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

Abstract

To provide highly accurate ridge information.SOLUTION: The farm field information management method includes determining, in ridge information indicating positions of a plurality of ridges formed in a farm field, whether or not the positions of the plurality of ridges indicated by the ridge information include an offset error based on a statistic of an inter-ridge distance between the plurality of ridges, correcting, for at least one target ridge included in the plurality of ridges, the position of the target ridge indicated by the ridge information in a direction in which, of two ridges adjacent to the target ridge, a ridge having a longer inter-ridge distance from the target ridge is located, and outputting the corrected ridge information.SELECTED DRAWING: Figure 9B

Description

[Technical Field]

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

[0002] As the information-based approach to agriculture advances in recent years, there is a growing need to manage information on ridges formed in fields for various purposes, such as yield prediction and field information management.

[0003] In this regard, Patent Document 1 discloses a technology for detecting the section in which a work implement was working along a ridge in a field, based on the positioning results of the work implement that was working along the ridge. [Prior art documents] [Patent documents]

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

[0005] The inventors have found that when determining the position of a ridge based on the positioning results of a working device using conventional technology such as Patent Document 1, a specific error (also called an offset error) may occur in the position of the ridge depending on each working device whose position is being measured, for example, due to a deviation in the position where the positioning device is provided on the housing of the working device. In other words, when ridge information is generated using conventional technology, the accuracy of the ridge position indicated by the ridge information may be low.

[0006] In view of the above circumstances, one of the objects of the present disclosure is to provide highly accurate ridge information. 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] The field information management method according to the embodiment includes determining whether the positions of multiple ridges (R, Ra_1 to Ra_n) indicated by the ridge information (D2) indicating the positions of multiple ridges (R, Ra_1 to Ra_n) formed in a field (F) contain an offset error based on statistics of the inter-ridge distances (RD1, RD2) of the multiple ridges (R, Ra_1 to Ra_n); and, if it is determined that an offset error is contained, correcting the position of a target ridge indicated by the ridge information (D2) for at least one target ridge included in the multiple ridges (R, Ra_1 to Ra_n) in the direction of the ridge with the longer inter-ridge distance from the target ridge, of two ridges adjacent to the target ridge, and outputting the corrected ridge information (D2).

[0009] The farm field information management system (1) according to the embodiment includes an offset determination unit (130) that determines whether or not the positions of the plurality of ridges (R, Ra_1 to Ra_n) indicated by the ridge information (D2) that indicates the positions of the plurality of ridges (R, Ra_1 to Ra_n) formed in the farm field (F) include an offset error based on statistics of the inter-ridge distances (RD1, RD2) of the plurality of ridges (R, Ra_1 to Ra_n); The system is equipped with a correction unit (150) that corrects the position of the target ridge indicated by the ridge information (D2) for at least one target ridge included in the plurality of ridges (R, Ra_1 to Ra_n) in the direction of the ridge that has the longer inter-ridge distance from the target ridge, out of two ridges adjacent to the target ridge, when the offset discrimination unit (130) determines that an offset error is included, and an information output unit (160) that outputs the ridge information (D2) corrected by the correction unit (150).

[0010] The programs (P1, P2, P3) according to the embodiments cause a computer (14, 24, 34) to perform the following steps: determine whether the positions of multiple ridges (R, Ra_1 to Ra_n) indicated by the ridge information (D2) indicating the positions of multiple ridges (R, Ra_1 to Ra_n) formed in a field (F) contain an offset error based on statistics of the inter-ridge distances (RD1, RD2) of the multiple ridges (R, Ra_1 to Ra_n); and, if it is determined that an offset error is contained, correct the position of a target ridge indicated by the ridge information (D2) for at least one target ridge included in the multiple ridges (R, Ra_1 to Ra_n) in the direction of the ridge with the longer inter-ridge distance from the target ridge, of the two ridges adjacent to the target ridge; and output the corrected ridge information (D2). [Effects of the Invention]

[0011] According to the above embodiment, highly accurate ridge information can be provided. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a block diagram showing the configuration of a farm field information management system according to an embodiment. [Figure 2] FIG. 10 is a conceptual diagram for explaining an offset error according to an embodiment. [Figure 3] FIG. 10 is a conceptual diagram for explaining an offset error according to an embodiment. [Figure 4] 1 is a block diagram showing the configuration of a farm field information management device according to an embodiment. [Figure 5] FIG. 2 is a block diagram showing the configuration of a terminal device according to an embodiment. [Figure 6] 1 is a block diagram showing a configuration of a working device according to an embodiment. [Figure 7] 1 is a block diagram showing the functional configuration of a farm field information management system according to an embodiment. [Figure 8] FIG. 10 is a diagram illustrating an example of device information according to an embodiment. [Figure 9A] 1 is a flowchart showing processing performed by a farm field information management system according to an embodiment. [Figure 9B] 1 is a flowchart showing processing performed by a farm field information management system according to an embodiment. [Figure 10] FIG. 10 is a diagram illustrating an example of ridge information according to the embodiment. [Figure 11] FIG. 1 is a conceptual diagram for explaining the processing performed by the farm management system according to an embodiment. [Figure 12] FIG. 2 is a diagram illustrating an example of a screen displayed by the farm field information management system according to the embodiment. [Figure 13] FIG. 10 is a conceptual diagram for explaining an offset error according to a modified example. [Figure 14] FIG. 10 is a conceptual diagram illustrating a ridge correction process performed by the farm field information management system according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0013] (First embodiment) A farm field information management system 1 according to this embodiment will be described with reference to the drawings. In this embodiment, as shown in FIG. 1, the farm field information management system 1 includes a farm field information management device 10, a terminal device 20, and one or more work devices 30. Ridges R that extend linearly and substantially parallel to each other are formed in each of one or more farm fields F. The farm field information management system 1 manages ridge information indicating one or more ridges R for each of one or more farm fields F. The farm field information management device 10 is communicatively connected to one or more terminal devices 20 and work devices 30 via a network NT. Examples of the network NT include the Internet and an intranet.

[0014] The implement 30 may be, for example, agricultural machinery capable of working in a field F, such as a tractor equipped with an agricultural implement such as a ridger, planter, or fertilizer applicator, or a transplanter or harvester. One or more implements 30 may each perform agricultural work in one or more fields F, with a predetermined working width perpendicular to the direction of travel. The implement 30 receives positioning signals from a positioning satellite GP and continuously measures its own position based on the positioning signals. Hereinafter, the position measured by the implement 30 may be referred to as the measured position, the time when the measured position is measured may be referred to as the positioning time, and information indicating the measured position may be referred to as positioning information.

[0015] The farm field information management system 1 of this embodiment manages ridge information indicating the geographical characteristics (e.g., center position, end point positions, extension length, extension direction, width, etc.) of multiple ridges R formed in a farm field F. Generally, ridge information is generated by ridge detection based on the positioning position of a work implement 30 that has worked in the farm field F. For positioning, a positioning device (e.g., antenna PA in Figure 6) for positioning the work implement 30 is provided on the housing of the work implement 30. A positioning point P, which serves as the reference for positioning, can be set at the center of the location where the positioning device is provided, as shown in Figure 2.

[0016] The working device 30 also includes a working area WA (for example, a shaping plate of a ridge former when the working device 30 forms ridges) that performs actual work on the ridge R at a predetermined working width W. In FIG. 2, for example, a working reference point WP of the working device 30 is defined at the center of the working area WA. When performing work, the working device 30 may move along a trajectory such that the working reference point WP is located on the center line of the ridge R.

[0017] When positioning the working implement 30, for example, the location where a positioning device is fixed to the housing of the working implement 30 becomes the positioning point P where the position is actually measured. Ideally, the positioning point P and the working reference point WP are located on the vehicle body center line CL connecting the center of the front wheel axle FA and the center of the rear wheel axle RA of the working implement 30. In this case, the working reference line SL that passes through the working reference point WP and extends in the fore-and-aft direction of the working implement 30 coincides with the vehicle body center line CL. However, as shown in FIG. 2 , there may be a predetermined distance (offset distance OD) in the axial direction perpendicular to the vehicle body center line CL between the vehicle body center line CL and the working reference line SL and the positioning point P due to physical conditions of the working implement 30 or positional deviations during installation of the positioning device.

[0018] In the example of Fig. 2, the positioning point P is spaced an offset distance OD from the working reference line SL and the vehicle body center line CL due to an alignment error when the antenna PA is attached or physical limitations such as the shape of the vehicle body. In this way, the positioning point P may be located at a position spaced an offset distance OD from the vehicle body center line CL and the working reference line SL due to physical limitations, for example, when installing a positioning device. This distance between the positioning point P and the vehicle body center line CL and the working reference line SL is sometimes referred to as an offset deviation of the positioning point P. Cases where the vehicle body center line CL and the working reference line SL are spaced apart will be described later.

[0019] As shown in FIG. 3, the field F has multiple ridges R, including ridges R_1, R_2, R_3, ..., R_n, arranged at equal intervals and extending in the same direction. When performing work in the field F, the work implement 30 may perform work by aligning the work reference point WP with the center of the width of the ridge R and moving in the direction indicated by the arrow, in which the ridge R extends. In this embodiment, the work implement 30 performs work by moving alternately in opposite directions across multiple ridges R in the order of their geographical adjacency, such as ridges R_1, R_2, R_3, ... In FIGS. 3, 13, and 14, the work reference point WP of the work implement 30 is indicated by a white circle, the positioning point P is indicated by a black circle, and the vehicle center line CL is indicated by a dotted line.

[0020] When the working implement 30 is positioned while working in a field F as shown in Figure 3, the offset deviation results in the position obtained as the measured position being a position that is an offset distance OD away from the center of the ridge R in a direction perpendicular to the vehicle center line CL of the working implement 30. When ridge detection is performed based on this measured position, the ridges are detected at positions that are shifted by the offset distance OD to the left or right in the direction in which the ridges R extend relative to the actual ridges R_1 to R_n. Hereinafter, the ridges detected by ridge detection may be referred to as detected ridges Ra to distinguish them from the actual ridges R formed in the field. In the example of Figure 3, detected ridges Ra_1 to Ra_n of field F are defined as detected ridges Ra corresponding to ridges R_1 to R_n formed in field F.

[0021] In addition to general errors such as positioning errors and errors in the position of ridge R that occur when forming ridge R, offset deviation may cause the measured position, the detected position of ridge R, or the furrow distance to differ from the actual position of the working device 30, the position of ridge R, or the furrow distance. In this case, the measured position, the detected position of ridge R, or the furrow distance may contain an offset error. When the positions of detected ridges Ra_1 to Ra_n in the field F contain an offset error and other errors are sufficiently small, the furrow distance between detected ridge Ra_k and adjacent detected ridge Ra_k+1 (k = 1, 2, ..., n) will be equal to the furrow distance RD1, which is twice the offset distance OD shorter than the actual furrow distance RD, or the furrow distance RD2, which is twice the offset distance OD longer than the furrow distance RD.

[0022] If the position of the detected ridge Ra indicated by the ridge information contains an offset error, it may cause problems when making farming decisions based on the position of the detected ridge Ra. Furthermore, if the positions of detected ridges Ra_1 to Ra_n containing an offset error are displayed, users viewing the information may feel suspicious. To address this issue, the farm field information management system 1 corrects the position of the detected ridge Ra indicated by the ridge information based on the inter-ridge distance between detected ridges Ra_1 to Ra_n so as to reduce the offset error. This allows the farm field information management system 1 to provide highly accurate ridge information.

[0023] The configuration of the farm field information management system 1 will be described. As shown in Fig. 4, the farm field information management device 10 included in the farm field information management system 1 includes an input / output device 12, a calculation device 14, a communication device 16, and a storage device 18. The farm field information management device 10 is, for example, a computer with server functionality. Note that the functions of the farm field information management device 10 may be provided in the cloud via a network NT.

[0024] Information for the arithmetic device 14 to execute processing is input to the input / output device 12. The input / output device 12 also outputs the results of processing executed by the arithmetic device 14. The input / output device 12 includes various input devices and output devices, such as a keyboard, a mouse, a microphone, a display, a speaker, and a touch panel.

[0025] The communication device 16 is communicatively connected to the network NT and communicates with devices external to the farm land information management device 10 (e.g., the terminal device 20 and the work device 30) via the network NT. The communication device 16 transfers information acquired from the external devices to the calculation device 14. The communication device 16 also transfers information generated by the calculation device 14 to the external devices. The communication device 16 includes various interface devices with data communication functions, such as a network interface card (NIC) and a universal serial bus (USB).

[0026] The storage device 18 stores a program P1 including various instructions for the farm field information management device 10 of this embodiment to execute the processes described below. The storage device 18 is used as a non-transitory tangible storage medium for storing these instructions. The program P1 may be provided as a computer program product recorded on a computer-readable storage medium M1. The storage medium M1 may be a portable physical medium such as a compact disc (CD), a digital versatile disc (DVD), or a universal serial bus (USB) memory. Alternatively, the storage medium M1 may be a storage device of an external server that stores the program P1. In this case, the program P1 may be provided as a computer program product that can be downloaded from the server.

[0027] The arithmetic unit 14 reads and executes a program P1 including instructions for executing at least a part of the processing described below from the storage device 18. The arithmetic unit 14 includes, for example, a central processing unit (CPU).

[0028] 5, the terminal device 20 included in the farm land information management system 1 includes an input / output device 22, a computing device 24, a communication device 26, and a storage device 28. The terminal device 20 is, for example, a mobile device such as a tablet or a smartphone. The terminal device 20 may also be a stationary personal computer or a notebook computer.

[0029] Information for the arithmetic device 24 to execute processing is input to the input / output device 22. The input / output device 22 also outputs the results of processing executed by the arithmetic device 24. The input / output device 22 includes various input devices and output devices. The input / output device 22 also includes a touch panel or display that functions as a screen S on which the position of the detected ridge Ra is displayed. In cases where the terminal device 20 is a personal computer, the input / output device 22 may include a keyboard, a mouse, a microphone, etc.

[0030] The communication device 26 is communicatively connected to the network NT and communicates with devices external to the terminal device 20 (for example, the farm field information management device 10 and the work device 30) via the network NT. The communication device 26 transfers information acquired from the external devices to the calculation device 24. The communication device 26 also transfers information generated by the calculation device 24 to the external devices. The communication device 26 includes various interface devices with communication functions, such as transceivers used for wireless communication such as a wireless LAN (Local Area Network) or a cellular network.

[0031] The storage device 28 stores a program P2 including various instructions for the farm field information management system 1 of this embodiment to execute the processes described below. The storage device 28 is used as a non-transitory storage medium for storing these instructions. The program P2 may be provided as a computer program product recorded on a computer-readable storage medium M2. The storage medium M2 may be a portable physical medium such as a CD, DVD, or USB memory. Alternatively, the storage medium M2 may be a storage device of an external server that stores the program P2. In this case, the program P2 may be provided as a computer program product that can be downloaded from the server.

[0032] The arithmetic unit 24 reads and executes a program P2 including instructions for executing at least a part of the processing described below from the storage device 28. For example, the arithmetic unit 24 includes a central processing unit (CPU) and the like.

[0033] As shown in FIG. 6, the maintenance device 30 includes an operating device 31, an input / output device 32, a calculation device 34, a communication device 36, a storage device 38, and a positioning device 39.

[0034] The operating device 31 includes, for example, machinery for carrying out work to be performed in the field F, such as a ridge maker, a planter, or a fertilizer applicator. The operating device 31 includes, for example, a working area WA that is located directly above the ridge R during work and is involved in the work within the range of the working width W. For example, if the operating device 31 is a ridge maker, the working area WA is a ridge forming rotary that forms ridges of the working width W; if the operating device 31 is a planter, the working area WA is a seed inlet for injecting seeds into the area of ​​the working width W or a transplanting section for transplanting seedlings; and if the operating device is a fertilizer applicator, the working area WA is a fertilizer inlet that injects fertilizer into the area of ​​the working width W.

[0035] Information for executing processing by the arithmetic unit 34 is input to the input / output device 32. The input / output device 32 also outputs the results of processing executed by the arithmetic unit 34. The input / output device 32 may also include various input and output devices, such as a speaker, a touch panel, a keyboard, a mouse, a microphone, and a display.

[0036] The communication device 36 is communicatively connected to the network NT and communicates with devices external to the work device 30 (for example, the farm field information management device 10) via the network NT. The communication device 36 transfers information acquired from the farm field information management device 10 to the calculation device 34. The communication device 36 also transfers information generated by the calculation device 34 to the farm field information management device 10. The communication device 36 includes various interface devices with wireless communication capabilities, such as a transceiver for a cellular network or a wireless LAN.

[0037] The storage device 38 stores a program P3 including various data and instructions for the farm field information management system 1 of this embodiment to execute the processes described below. The storage device 38 is used as a non-transitory storage medium for storing this data and instructions. The program P3 may be provided as a computer program product recorded on a computer-readable storage medium M3. The storage medium M3 may be a portable physical medium such as a CD, DVD, or USB memory. Alternatively, the storage medium M3 may be a storage device of an external server that stores the program P3. In this case, the program P3 may be provided as a computer program product that can be downloaded from the server.

[0038] The positioning device 39 continuously measures the position of the work device 30 and the current time. The positioning device 39 includes, for example, a GNSS (Global Navigation Satellite System) receiver, receives positioning signals from positioning satellites GP, and continuously measures the position and positioning time of the work device 30. The positioning device 39 includes, for example, an antenna PA for receiving the positioning signals. The positioning device 39 actually measures the position of the antenna PA.

[0039] Next, the functions of the farm land information management system 1 will be described with reference to Fig. 7. The working device 30 realizes the functions of the sampling unit 310 and the output unit 320 in Fig. 7 by the calculation device 34 in Fig. 6 executing the program P3.

[0040] As will be described later, the sampling unit 310 of the work device 30 continuously measures the position and time of the work device 30 using the positioning device 39 at a predetermined timing (e.g., every 1 second) while the power source (e.g., engine) of the work device 30 is running.

[0041] The output unit 320 of the work device 30 uses the communication device 36 to transmit positioning information indicating the position and time of positioning measured by the sampling unit 310 to the farm field information management device 10. The positioning information output by the output unit 320 may include information (e.g., an identifier) ​​that identifies the work device 30.

[0042] The field information management device 10 of the field information management system 1 realizes the functions of an information acquisition unit 110, a furrow spacing determination unit 120, an offset discrimination unit 130, an offset amount determination unit 140, a correction unit 150, an information output unit 160, and an information storage unit 170 by the calculation device 14 of Figure 3 executing the program P1.

[0043] The information storage unit 170 stores information acquired or generated by the information acquisition unit 110, the furrow spacing determination unit 120, the offset discrimination unit 130, the offset amount determination unit 140, and the correction unit 150. The information storage unit 170 also provides the stored information to the furrow spacing determination unit 120, the offset discrimination unit 130, the offset amount determination unit 140, the correction unit 150, and the information output unit 160. The information storage unit 170 stores, for example, field information D1 and device information D3 before executing the processing described below.

[0044] The field information D1 stores information indicating the geographical features of one or more fields F that are the processing targets of the field information management system 1. As an example, the field information D1 stores location information indicating the geographical range of the field F, for example, in association with an identifier unique to the field F. Furthermore, the field information D1 may store a map image of the geographical range of each field F.

[0045] The device information D3 stores information indicating the state of the offset error when the position of one or more work devices 30 that have previously performed work in one or more fields F indicated by the field information D1 was measured. In the example of FIG. 8, the device information D3 stores an identifier of the work device 30 ("device ID"), information indicating the direction of the offset error of the work device 30 ("offset direction"), and information indicating the amount of the offset error ("offset amount"), in association with each other.

[0046] 8 indicates whether the positioning point P of the working implement 30 is displaced to the left or right with respect to the traveling direction of the working implement 30 when the positioning point P is displaced from the working reference line SL. Also, the "offset amount" may store a numerical value indicating the offset distance OD in FIG. 2 as the amount by which the positioning point P of the working implement 30 is displaced from the working reference line SL and the vehicle body center line CL.

[0047] Returning to Figure 7, as will be described later, the information acquisition unit 110 acquires at least a portion of the information (e.g., field information D1 and device information D3) necessary for the processing performed by the farm field information management device 10 from the information storage unit 170 or an external device (e.g., the terminal device 20 or the work device 30). Alternatively, the information acquisition unit 110 acquires at least a portion of the information necessary for the processing described later based on the information acquired from the information storage unit 170 or the external device. The information acquisition unit 110 may acquire information indicating the position of the detected ridge Ra (e.g., ridge information D2 in Figure 8) based on positioning information acquired from the work device 30, for example.

[0048] As will be described later, the furrow spacing determination unit 120 determines a plurality of furrow spacings of the detected furrows Ra indicated by the ridge information D2.

[0049] As will be described later, the offset discriminator 130 determines whether or not the position of the detected ridge Ra indicated by the ridge information D2 includes an offset error based on the inter-ridge distance of the detected ridge Ra.

[0050] As will be described later, the offset amount determination unit 140 determines the offset amount, which is the magnitude of the offset error, based on the inter-furrow distance of the detected furrows Ra.

[0051] The correction unit 150 corrects the position of the ridge indicated by the ridge information D2 based on the amount of offset error determined by the offset amount determination unit 140, as will be described later.

[0052] As will be described later, the information output unit 160 outputs to an external device (e.g., terminal device 20) output information based on the ridge information D2 corrected by the correction unit 150. Alternatively, the information output unit 160 outputs the output information based on the ridge information D2 corrected by the correction unit 150, for example, by displaying it using the input / output device 12.

[0053] As shown in FIG. 7, for example, the arithmetic unit 24 of the terminal device 20 may implement the function of the display unit 210 by executing a program P2.

[0054] The display unit 210 displays an image indicating the corrected position of the ridge R to the user using the input / output device 12, as will be described later.

[0055] (Operation of the farm information management system) The farm field information management system 1, using the above-described functional configuration, executes the processes shown in Figures 9A and 9B to correct the positions of the ridges established in the field F indicated by the ridge information D2. For example, the farm field information management system 1 starts the processes shown in Figures 9A and 9B when the power source of the working device 30 is activated.

[0056] 9A, first, in step S1001, the sampling unit 310 of the maintenance device 30 measures the position of the maintenance device 30. For example, using the positioning device 39, the sampling unit 310 measures the measured position and the measured time of the maintenance device 30 when the maintenance device 30 was performing work along the ridge R at each predetermined sampling period (for example, every second), and generates positioning information indicating the measured position and the measured time.

[0057] Next, in step S1001a, the output unit 320 of the working device 30 outputs the positioning information of the working device 30. For example, when the power source of the working device 30 transitions to the key-off state, the output unit 320 uses the communication device 36 to collectively output to the farm field information management device 10 the multiple pieces of positioning information generated by the sampling unit 310 during the key-on state. Note that the output unit 320 may output the positioning information every time the sampling unit 310 generates the positioning information.

[0058] Next, in step S1002, the information acquisition unit 110 of the farm field information management device 10 acquires ridge information indicating the position of the ridge R. For example, the information acquisition unit 110 receives the positioning information output in step S1001a when working along the ridge R, performs ridge detection based on the positioning information, and generates ridge information D2 shown in FIG.

[0059] For example, the information acquisition unit 110 extracts, from the position information of the working device 30, position information that indicates the range of the field F indicated by the field information D1. Then, based on the extracted position information, the information acquisition unit 110 determines multiple sections in which the working device 30 performed work along a straight line within a predetermined speed range, using any known method such as that described in Japanese Patent No. 5821970. Next, the information acquisition unit 110 may determine the start point and end point of a section corresponding to one of the determined sections as the two end points of a single detected ridge Ra. Then, the information acquisition unit 110 may determine the positions of the detected ridges Ra corresponding to multiple ridges R formed in the field F indicated by the field information D1, and generate ridge information D2 that indicates the positions of the detected ridges Ra.

[0060] As shown in Figure 10, for example, the ridge information D2 stores information indicating the geographical location of the detected ridge Ra that has been determined to be in one or more fields F as a result of ridge detection. In the example of Figure 10, the ridge information D2 stores an identifier of the detected ridge Ra ("ridge ID"), information indicating the field F in which the ridge R is formed ("field"), and information indicating the geographical location and characteristics of the ridge R ("coordinates") in association with each other.

[0061] In the example of Figure 10, the "coordinates" of the ridge information D2 indicate the coordinates (e.g., latitude and longitude) of the two end points of the detected ridge Ra. Note that the ridge information D2 may be different from the "coordinates" of Figure 10 as long as it is information that can define the detected ridge Ra. The ridge information D2 may store information indicating the coordinates of the center, length, and direction of the detected ridge Ra instead of the two end points.

[0062] Next, in step S1004 of Fig. 9A, the information acquisition unit 110 identifies the work device 30 that performed work in the field F. For example, the information acquisition unit 110 acquires the identifier of the work device 30 included in the positioning information received from the work device 30 as information for identifying the work device 30, and identifies the work device 30 based on this information.

[0063] Next, in step S1006, the information acquisition unit 110 determines whether information about the offset error of the task implement 30 that performed work in the field F has already been registered. For example, if information about the offset error related to the task implement 30 identified in step S1004 is stored in the device information D3, the information acquisition unit 110 determines that the task implement 30 has already been registered (step S1006: YES). In this case, step S1016 in FIG. 9B is then executed. On the other hand, if information about the offset error related to the task implement 30 identified in step S1004 is not stored in the device information D3, the information acquisition unit 110 determines that the task implement 30 has not already been registered (step S1006: NO in FIG. 9A). In this case, step S1008 is then executed.

[0064] In step S1008, the furrow spacing determination unit 120 determines the furrow distance of the detected furrow Ra. For example, the furrow spacing determination unit 120 determines the distance to the geographically adjacent detected ridge Ra_k+1 for the detected ridge Ra_k (k = 1, 2, ..., n) in field F based on the "coordinates" of the ridge information D2. If the detected ridge Ra_k and the adjacent detected ridge Ra_k+1 are line segments that extend parallel to each other, the furrow spacing determination unit 120 determines the distance between the line segments as the furrow distance.

[0065] In addition, when the detected ridges Ra_k and Ra_k+1 are not parallel, the furrow spacing determination unit 120 may determine a representative distance between the detected ridges Ra_k and Ra_k+1 as the furrow spacing. As an example, when the detected ridges Ra_k and Ra_k+1 are both line segments, the furrow spacing determination unit 120 may determine the furrow spacing based on the distance between the two closest end points (first distance) of the four end points of both line segments and the distance between the remaining two end points (second distance). In this case, the furrow spacing determination unit 120 may determine, for example, the average value of the first distance and the second distance, the minimum value of both, or the maximum value of both as the furrow spacing.

[0066] Next, in step S1010, the offset discriminator 130 determines an offset index value. For example, the offset discriminator 130 may determine, as the offset index value, a statistic calculated from the row-to-row distance determined in step S1008 using a method described below.

[0067] For example, among the errors that may be included in the furrow distance, components other than the offset error, such as errors in the accuracy of the GNSS during positioning and errors due to the actual furrow distance of furrow R differing from the intended furrow distance RD, are collectively considered to be Gaussian noise, or at least noise with a single probability density peak (e.g., noise with a peak at 0). Therefore, if the furrow distance determined in step S1008 does not include an offset error, the histogram of the furrow distance may have a unimodal Gaussian distribution. On the other hand, as described in FIGS. 2 and 3, the offset error takes two values: +2 and −2 times the offset distance OD. Therefore, if the furrow distance determined in step S1008 of FIG. 9A includes an offset error, the histogram of the furrow distance will exhibit a two-peak distribution, as shown in FIG. 11, in which two Gaussian distributions with different mean values ​​are superimposed. Therefore, the offset discriminator 130 determines, as the offset index value, a statistical value that varies depending on the likelihood that the histogram of the inter-furrow distance is unimodal and the likelihood that it is bimodal or multimodal.

[0068] For example, the average value Sa (see equation (1) below) of the absolute error between the representative value Sd of the row-to-row distance (for example, the average or median of row-to-row distances RD_1 to RD_n) and each row-to-row distance RD_k approaches 0 the more unimodal the row-to-row distance histogram is, and approaches the offset distance OD when it is bimodal due to offset error. Therefore, the offset discrimination unit 130 may determine the average value Sa as the offset index value. Note that n indicates the number of ridges R formed in the field F.

number

[0069] Alternatively, the offset discriminator 130 may use the p-value obtained when a multimodal test using Silverman's test is performed on the row-to-row distance histogram as the offset index value. As an example, the more unimodal the row-to-row distance histogram is, the closer the p-value obtained when a test is performed using mode 1 will be to 1, and the closer the p-value obtained when a test is performed using mode 2 or more will be to 0. On the other hand, the more bimodal the histogram is, the closer the p-value obtained when a test is performed using mode 2 will be to 1, and the closer the p-value obtained when a test is performed using mode 1 will be to 0. Therefore, the offset discriminator 130 may determine the p-value obtained when a test is performed using mode 2 as the offset index value. Alternatively, the offset discriminator 130 may determine p2 / p1 as the offset index value, assuming that the p-value obtained when a test is performed using mode 1 is p1 and the p-value obtained when a test is performed using mode 2 is p2.

[0070] Next, in step S1012 of FIG. 9B, the offset discriminator 130 determines whether the furrow distance includes an offset error. For example, if the offset index value determined in step S1010 of FIG. 9A is equal to or greater than a threshold value determined by settings, the offset discriminator 130 determines that the furrow distance includes an offset error (step S1012 of FIG. 9B: YES). In this case, step S1014 is executed next. On the other hand, if the offset index value is less than the threshold value, the offset discriminator 130 determines that the furrow distance does not include an offset error (step S1012: NO). In this case, step S1018 is executed next.

[0071] In step S1010 of Fig. 9A, the offset discriminator 130 may determine, as the offset index value, a statistic (for example, p1 / p2, the p-value of the Silverman test described above) that increases as the likelihood of bimodal (or multimodal) distribution increases. In this case, in step S1012 of Fig. 9B, the offset discriminator 130 determines that the row-to-row distance includes an offset error if the row-to-row distance is equal to or less than a threshold value determined by the settings (step S1012 of Fig. 9B: YES).

[0072] In step S1014, the offset amount determiner 140 determines an offset amount, which is the magnitude of the offset error. For example, if the average value Sa of the absolute errors between the representative value Sd and each row-to-row distance RD_k is determined as the offset index value in step S1010 of FIG. 9A, the offset amount determiner 140 may determine the value of Sa as the offset amount. Alternatively, the offset amount determiner 140 may perform Gaussian fitting on the assumption that the row-to-row distance histogram is bimodal, determine the average values ​​μ1 and μ2 that minimize the error function, and determine half the absolute value of mean value μ1 - mean value μ2 as the offset amount.

[0073] Next, in step S1016, the correction unit 150 corrects the position of the ridges. For example, the correction unit 150 corrects the position of the detected ridges Ra so that the furrow-to-furrow distances of the detected ridges Ra that are greater than a representative value of the furrow-to-furrow distance (e.g., the average or median) are reduced, and so that the furrow spacing corresponding to furrow-to-furrow distances that are smaller than the representative value are increased. As an example, when the detected ridges Ra_1 to Ra_n are in the positional relationship shown in FIG. 3, the detected ridges Ra_2 are moved to the right so that the furrow-to-furrow distance RD2 between the detected ridges Ra_2 and Ra_3, which is wider than the representative value of the furrow-to-furrow distance (furrow-to-furrow distance RD), is reduced, and the furrow-to-furrow distance RD1 between the detected ridges Ra_3 and Ra_4, which is wider than the representative value of the furrow-to-furrow distance, is increased. In this way, the correction unit 150, in other words, translates each detected ridge Ra_k by the offset amount determined in step S1014 of Figure 9B in the direction in which the detected ridge Ra with the longer inter-ridge distance is located among the adjacent detected ridges Ra_k-1 and Ra_k+1. In this way, the correction unit 150 corrects the position of the detected ridge Ra so as to reduce the offset error contained in the position of the detected ridge Ra indicated by the ridge information D2.

[0074] In addition, if it is determined in step S1006 of Figure 9A of the processing currently executed that information about the offset error of the working device 30 has already been registered (step S1006: YES), the correction unit 150 may correct the position of the detected ridge Ra in step S1016 of Figure 9B based on the offset amount of the working device 30 stored in the ``offset amount'' of the device information D3 so as to reduce the offset error contained in the position of the detected ridge Ra indicated by the ridge information D2.

[0075] The correction unit 150 may update the "coordinates" of the ridge information D2 acquired in step S1002 of Figure 9A to indicate the position after translation for each detected ridge Ra included in the field F. Alternatively, the correction unit 150 may generate new ridge information D2 that indicates the position after translation of each detected ridge Ra, separate from the ridge information D2 acquired in step S1002 of Figure 9A.

[0076] Next, in step S1018, correction unit 150 updates device information D3. For example, correction unit 150 may store a numerical value indicating the offset amount determined in step S1014 in the corresponding row of the "offset amount" column in device information D3 of FIG. 8. Note that, if it is determined in step S1012 of FIG. 9B that the furrow distance does not include an offset error (step S1012: NO), correction unit 150 may store 0 in the "offset amount" corresponding to the task device 30. Also, if it is determined in step S1006 of FIG. 9A that the information on the task device 30 has already been registered (step S1006: YES), correction unit 150 may skip step S1018 of FIG. 9B.

[0077] The correction unit 150 may determine, as the direction of the offset error, whether the positioned position is shifted to the right or left with respect to the forward direction of the vehicle body center line CL of the working implement 30, based on the positioning information of the working implement 30. For example, the correction unit 150 determines the traveling direction of the working implement 30 while working on the detected ridge Ra_k (also referred to as the working direction for that detected ridge Ra_k) based on the positioning position and positioning time indicated by the positioning information corresponding to the detected ridge Ra_k. The correction unit 150 then determines that the positioned position is shifted in the direction of the shorter furrow distance to the adjacent detected ridge Ra_k+1 or the adjacent detected ridge Ra_k-1, out of the right and left of the determined traveling direction. The correction unit 150 may then store information indicating the direction of the determined offset error in the "offset direction" column of the determined positioned position.

[0078] Next, in step S1020, the information output unit 160 outputs output information. For example, the information output unit 160 may use the communication device 16 to output output information including ridge information D2 indicating the position of the detected ridge Ra corrected in step S1016 to the terminal device 20. The information output unit 160 may output output information that further includes a map image of the field F included in the field information D1. The information output unit 160 may also output output information that further includes the ridge information D2 before correction.

[0079] Next, in step S1022, the display unit 210 of the terminal device 20 displays the output information. For example, the display unit 210 may use the input / output device 22 to display an image by superimposing information indicating the corrected position of the detected ridge Ra on a map image of the field F included in the output information.

[0080] When the output information includes pre-correction ridge information D2, the display unit 210 may display the position of the detected ridge Ra before correction in addition to the position of the detected ridge Ra after correction, as shown in Fig. 12, for example. In the example of Fig. 12, the positions of the detected ridges Ra_1 to Ra_n before correction are displayed in the display area A1, and the positions of the detected ridges Ra_1 to Ra_n after correction are displayed in the display area A2 in a manner that allows comparison.

[0081] Furthermore, as shown in FIG. 12 , the display unit 210 may display a user interface UI that allows the user to input whether the detected ridge Ra before or after correction is correct. For example, when the user inputs an input indicating that the detected ridge Ra after correction is correct, such as by selecting “Yes” in the user interface UI, the display unit 210 transmits information indicating the user input to the farm field information management device 10. In this case, the information storage unit 170 of the farm field information management device 10 may erase the pre-correction ridge information D2. On the other hand, when the user inputs an input indicating that the detected ridge Ra before correction is correct, such as by selecting “No” in the user interface UI, the display unit 210 transmits information indicating the user input to the farm field information management device 10. In this case, the information storage unit 170 of the farm field information management device 10 may cancel the correction of the ridge information D2 performed in step S1016 of FIG. 9B and the update of the device information D3 performed in step S1018.

[0082] As described above, when the position of the detected ridge Ra indicated by the ridge information D2 contains an offset error, the farm field information management system 1 of this embodiment corrects the ridge information D2 based on the statistics of the inter-ridge distance so as to reduce the offset error contained in the position of the detected ridge Ra. Therefore, the farm field information management system 1 of this embodiment can provide highly accurate ridge information D2.

[0083] (Variation) The configurations described in the embodiments are merely examples, and the configurations can be changed as long as the functions are not impaired.

[0084] For example, one or more of the information acquisition unit 110, furrow spacing determination unit 120, offset discrimination unit 130, offset amount determination unit 140, correction unit 150, information output unit 160, and information storage unit 170 of the farm land information management device 10 may be realized in a distributed manner by two or more computers. Also, for example, one or more of the functions of the farm land information management device 10 may be included in the terminal device 20.

[0085] Furthermore, if the positioning information of the operation device 30 can be acquired from an external device (for example, an external server device that collects positioning information), the information acquisition unit 110 may acquire the operation information from this external device instead of the operation device 30. In this case, the farm land information management system 1 does not need to include the operation device 30.

[0086] The farm field information management device 10 may also include a functional unit corresponding to the display unit 210 of the terminal device 20. In this case, the functional unit corresponding to the display unit 210 may display the corrected position of the detected ridge Ra on the screen of the display device of the input / output device 12 of the farm field information management device 10 in step S1022 of FIG. 9B . In this case, the farm field information management system 1 does not need to include the terminal device 20.

[0087] In the above embodiment, a case has been described in which the working reference line SL and the vehicle body center line CL coincide with each other, and the positioning point P deviates from both lines, as shown in Fig. 2. However, the present invention is equally applicable to a case in which the positioning point P exists on the vehicle body center line CL, and the working reference line SL is separated from the vehicle body center line CL by an offset distance OD, as shown in Fig. 13. In this case, the measured position of the working implement 30 does not include an offset error, but because the working implement 30 performs work so that the working reference point WP is located on the ridge R, an offset error is included in the position of the detected ridge Ra and the furrow distance.

[0088] Furthermore, the farm field information management system 1 may perform processes different from those shown in FIGS. 9A and 9B. For example, the order of execution of some of the steps shown in FIGS. 9A and 9B may be reversed. Alternatively, for example, some processes may be omitted. For example, the processes of steps S1004 and S1006 in FIG. 9A, which correct the current ridge information D2 based on the offset amount of the implement 30 determined in the previously executed processes shown in FIGS. 9A and 9B, may be omitted. In this case, the information storage unit 170 does not need to store the implement information D3.

[0089] 9A and 9B may be modified. For example, in step S1002 of FIG. 9A, the information acquisition unit 110 may use the communication device 16 to acquire ridge information D2 indicating the position of the detected ridge Ra in the field F from an external server that provides a service for ridge detection based on the positioning information of the operation device 30. In this case, the ridge information D2 acquired from the external server may include information indicating the operation device 30 that performed work in the field F. In this modification, in step S1004, the information acquisition unit 110 acquires information indicating the operation device 30 indicated in the ridge information D2 as information indicating the operation device 30 that performed the work. In this modification, the farm field information management system 1 does not need to include an operation device 30.

[0090] In a modified example in which the ridge information D2 is acquired from an external server, the ridge information D2 may include information indicating the furrow distance of each detected ridge Ra. In this case, in step S1008 of Figure 9A, the furrow spacing determination unit 120 may acquire the furrow distance indicated by the ridge information D2 instead of calculating the furrow distance using the method of the above embodiment.

[0091] The correction unit 150 may also correct the position of the detected ridge Ra indicated by the ridge information D2 using a method different from that of the above embodiment. For example, the correction unit 150 may correct the measured position indicated by the position information acquired in step S1002 of FIG. 9A based on the offset amount determined in step S1014 of FIG. 9B. In this case, the correction unit 150 determines the working direction of the working device 30 for the detected ridge Ra_k before correction using the method described in step S1018, and determines the direction of the offset error indicated by "offset direction" in FIG. 8. The correction unit 150 then corrects the offset error for each measured position based on the direction of the offset error, the offset amount, and the traveling direction of the working device 30 at the measured position. The correction unit 150 may then perform ridge detection again based on the corrected measured position. The correction unit 150 may then store the position of the detected ridge Ra indicated by the results of the newly performed ridge detection in the corrected ridge information D2.

[0092] 9A, the offset discriminator 130 may determine two or more index values. For example, the offset discriminator 130 may determine, as the offset index value, a statistical value (e.g., Bayesian Information Criterion) indicating the result of Gaussian fitting performed on the assumption that the data is unimodal and the result of Gaussian fitting performed on the assumption that the data is bimodal. For example, the offset discriminator 130 performs Gaussian fitting on the assumption that the data is unimodal, and determines the mean value μ and standard deviation δ that minimize the error function. Then, the offset discriminator 130 calculates the Bayesian Information Criterion BIS1 of this model as a first offset index value indicating the likelihood that the data is unimodal.

[0093] Next, offset discriminator 130 performs Gaussian fitting assuming a bimodal distribution, and finds the mean values ​​μ1 and μ2, standard deviations δ1 and δ2, and confusion probability π that minimize the error function. Generally, a bimodal Gaussian distribution can be expressed by the following equation (2), where μ1 and δ1 are the mean value and standard deviation of the first peak, μ2 and δ2 are the mean value and standard deviation of the second peak, and π is the confusion probability, and the Gaussian distribution function is φ(x|μ, δ^2).

number

[0094] The offset discriminator 130 may calculate the mean values ​​μ1 and μ2, the standard deviations δ1 and δ2, and the confusion probability π that minimize the error function. Then, the offset discriminator 130 calculates the Bayesian information criterion BIS2 of this model as a second offset index value that indicates the likelihood of being bimodal. Note that the offset discriminator 130 may approximately treat the confusion probability π as a constant of 0.5.

[0095] In a modified example in which two or more offset index values ​​are determined, in step S1012 of FIG. 9B, the offset discriminator 130 may determine whether an offset error is included based on the results of comparing multiple offset index values. For example, the offset discriminator 130 may compare a unimodal Bayesian information criterion (BIS1) with a bimodal Bayesian information criterion (BIS2) to determine whether an offset error is included. Generally, the smaller the value of the BI, the higher the accuracy of the model. Therefore, if BIS2 is smaller, the offset discriminator 130 determines that the row-to-row distance includes an offset error (step S1012: YES in FIG. 9B). On the other hand, if BIS1 is smaller, the offset discriminator 130 determines that the row-to-row distance does not include an offset error (step S1012: NO).

[0096] The present invention is also applicable when a ridge R includes multiple line segments extending in different directions, as shown in FIG. 14, for example. In this case, in step S1008 of FIG. 9A, the furrow spacing determination unit 120 may determine the furrow distance between the detected ridge Ra_k and the adjacent detected ridge Ra_k+1 using any method. For example, the furrow spacing determination unit 120 may extend perpendicular lines from multiple points on the line segments constituting the detected ridge Ra_k to the detected ridge Ra_k+1, and determine the furrow distance based on multiple intersection distances until the line segments intersect with the detected ridge Ra_k+1. For example, the furrow spacing determination unit 120 may determine the median or average of the multiple intersection distances as the furrow distance between the detected ridge Ra_k and the detected ridge Ra_k+1. The furrow spacing determination unit 120 may also determine the shortest distance between any point on the detected furrow Ra_k and any point on the detected furrow Ra_k+1 as the furrow spacing.

[0097] In a modified example in which the ridge R includes multiple line segments, in step S1016 of FIG. 9B, the correction unit 150 may correct the position of the detected ridge Ra using any known method for generating an offset line of multiple continuous line segments (broken lines). For example, when multiple line segments constituting the detected ridge Ra are translated, if line segments that should be connected at corner points intersect or are not connected, the correction unit 150 may move the position of the detected ridge Ra indicated by the ridge information D2 by stretching or shortening the line segments so that the line segments are connected. Note that translating a detected ridge Ra consisting of a single line and moving a detected ridge Ra consisting of multiple line segments using the above-mentioned method for generating an offset line are sometimes collectively referred to as offset movement.

[0098] 9B, the correction unit 150 may also correct the position of the detected ridges Ra indicated by the ridge information D2 using any other known method. As an example, the correction unit 150 may translate the detected ridges Ra so that the inter-ridge distance of all detected ridges Ra matches the representative value of the inter-ridge distance. In this case, since it is not necessary to determine an offset amount to move the detected ridges Ra, step S1014 may be omitted.

[0099] Furthermore, the farm field information management system 1 can improve the accuracy of the ridge information D2 by correcting the position of at least one of the detected ridges Ra among the positions of detected ridges Ra_1 to Ra_n indicated by the ridge information D2. In other words, in step S1016 of Figure 9B, the correction unit 150 may correct the position of one or more target ridges (e.g., detected ridge Ra_k) among the multiple detected ridges Ra that are to be corrected, in the direction of the detected ridge Ra that is located at the longer ridge-to-ridge distance from the target ridge among two ridges adjacent to the target ridge (e.g., detected ridge Ra_k-1 and detected ridge Ra_k+1).

[0100] Furthermore, when the inter-furrow distance of the detected ridges Ra in the field F indicated by the ridge information D2 includes an offset error, the farm field information management system 1 may display information about the offset error included in the measured position of the implement 30 that performed work in the field F in a manner that can be recognized by the user. For example, when the offset determination unit 130 determines in step S1012 of FIG. 9B that an offset error is included (step S1012: YES), in step S1020, the information output unit 160 of the farm field information management device 10 may output output information including deviation information indicating the offset error included in the measured position of the implement 30. The deviation information may include, for example, the identifier of the implement 30 included in the positioning information acquired in step S1002 of FIG. 9A and tag information indicating that the measured position of the implement 30 includes an offset error. In addition, the deviation information may include information indicating the offset amount of the work device 30 (for example, "offset amount" in the device information D3 in FIG. 8) and information indicating the direction of the offset error (for example, "offset direction" in the device information D3 in FIG. 8).

[0101] If the output information includes deviation information, in step S1022 of FIG. 9B , the display unit 210 of the terminal device 20 may display information related to the offset error included in the positioned position of the maintenance device 30 to the user based on the deviation information. The information related to the offset error displayed by the display unit 210 may include, for example, error content information indicating the content of the offset error, or prompting information that prompts the user to correct the position of the positioning device (e.g., antenna PA in FIG. 6 ) of the maintenance device 30. The display unit 210 may display, as the error content information, a character string (or symbol) such as "The positioned position of the maintenance device 30 with identifier ### may be deviated by 30 cm to the right of the traveling direction," which indicates to the user that the positioned position of the maintenance device 30 is deviated, as well as the amount and direction of the offset error. The display unit 210 may also display, as prompting information to correct the position of the positioning device of the working device 30, text (or symbols) indicating to the user the working device 30, the prompt to correct the position of the positioning device of the working device 30, and the amount and direction of the positional deviation, such as, "The position of the positioning antenna of the working device 30 with identifier ### may be shifted 30 cm to the right of the direction of travel. Please move the positioning antenna." The display unit 210 may also display, as prompting information, text (or symbols) prompting the user to move the position of the positioning device so that it aligns with the vehicle body center line CL or the work reference line SL, such as, "The position of the positioning antenna of the working device 30 with identifier ### may be shifted 30 cm to the right of the center of the vehicle body or the center of the operating device. Please move the positioning antenna to the center of the vehicle body or the center of the operating device." The device that displays information about the offset error may be different from the terminal device 20 that displays a screen showing the corrected position of the detected furrow Ra, as shown in FIG. 12. In this case, for example, in step S1020 of Figure 9B, the information output unit 160 of the field information management device 10 outputs output information including the corrected ridge information D2 to the first terminal device 20, and outputs deviation information to the second terminal device 20.

[0102] (Addendum) The farm field information management method, farm field information management system, and program described in each embodiment can be described as follows.

[0103] A farm field information management method according to a first aspect includes: In ridge information indicating the positions of a plurality of ridges formed in a field, determining whether or not the positions of the plurality of ridges indicated by the ridge information include an offset error based on statistics of inter-ridge distances of the plurality of ridges; When it is determined that the offset error is included, for at least one target ridge included in the plurality of ridges, correcting the position of the target ridge indicated by the ridge information in a direction in which one of two ridges adjacent to the target ridge has a longer inter-ridge distance from the target ridge; outputting the corrected ridge information; Includes.

[0104] A farm field information management method according to a second aspect is the farm field information management method according to the first aspect, Determining whether or not the offset error is included includes determining that the offset error is included when the positions of the multiple ridges include an error such that at least one of the furrow distances is shorter than the representative value of the furrow distances by an offset amount, and one or more other of the furrow distances is longer than the representative value by the offset amount.

[0105] A farm field information management method according to a third aspect is the farm field information management method according to the second aspect, measuring the position of a positioning point set on a housing of a work tool that has performed work in the field; generating the ridge information based on the measured positions of the positioning points of the work implement; Further comprising: On the axis perpendicular to the vehicle body center line of the working implement, the position of the positioning point is spaced apart from the position of the work reference point of the working implement by an offset distance.

[0106] A farm field information management method according to a fourth aspect is the farm field information management method according to the third aspect, When it is determined that the offset error is included, the method further includes displaying information about the offset error included in the measured position of the work device.

[0107] A farm field information management method according to a fifth aspect is the farm field information management method according to any one of the first to fourth aspects, Determining whether the offset error is included or not determining whether the histogram of the furrow distances is unimodal or multimodal based on the statistics of the furrow distances; determining that the offset error is not included when the histogram of the furrow distance is unimodal, and determining that the offset error is included when the histogram is multimodal; Includes.

[0108] A farm field information management method according to a sixth aspect is the farm field information management method according to the fifth aspect, When the histogram of the furrow distance is determined to have multiple peaks, the method further includes determining an offset amount of the offset error based on the furrow distances corresponding to the multiple peaks of the histogram, Correcting the position of the ridge includes determining the position of the ridge indicated by the corrected ridge information based on the determined offset amount so as to reduce the offset error.

[0109] A farm field information management method according to a seventh aspect is the farm field information management method according to the fifth aspect, determining a working direction when the working device worked on the ridge based on positioning information indicating the measured position of the working device that worked in the field; correcting the measured position based on the offset amount and the working direction, Correcting the position of the ridge includes determining the corrected position of the ridge based on the corrected measured position.

[0110] A farm field information management method according to an eighth aspect is the farm field information management method according to any one of the first to seventh aspects, The method further includes displaying the corrected position of the ridge based on the output ridge information.

[0111] A farm field information management system according to a ninth aspect includes: an offset determination unit that determines whether or not the positions of the plurality of ridges indicated by the ridge information indicating the positions of the plurality of ridges formed in the field include an offset error based on statistics of the inter-ridge distances of the plurality of ridges; a correction unit that, when the offset determination unit determines that the offset error is included, corrects the position of at least one target ridge included in the plurality of ridges, in the direction of the ridge that has the longer inter-ridge distance from the target ridge, of two ridges adjacent to the target ridge; an information output unit that outputs the ridge information corrected by the correction unit; Equipped with.

[0112] A program according to a tenth aspect comprises: On the computer, In ridge information indicating the positions of a plurality of ridges formed in a field, determining whether or not the positions of the plurality of ridges indicated by the ridge information include an offset error based on statistics of inter-ridge distances of the plurality of ridges; When it is determined that the offset error is included, for at least one target ridge included in the plurality of ridges, correcting the position of the target ridge indicated by the ridge information in a direction in which one of two ridges adjacent to the target ridge has a longer inter-ridge distance from the target ridge; outputting the corrected ridge information; Execute the following. [Explanation of symbols]

[0113] 1. Field information management system 10. Field information management device 12 Input Devices 14 Arithmetic unit 16. Communications equipment 18 Storage device 110 Information Acquisition Department 120 Furrow determining part 130 Offset discrimination unit 140 Offset amount determination unit 150 Correction unit 160 Information output section 170 Information storage section 20 Terminal equipment 22 Input Devices 24 Arithmetic unit 26 Communication equipment 28 Storage device 210 Display section 30 Work equipment 31 Operating equipment 32 Input Devices 34 Arithmetic unit 36 Communication equipment 38 Storage device 39 Positioning Device 310 Sampling section 320 Output Section NT Network F field R, R_1~R_n ridge Ra_1~Ra_n detection ridges P1, P2, P3 Programs M1, M2, M3 storage medium D1 Field information D2 ridge information D3 Device Information SL Work reference line WP work reference point W working width WA Working Area CL Body centerline P Positioning point PA Antenna FA, RL axles OD offset distance RD, RD1, RD2 furrow distance S screen A1, A2 display area UI User Interface

Claims

1. In ridge information indicating the positions of a plurality of ridges formed in a field, determining whether or not the positions of the plurality of ridges indicated by the ridge information include an offset error based on statistics of inter-ridge distances of the plurality of ridges; When it is determined that the offset error is included, for at least one target ridge included in the plurality of ridges, correcting the position of the target ridge indicated by the ridge information in a direction in which one of two ridges adjacent to the target ridge has a longer inter-ridge distance from the target ridge; outputting the corrected ridge information; Including, Field information management methods.

2. determining whether or not the offset error is included includes determining that the offset error is included when the positions of the plurality of ridges include an error such that at least one of the inter-ridge distances is shorter than a representative value of the inter-ridge distances by an offset amount and one or more other of the inter-ridge distances is longer than the representative value by the offset amount; The farm field information management method according to claim 1 .

3. measuring the position of a positioning point set on a work implement that has performed work in the field; generating the ridge information based on the measured positions of the positioning points of the work implement; Further comprising: On an axis perpendicular to a vehicle body center line of the working device, the position of the positioning point is spaced apart from the position of a reference point of the working device by an offset distance. The farm field information management method according to claim 1 .

4. and further comprising displaying information about the offset error included in the measured position of the work device when it is determined that the offset error is included. The farm field information management method according to claim 3 .

5. Determining whether the offset error is included or not determining whether the histogram of the furrow distances is unimodal or multimodal based on the statistics of the furrow distances; determining that the offset error is not included when the histogram of the furrow distance is unimodal, and determining that the offset error is included when the histogram is multimodal; Including, The farm field information management method according to any one of claims 1 to 4.

6. When the histogram of the furrow distance is determined to have multiple peaks, the method further includes determining an offset amount of the offset error based on the furrow distances corresponding to the multiple peaks of the histogram, correcting the position of the ridge includes determining the position of the ridge indicated by the corrected ridge information based on the determined offset amount so as to reduce the offset error. The farm field information management method according to claim 5 .

7. determining an offset amount for the offset error based on furrow distances corresponding to a plurality of peaks in the histogram; determining a working direction when the working device worked on the ridge based on positioning information indicating the measured position of the working device that worked in the field; correcting the measured position based on the offset amount and the working direction, correcting the position of the ridge includes determining a corrected position of the ridge based on the corrected positioning position. The farm field information management method according to claim 5 .

8. and further comprising displaying the corrected position of the ridge based on the output ridge information. The farm field information management method according to claim 1 .

9. an offset determination unit that determines whether or not the positions of the plurality of ridges indicated by the ridge information indicating the positions of the plurality of ridges formed in the field include an offset error based on statistics of the inter-ridge distances of the plurality of ridges; a correction unit that, when the offset determination unit determines that the offset error is included, corrects the position of at least one target ridge included in the plurality of ridges, in the direction of the ridge that has the longer inter-ridge distance from the target ridge, of two ridges adjacent to the target ridge; an information output unit that outputs the ridge information corrected by the correction unit; Equipped with Field information management system.

10. On the computer, In ridge information indicating the positions of a plurality of ridges formed in a field, determining whether or not the positions of the plurality of ridges indicated by the ridge information include an offset error based on statistics of inter-ridge distances of the plurality of ridges; When it is determined that the offset error is included, for at least one target ridge included in the plurality of ridges, correcting the position of the target ridge indicated by the ridge information in a direction in which one of two ridges adjacent to the target ridge has a longer inter-ridge distance from the target ridge; outputting the corrected ridge information; A program to execute.

Images