "speed at the previous positioning position" of this learning data represents the speed of the working device 30 at the first long-term positioning position 620-1 measured immediately before the second long-term positioning position 620-2. The "distance from the previous positioning position" of this learning data represents the distance from the second long-term positioning position 620-2 to the first long-term positioning position 620-1.

[0078] In this case, in step S230 shown in Figure 9, the travel distance determination unit 170 of the work information management device 100 generates input data to include information representing the "speed of the most recent positioning position" and the "distance from the most recent positioning position", similar to the learning data.

[0079] Furthermore, when the long-term positioning positions 620 are arranged in order of measurement time, the learning unit 180 may generate the learning data so as to include, for each long-term positioning position 620, information indicating the speed of the positioning position two or more positions before and the distance from the positioning position two or more positions before. Furthermore, the learning unit 180 may generate the learning data so as to include, for each long-term positioning position 620, information indicating the speed of the positioning position two or more positions after and the distance from the positioning position two or more positions after.

[0080] Furthermore, the learning unit 180 may generate learning data that does not include the speed of other positioning positions and the distance to other positioning positions. For example, the learning unit 180 may generate learning data that represents "speed," "contour distance," and "partial movement distance," but excludes "speed of next positioning position" and "distance to next positioning position."

[0081] In these cases as well, in step S230 shown in FIG. 9, the movement distance determination unit 170 generates input data corresponding to the information represented in the learning data.

[0082] 7, the contour distance determiner 160 of the work information management device 100 may determine two contour distances 650 for one long-term positioning position 620. For example, the contour distance determiner 160 determines two contour distances 650, which are two distances from each intersection 655 between a line that passes through the long-term positioning position 620 and extends in the work direction and the contour 510 of the field 500 to the long-term positioning position 620. For example, as shown in FIG. 3, the contour distance determiner 160 determines a first intersection 655-1 and a second intersection 655-2 between a line that passes through the first long-term positioning position 620-1 and extends in the work direction and the contour 510 of the field 500. Contour distance determiner 160 determines two distances as contour distances 650: a first contour distance 650-1 from first intersection 655-1 to first long-term positioning position 620-1, and a distance from second intersection 655-2 to first long-term positioning position 620-1.

[0083] In this case, in step S140 shown in Fig. 7, the learning unit 180 of the work information management device 100 generates learning data to include information representing two contour distances 650 for each long-term positioning position 620. Also, in step S220 shown in Fig. 9, the contour distance determination unit 160 determines two contour distances 650 for one positioning position (for example, the long-term positioning position 620). Also, in step S230, the movement distance determination unit 170 generates input data to include information representing the two contour distances 650 for each positioning position.

[0084] Note that when there are three or more intersections 655 between a line that passes through the long-term positioning position 620 and extends in the working direction and the contour 510 of the field 500, the contour distance determination unit 160 may select two intersections 655. For example, the contour distance determination unit 160 determines the closest intersection 655 of the intersections 655 that exist in the working direction from the long-term positioning position 620 as the intersection 655 that can form the endpoint of the contour distance 650. Furthermore, the contour distance determination unit 160 determines the closest intersection 655 of the intersections 655 that exist in the opposite direction to the working direction from the long-term positioning position 620 as the intersection 655 that can form the endpoint of the contour distance 650.

[0085] The model data 410 may store multiple learning models. For example, in step S150 shown in FIG. 7, the learning unit 180 may learn different learning models depending on the hierarchical relationship of the learning data, for example, the hierarchical relationship between "speed" and "speed at the next positioning position." For example, when the difference between "speed" of the learning data and "speed at the next positioning position" is smaller than a threshold, the learning unit 180 uses the learning data to learn a first learning model. When the "speed" of the learning data is larger than "speed at the next positioning position" by a threshold or more, the learning unit 180 uses the learning data to learn a second learning model. When the "speed" of the learning data is smaller than "speed at the next positioning position" by a threshold or more, the learning unit 180 uses the learning data to learn a third learning model.

[0086] 9, the movement distance determination unit 170 determines the partial movement distance 660 using different learning models depending on the hierarchical relationship between the speed of the positioned position and the speed of the next positioned position. For example, when the difference between the speed of the positioned position and the speed of the next positioned position is smaller than a threshold, the movement distance determination unit 170 determines the partial movement distance 660 using a first learning model. When the speed of the positioned position is larger than the speed of the next positioned position by a threshold or more, the movement distance determination unit 170 determines the partial movement distance 660 using a second learning model. When the speed of the positioned position is smaller than the speed of the next positioned position by a threshold or more, the movement distance determination unit 170 determines the partial movement distance 660 using a third learning model.

[0087] In step S240 shown in FIG. 9 , the travel distance determination unit 170 of the work information management device 100 may determine the partial travel distance 660 using any method. For example, the travel distance determination unit 170 may determine the partial travel distance 660 using a function that represents the relationship between the distribution of the "speed," "contour distance," "speed of the next positioning position," "distance to the next positioning position," and the like of the learning data and the "partial travel distance." For example, this function may represent any function that is determined statistically from the distribution of the "speed," "contour distance," "speed of the next positioning position," "distance to the next positioning position," and the like of the learning data to output the "partial travel distance." For example, this function outputs the "partial travel distance" using the "speed," "contour distance," "speed of the next positioning position," "distance to the next positioning position," and the like as arguments.

[0088] Similarly to the learning model, the travel distance determination unit 170 may use a plurality of functions. For example, the travel distance determination unit 170 may use different functions depending on the hierarchical relationship of the learning data, for example, the hierarchical relationship between "speed" and "speed of the next positioning position."

[0089] Furthermore, the travel distance determination unit 170 may determine the partial travel distance 660 based on the speed of the long-term positioning position 620, the time interval at which the long-term positioning position 620 is measured, and the contour distance 650 of the long-term positioning position 620. For example, the travel distance determination unit 170 multiplies the speed of the long-term positioning position 620 by the time interval at which the long-term positioning position 620 is measured to determine the temporary travel distance that represents the temporary distance traveled by the working device 30 between the long-term positioning positions 620. For example, the travel distance determination unit 170 may determine the partial travel distance 660 by correcting the temporary travel distance in accordance with the contour distance 650. For example, the travel distance determination unit 170 may determine the partial travel distance 660 using a function that takes the temporary travel distance and the contour distance 650 as arguments.

[0090] Here, the working implement 30 decelerates as it approaches the contour 510 of the field 500. Furthermore, after the working implement 30 gets sufficiently close to the contour 510 of the field 500, it turns and accelerates. For this reason, when the speed of the next measured position is greater than the speed of the positioned position, the working implement 30 turns and accelerates, so the partial travel distance 660 is longer than the temporary travel distance. On the other hand, when the speed of the next measured position is smaller than the speed of the positioned position, the working implement 30 decelerates due to turning, so the partial travel distance 660 is shorter than the temporary travel distance. Furthermore, when the working implement 30 is away from the contour distance 650, it is moving at an approximately constant speed, so the temporary travel distance and the partial travel distance 660 are similar.

[0091] For this reason, the movement distance determination unit 170 may determine the partial movement distance 660 using different functions when the contour distance 650 is equal to or greater than the threshold and when it is less than the threshold. Furthermore, when the contour distance 650 is less than the threshold, the movement distance determination unit 170 may determine the partial movement distance 660 using different functions depending on the magnitude relationship between the speed of the positioning position and the speed of the next positioning position.

[0092] For example, when the contour distance 650 is equal to or greater than a threshold, the movement distance determination unit 170 determines the temporary movement distance as the partial movement distance 660. Furthermore, when the contour distance 650 is less than the threshold, the movement distance determination unit 170 determines the partial movement distance 660 such that the difference between the temporary movement distance and the partial movement distance 660 increases as the contour distance 650 decreases. For example, when the contour distance 650 is less than the threshold, the movement distance determination unit 170 determines the partial movement distance 660 such that the difference between the temporary movement distance and the partial movement distance 660 monotonically decreases in a broad sense with respect to the contour distance 650. Furthermore, when the contour distance 650 is less than the threshold, the movement distance determination unit 170 may determine the partial movement distance 660 such that the difference between the temporary movement distance and the partial movement distance 660 monotonically decreases in a narrow sense with respect to the contour distance 650. Here, when the speed of the positioned position is equal to or greater than the speed of the next positioned position, the movement distance determination unit 170 determines the partial movement distance 660 to be equal to or less than the temporary movement distance. Furthermore, when the speed of the positioned position is less than the speed of the next positioned position, the movement distance determination unit 170 determines the partial movement distance 660 to be equal to or greater than the temporary movement distance. Note that when the contour distance 650 is equal to or greater than the threshold, the temporary movement distance is determined as the partial movement distance 660. Therefore, regardless of the magnitude relationship between the contour distance 650 and the threshold, the movement distance determination unit 170 may determine the partial movement distance 660 so that the difference between the temporary movement distance and the partial movement distance 660 monotonically decreases in a broad sense with respect to the contour distance 650.

[0093] When contour distance 650 is less than a threshold and the speed of the positioned position is equal to or greater than the speed of the next positioned position, movement distance determination unit 170 may determine partial movement distance 660 such that the ratio of partial movement distance 660 to the temporary movement distance becomes smaller as contour distance 650 becomes shorter. When contour distance 650 is less than a threshold and the speed of the positioned position is less than the speed of the next positioned position, movement distance determination unit 170 may determine partial movement distance 660 such that the ratio of partial movement distance 660 to the temporary movement distance becomes larger as contour distance 650 becomes shorter.

[0094] 7, the data storage unit 150 of the work information management device 100 may use any method to determine the partial movement distance 660 of the work device 30 between the long-term positioning positions 620. For example, as shown in FIG. 2, the data storage unit 150 may determine the partial movement distance 660 by accumulating the straight-line distance between two short-term positioning positions 610 that were measured at adjacent times, among the short-term positioning positions 610 sandwiched between the long-term positioning positions 620.

[0095] For example, the data storage unit 150 determines the partial movement distance 660 from the first short time determined position 610-1 to the fourth short time determined position 610-4 corresponding to the long time determined position 620 by adding up the distances between each of the short time determined positions 610 from the first short time determined position 610-1 to the fourth short time determined position 610-4. For example, the data storage unit 150 determines the straight-line distance from the first short time determined position 610-1 to the second short time determined position 610-2. Similarly, the data storage unit 150 determines the straight-line distance from the second short time determined position 610-2 to the third short time determined position 610-3. In this way, the data storage unit 150 arranges the short time determined positions 610 in the order in which they were measured and determines the straight-line distances between adjacent short time determined positions 610 from the first short time determined position 610-1 to the fourth short time determined position 610-4. The data storage unit 150 determines the sum of the determined straight-line distances as the partial movement distance 660.

[0096] In the above embodiment, partial movement distance 660 represents the distance from long-term positioning position 620 to the next measured long-term positioning position 620, but it may represent the distance from long-term positioning position 620 to the most recently measured long-term positioning position 620. For example, in the example shown in Fig. 3, partial movement distance 660 corresponding to second long-term positioning position 620-2 may represent first partial movement distance 660-1 from first long-term positioning position 620-1 to second long-term positioning position 620-2.

[0097] 9 , the travel distance determination unit 170 of the work information management apparatus 100 may determine the travel distance traveled by the work device 30 up to the time when the work device 30 last discharged crops. In the above embodiment, the harvest yield is calculated based on the number of times the work device 30 discharged crops, and therefore the harvest yield of crops harvested after the time when the work device 30 last discharged crops is not reflected in the evaluation information. For this reason, the travel distance determination unit 170 may determine the travel distance traveled by the work device 30 using position information measured before the time when the work device 30 last discharged crops.

[0098] Furthermore, the travel distance determination unit 170 may determine the travel distance traveled by the task device 30 after the time when the crops were first discharged. There may be cases where harvested crops remain in the container of the task device 30 before work in the field 500 begins. Therefore, in order to determine more accurate evaluation information, the travel distance determination unit 170 may determine the travel distance traveled by the task device 30 using position information measured after the time when the crops were first discharged.

[0099] In this way, the movement distance of the task device 30 determined by the task information management system 1000 can be limited to a range according to the determined evaluation information.

[0100] Furthermore, the evaluation information is not limited to the yield per unit area. The work information management system 1000 may determine any evaluation information calculated using the distance traveled by the work device 30. For example, the evaluation information may represent any value, such as the amount of crop planted or the amount of fertilizer applied.

[0101] 9 , output unit 190 of work information management apparatus 100 may output information indicating the distance traveled by work device 30 to terminal 200. In this case, in step S260, display unit 250 of terminal 200 may display the distance traveled by work device 30 based on the information acquired from work information management apparatus 100.

[0102] For example, some or all of the processing of the terminal 200 may be executed by the work information management device 100. Some or all of the processing of the work information management device 100 may be executed by the terminal 200. The terminal 200 may be incorporated into the work device 30. The work information management program 420 may include a display program 430.

[0103] The work information management system 1000 does not include the terminal 200, and may display the evaluation information on an external terminal that is not included in the work information management system 1000.

[0104] (verification) A verification was conducted using the work information management system 1000 to determine the travel distance of the work implement 30, using position information and speed information measured at 5-second intervals for the position of the work implement 30 performing work in 11 fields 500. Of the position information and speed information for the 11 fields 500, the position information and speed information for 10 fields 500 were used as learning data, and the travel distance was determined using the position information and speed information for the remaining field 500. Furthermore, verification was conducted for all 11 patterns for selecting the 10 fields 500 to use as learning data from the position information and speed information for the 11 fields 500.

[0105] The input data used to determine the travel distance was generated from position information and speed information measured at 5-second intervals, with some of the position information and speed information removed to obtain 1-minute intervals. The learning data used for learning included "speed," "contour distance," "speed at next measured position," "distance to next measured position," "speed at previous measured position," "distance to previous measured position," and "partial travel distance." The "partial travel distance" was calculated by multiplying the speed measured at 5-second intervals by the time interval of 5 seconds. The cumulative total of the "partial travel distance" was used to determine the travel distance traveled by the implement 30 in the field 500.

[0106] The average error per 500 fields between the travel distance determined by the work information management system 1000 and the travel distance obtained by accumulating the "partial travel distances" was 102 meters. For comparison, the average error per 500 fields was 272 meters when the total distance was calculated by multiplying each speed represented in the speed information of the input data by the time interval of one minute. In this way, the travel distance determined by the work information management system 1000 was more accurate than the travel distance determined by conventional technology.

[0107] Additionally, to confirm whether various parameters such as "contour distance" affected the accuracy of the distance traveled, we calculated the distance traveled when some of the parameters were excluded. When "contour distance" was excluded, the average error per 500 fields was 169 m, and when "speed of previous positioning position" and "distance from previous positioning position" were excluded, the average error per 500 fields was 139 m. In both cases, the average error was larger than the distance traveled when all parameters used in the verification were used, indicating that each parameter is effective for determining the distance traveled. Furthermore, when "speed of next positioning position" and "distance from next positioning position" were excluded, it was thought that similar results were obtained as when "speed of previous positioning position" and "distance from previous positioning position" were excluded. Therefore, this parameter is also thought to be effective for determining the distance traveled.

[0108] (Addendum) The work information management method, work information management system, and work information management program described in each embodiment can be described as follows.

[0109] A work information management method according to a first aspect includes: determining a contour distance from a position represented by position information of a work implement that has performed work in the field to a contour of the field; determining a distance traveled by the implement in the field based on the contour distance and the speed of the implement at the position represented by the position information; Includes.

[0110] A work information management method according to a second aspect is the work information management method according to the first aspect, Determining the contour distance comprises: determining a working direction in which the working device has moved while performing work in the field based on the position information of the working device; determining, as the contour distance, a distance from an intersection of a straight line that passes through the position represented by the position information and extends in the working direction with the contour of the field to the position represented by the position information; Includes.

[0111] A work information management method according to a third aspect is the work information management method according to the second aspect, Determining the contour distance comprises: determining, based on the work direction, two turning contour portions of the contour of the field along which the positions where the work implement turns when working in the field are aligned; determining a distance from the position represented by the position information to at least one of the distances to the two turning contour portions as the contour distance; Includes.

[0112] A work information management method according to a fourth aspect is a work information management method according to any one of the first to third aspects, Determining the distance traveled determining a partial movement distance of the working device between a position represented in position information whose measured time is adjacent to the first position information and the first position, based on a first speed of the working device at a first position represented in first position information of the position information, a second speed of the working device at a second position represented in second position information measured after the first position information, a straight-line distance from the first position to the second position, and the contour distance; Includes.

[0113] A work information management method according to a fifth aspect is a work information management method according to any one of the first to fourth aspects, Determining the distance traveled determining a partial movement distance of the working device between a position represented in position information whose measured time is adjacent to the first position information and the first position, based on a first speed of the working device at a first position represented in first position information of the position information, a third speed of the working device at a third position represented in third position information measured immediately before the first position information, a straight-line distance from the first position to the third position, and the contour distance; Includes.

[0114] A work information management method according to a sixth aspect is the work information management method according to the first or second aspect, Determining the distance traveled calculating a temporary movement distance by multiplying a first speed of the working implement at a first position represented by first position information among the position information by an interval from a time when the first position information was measured to a time when the next second position information was measured; correcting the temporary movement distance based on the contour distance to determine a partial movement distance of the working device from the first position to the second position represented by the second position information; Includes.

[0115] A work information management method according to a seventh aspect is the work information management method according to the sixth aspect, Determining the partial travel distance comprises: When the contour distance is less than a threshold value, the partial movement distance is determined so that a difference between the temporary movement distance and the partial movement distance monotonically decreases in a broad sense with respect to the contour distance. Includes.

[0116] A work information management method according to an eighth aspect is a work information management method according to any one of the first to fifth aspects, Determining the distance traveled determining the travel distance using a learning model that has been trained to output the travel distance from the contour distance and the speed of the working implement at the position represented by the position information; Includes.

[0117] A work information management method according to a ninth aspect is a work information management method according to any one of the first to eighth aspects, determining evaluation information using the travel distance; displaying the evaluation information; Includes.

[0118] A work information management system according to a tenth aspect includes: a contour distance determination unit that determines a contour distance from a position indicated in the position information of a work implement that has performed work in the field to the contour of the field; a travel distance determination unit that determines a travel distance traveled by the work implement in the field based on the contour distance and the speed of the work implement at the position represented by the position information; Equipped with.

[0119] A work information management program according to an eleventh aspect includes: determining a contour distance from a position represented by position information of a work implement that has performed work in the field to a contour of the field; determining a distance traveled by the implement in the field based on the contour distance and the speed of the implement at the position represented by the position information; The calculation device executes the following. [Explanation of symbols]

[0120] 1, 2: Storage medium 20: Network 30: Work equipment 100: Work information management device 110: Input / output device 120: Arithmetic device 130: Communication equipment 140: Storage device 150: Data storage unit 160: Contour distance determination unit 170: Movement distance determination unit 180: Learning Department 190: Output section 200: Terminal 210: Input / output device 220: Arithmetic device 230: Communication equipment 240: Storage device 250:Display section 400: Field data 410: Model data 420: Work Information Management Program 430: Display program 500: Field 510: Contour 511: Turning contour part 520: Center point 600: Travel route 601: Straight path 602: Turning path 610: Short-term positioning 620: Long-term positioning 650: Contour distance 655: Intersection 660:Partial movement distance 700: Direction 710: Center line 1000: Work information management system

Claims

1. determining a contour distance from a position represented by position information of a work implement that has performed work in the field to a contour of the field; determining a distance traveled by the implement in the field based on the contour distance and the speed of the implement at the position represented by the position information; A work information management method including:

2. Determining the contour distance comprises: determining a working direction in which the working device has moved while performing work in the field based on the position information of the working device; determining, as the contour distance, a distance from an intersection of a straight line that passes through the position represented by the position information and extends in the working direction with the contour of the field to the position represented by the position information; The work information management method according to claim 1 , further comprising:

3. Determining the contour distance comprises: determining, based on the work direction, two turning contour portions of the contour of the field along which positions where the work implement turns when working in the field are aligned; determining a distance from the position represented by the position information to at least one of the distances to the two turning contour portions as the contour distance; The work information management method according to claim 2, further comprising:

4. Determining the distance traveled determining a partial movement distance of the working device between a position represented in position information whose measured time is adjacent to the first position information and the first position, based on a first speed of the working device at a first position represented in first position information of the position information, a second speed of the working device at a second position represented in second position information measured after the first position information, a straight-line distance from the first position to the second position, and the contour distance; The work information management method according to claim 1 , further comprising:

5. Determining the distance traveled determining a partial movement distance of the working device between a position represented in position information whose measured time is adjacent to the first position information and the first position, based on a first speed of the working device at a first position represented in first position information of the position information, a third speed of the working device at a third position represented in third position information measured immediately before the first position information, a straight-line distance from the first position to the third position, and the contour distance; The work information management method according to claim 1 , further comprising:

6. Determining the distance traveled calculating a temporary movement distance by multiplying a first speed of the working implement at a first position represented by first position information among the position information by an interval from a time when the first position information was measured to a time when the next second position information was measured; correcting the temporary movement distance based on the contour distance to determine a partial movement distance of the working device from the first position to a second position represented by the second position information; The work information management method according to claim 1 or 2, further comprising:

7. Determining the partial travel distance comprises: When the contour distance is less than a threshold value, the partial movement distance is determined so that a difference between the temporary movement distance and the partial movement distance monotonically decreases in a broad sense with respect to the contour distance. The work information management method according to claim 6, further comprising:

8. Determining the distance traveled determining the travel distance using a learning model that has been trained to output the travel distance from the contour distance and the speed of the working implement at the position represented by the position information; The work information management method according to claim 1 , further comprising:

9. determining evaluation information using the travel distance; displaying the evaluation information; The work information management method according to claim 1 , further comprising:

10. a contour distance determination unit that determines a contour distance from a position indicated in the position information of a work implement that has performed work in the field to the contour of the field; a travel distance determination unit that determines a travel distance traveled by the work implement in the field based on the contour distance and the speed of the work implement at the position represented by the position information; A work information management system comprising:

11. determining a contour distance from a position represented by position information of a work implement that has performed work in the field to a contour of the field; determining a distance traveled by the implement in the field based on the contour distance and the speed of the implement at the position represented by the position information; A work information management program that causes a computing device to execute the above.

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