Afforestation system, afforestation method, and information terminal

Abstract

To assist with replanting work. [Solution] The afforestation system includes a processor. The processor sets the work area of ​​the worker who will be planting at the replanting locations, which indicate the positions where plants should be replanted in the afforestation area, and generates display data indicating the work area.

Description

Technical Field

[0004] ,

[0007] , ,

[0001] The present disclosure relates to an afforestation system, an afforestation method, and an information terminal.

Background Art

[0002] In the technical field related to an afforestation system, an afforestation system as disclosed in Patent Document 1 is known. In Patent Document 1, a plant body is planted in soil by an afforestation machine.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] There is a possibility that the plant body planted in the soil may wither. When the plant body withers, a technique that can replant efficiently is desired.

[0005] The present disclosure aims to support the replanting work.

Means for Solving the Problems

[0006] According to the present disclosure, an afforestation system including a processor is provided. The processor sets, in the afforestation area, a work area of an operator who replants at a replanting position indicating a position where a plant body should be replanted in the afforestation area, and generates display data indicating the work area.

Effects of the Invention

[0007] <000​​​​​​​​Figure 1 is a schematic diagram illustrating a afforestation system according to an embodiment. [Figure 2] Figure 2 is a perspective view showing a afforestation machine according to an embodiment of this model. [Figure 3] Figure 3 is a hardware configuration diagram showing a server according to an embodiment. [Figure 4] Figure 4 is a functional block diagram showing the afforestation system according to the embodiment. [Figure 5] Figure 5 is a schematic diagram showing the afforestation area and storage area according to the embodiment. [Figure 6] Figure 6 is a flowchart showing the method for determining the death of seedlings according to the embodiment. [Figure 7] Figure 7 is a diagram illustrating the planting position and determination area of ​​the seedlings according to the embodiment. [Figure 8] Figure 8 is a diagram illustrating the method for generating a trained model according to the embodiment. [Figure 9] Figure 9 is a diagram illustrating how to use the trained model according to the embodiment. [Figure 10] Figure 10 shows an example of display data shown on the display device of the information terminal according to the embodiment. [Figure 11] Figure 11 shows an example of display data shown on the display device of the information terminal according to the embodiment. [Figure 12] Figure 12 is a flowchart showing the method for generating a heat map of the mortality rate according to the embodiment. [Figure 13] Figure 13 shows an example of display data shown on the display device of the information terminal according to the embodiment. [Figure 14] Figure 14 is a diagram illustrating the method for assigning replanting work according to the embodiment. [Figure 15] Figure 15 is a flowchart showing the method for assigning replanting work according to the embodiment. [Figure 16] Figure 16 is a diagram illustrating the method for setting up the work area according to the embodiment.

Best Mode for Carrying Out the Invention

[0009] [Forest Planting System] FIG. 1 is a diagram schematically showing a forest planting system 1 according to an embodiment. The forest planting system 1 manages forest planting work. The forest planting system 1 supports forest planting work. The forest planting work includes tree planting work and replanting work. Tree planting means planting a plant body in the soil. Replanting means planting a new plant body in the soil where the plant body has been planted by the tree planting work. For example, when the plant body planted by the tree planting work dies, replanting may include planting a new plant body at the position of the dead plant body. As the plant body, seedlings are exemplified. In the following description, the plant body is appropriately referred to as the seedling 8.

[0010] The forest planting system 1 includes a server 2, a forest planting machine 3, an information terminal 4, and a mobile body 9. The server 2 includes a computer. The forest planting machine 3 operates in a forest planting area 11 (see FIG. 5) where the forest planting work is carried out. The forest planting machine 3 plants the seedling 8 in the soil of the forest planting area 11. The server 2 is arranged outside the forest planting machine 3. The server 2 may be arranged inside the forest planting area 11 or outside the forest planting area 11. In the embodiment, the server 2 is arranged at a remote location from the forest planting area 11. The information terminal 4 is possessed by a worker 100 engaged in the forest planting work. In the embodiment, the information terminal 4 is a tablet terminal. Note that the information terminal 4 may be a smartphone, a notebook personal computer, or smart glasses. The mobile body 9 moves in the forest planting area 11. In the embodiment, the mobile body 9 is an unmanned aerial vehicle (UAV) such as a drone. The mobile body 9 flies over the forest planting area 11.

[0011] The server 2, the forest planting machine 3, the information terminal 4, and the mobile body 9 communicate with each other via a communication system 5. The communication system 5 includes at least one of a mobile phone communication line, an Internet communication line, and a communication satellite line.

[0012] The operator 100 includes the manager 101 of the afforestation area 11 and the worker 102 of the afforestation work. The manager 101 supervises the worker 102.

[0013] The afforestation machine 3 performs the tree-planting operation. The worker 102 performs the replanting operation. The worker 102 holds a portable afforestation tool 6 called a hand planter. The worker 102 uses the afforestation tool 6 to perform the replanting operation. The worker 102 holds a basket 7 containing a plurality of seedlings 8. When performing the replanting operation, the worker plants the seedling 8 taken out from the basket 7 into the soil using the afforestation tool 6.

[0014] [Afforestation Machine] FIG. 2 is a perspective view showing the afforestation machine 3 according to the embodiment. The afforestation machine 3 plants the seedlings 8 in the soil of the afforestation area 11. The afforestation machine 3 has a vehicle body 30, a traveling device 31, a planting device 32, a controller 33, a position sensor 34, and an attitude sensor 35.

[0015] The vehicle body 30 is disposed above the traveling device 31. The traveling device 31 supports the vehicle body 30. The traveling device 31 travels in the afforestation area 11. The traveling device 31 includes a pair of crawler belts that rotate by the power generated by the engine. Note that the traveling device 31 may include wheels.

[0016] The planting device 32 plants the seedlings 8 in the soil. The planting device 32 is disposed in front of the vehicle body 30. The planting device 32 has an arm 36, a frame 37, a hydraulic cylinder 38, and a plurality of planting parts 39. In the embodiment, three planting parts 39 are provided at intervals in the vehicle width direction of the vehicle body 30. The arm 36 is attached to the frame of the traveling device 31 and supports the planting device 32 so as to be able to move up and down. The frame 37 is attached to the tip of the arm 36 and supports the plurality of planting parts 39. The hydraulic cylinder 38 is provided between the front part of the vehicle body 30 and the frame 37, and raises and lowers the frame 37 by expanding and contracting.

[0017] The planting section 39 includes a plant body holding section 39A, a main body section 39B, and an extendable section 39C. The plant body holding section 39A is provided on the upper part of the main body section 39B. The main body section 39B is attached to the frame 37. The extendable section 39C protrudes downward from the lower part of the main body section 39B.

[0018] The plant body holding section 39A holds the seedling 8. The main body section 39B removes the seedling 8 from the plant body holding section 39A and sends it to the telescopic section 39C. The telescopic section 39C extends vertically while holding the seedling 8, planting the seedling 8 in the soil. The telescopic section 39C extends and retracts, for example, by a hydraulic cylinder. As the telescopic section 39C extends and retracts, the seedling 8 can be planted in the soil even if the soil is not flat and the distance between the main body section 39B and the soil changes.

[0019] The controller 33 includes a computer. The controller 33 outputs control signals to control the traveling device 31 and the planting device 32. The controller 33 communicates with the server 2 via the communication system 5.

[0020] The position sensor 34 detects the position of the afforestation machine 3. The position of the afforestation machine 3 is detected using the Global Navigation Satellite System (GNSS). The Global Navigation Satellite System includes the Global Positioning System (GPS). The Global Navigation Satellite System detects the position in a global coordinate system defined by latitude, longitude, and altitude coordinate data. A global coordinate system refers to a coordinate system fixed to the Earth. The position sensor 34 includes a GNSS receiver and detects the position of the afforestation machine 3 in the global coordinate system. In this embodiment, the position sensor 34 is installed on the vehicle body 30. The position sensor 34 detects the position of the vehicle body 30. The detection data from the position sensor 34 is transmitted to the controller 33.

[0021] The attitude sensor 35 detects the attitude of the afforestation machine 3. The attitude of the afforestation machine 3 includes the azimuth angle of the afforestation machine 3 with respect to a reference azimuth. The attitude of the afforestation machine 3 also includes the inclination angle of the afforestation machine 3 with respect to the horizontal plane. An inertial measurement unit (IMU) is exemplified as the attitude sensor 35. In this embodiment, the attitude sensor 35 is mounted on the vehicle body 30. The attitude sensor 35 detects the azimuth angle of the vehicle body 30 with respect to a reference azimuth and the inclination angle of the vehicle body 30 with respect to the horizontal plane. The detection data from the attitude sensor 35 is transmitted to the controller 33.

[0022] The controller 33 can calculate the planting position 13 (see Figure 7), which indicates the position of the seedling 8 planted in the soil of the afforestation area 11, based on the detection data from the position sensor 34 and the time when the planting device 32 plants the seedling 8 in the soil. The position sensor 34 detects its own position. The relative position between the position sensor 34 and the planting device 32 is known data derived from the design data or specifications data of the afforestation machine 3. The controller 33 can calculate the planting position 13 of the seedling 8 in the global coordinate system based on the detection data from the position sensor 34, the known relative position between the position sensor 34 and the planting device 32, and the time when the planting device 32 plants the seedling 8 in the soil. The controller 33 transmits the planting position 13 of the seedling 8 to the server 2. The position sensor 34 may also be placed on the planting device 32. The controller 33 can calculate the planting position 13 of the seedling 8 based on the detection data from the position sensor 34 that detects the position of the planting device 32 and the time when the planting device 32 plants the seedling 8 in the soil. The posture sensor 35 can detect the posture of the planting device 32. The controller 33 may also calculate the planting position 13 of the seedling 8 based on the detection data from the position sensor 34, the detection data from the posture sensor 35, and the time when the planting device 32 plants the seedling 8 in the soil.

[0023] [server] Figure 3 is a hardware configuration diagram showing a server 2 according to an embodiment. Server 2 includes a computer 10. Server 2 has a processor 10A such as a CPU (Central Processing Unit), main memory 10B including non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory), storage 10C such as a hard disk or semiconductor memory, input / output interface 10D including input / output circuits, and communication interface 10E including communication circuits. The functions of the processor 10A are stored in the storage 10C as a computer program 10F. The processor 10A reads the computer program 10F from the storage 10C, loads it into the main memory 10B, and executes processing according to the computer program 10F. The computer program 10F may be distributed to Server 2 via a network.

[0024] The controller 33 of the afforestation machine 3 also includes a computer. The controller 41 of the information terminal 4 (see Figure 4) and the controller 91 of the mobile unit 9 (see Figure 4), which will be described later, also include computers. Similar to the server 2, the controller 33 of the afforestation machine 3, the controller 41 of the information terminal 4, and the controller 91 of the mobile unit 9 each have a processor, main memory, storage, input / output interface, and communication interface.

[0025] Figure 4 is a functional block diagram showing the afforestation system 1 according to the embodiment. Server 2 has a plurality of functional units. The functional units of Server 2 include a planting position acquisition unit 21, an image acquisition unit 22, a determination area setting unit 23, a determination unit 24, a replanting position identification unit 25, an aggregation unit 26, a work area setting unit 27, and a display data generation unit 28. The functions of the functional units of Server 2 are performed by the processor 10A. Server 2 also has a storage unit 29. The functions of the storage unit 29 of Server 2 are performed by the storage 10C.

[0026] The afforestation machine 3 has a controller 33, a position sensor 34, and an attitude sensor 35. The information terminal 4 has a controller 41, an input device 42, a display device 43, and a position sensor 44. The mobile body 9 has a controller 91, a camera 92, a position sensor 93, and an attitude sensor 94.

[0027] The controller 41 of the information terminal 4 communicates with the server 2 via the communication system 5. The input device 42 generates input data when operated by the worker 100. Examples of the input device 42 include a touch panel, buttons, and a computer keyboard. The display device 43 displays display data. The display device 43 provides the display data to the worker 100. Examples of the display device 43 include a flat panel display such as a liquid crystal display or an organic EL display. The position sensor 44 includes a GNSS receiver and detects the position of the information terminal 4 in a global coordinate system.

[0028] The controller 91 of the mobile body 9 communicates with the server 2 via the communication system 5. The camera 92 is mounted on the mobile body 9. The camera 92 images the afforestation area 11. The camera 92 images the afforestation area 11 from above. The position sensor 93 detects the position of the mobile body 9. The position sensor 93 includes a GNSS receiver and detects the position of the mobile body 9 in the global coordinate system. Once the position of the mobile body 9 is detected, the position of the camera 92 in the global coordinate system is detected. The attitude sensor 94 detects the attitude of the mobile body 9. The attitude of the mobile body 9 includes the azimuth angle of the mobile body 9 with respect to a reference azimuth and the tilt angle of the mobile body 9 with respect to the horizontal plane. An inertial measurement unit (IMU) is exemplified as the attitude sensor 94. Once the attitude of the mobile body 9 is detected, the attitude of the camera 92 is detected.

[0029] The planting position acquisition unit 21 acquires the planting position 13, which indicates the position of the seedling 8 planted in the planting area 11 by the afforestation machine 3. As described above, the controller 33 of the afforestation machine 3 calculates the planting position 13 of the seedling 8 based on the detection data of the position sensor 34 and the time when the planting device 32 planted the seedling 8 in the soil. The planting position acquisition unit 21 acquires the planting position 13 of the seedling 8 from the controller 33 of the afforestation machine 3. Alternatively, the detection data of the position sensor 34 that detected the position of the afforestation machine 3 and the time data indicating the time when the planting device 32 planted the seedling 8 in the soil may be transmitted from the controller 33 of the afforestation machine 3 to the server 2. The server 2 may calculate the planting position 13 of the seedling 8 based on the detection data of the position sensor 34 that detected the position of the afforestation machine 3 and the time when the planting device 32 planted the seedling 8 in the soil.

[0030] The image acquisition unit 22 acquires an image showing the image of the planted area 11 captured by the camera 92. The camera 92 may be an RGB camera, a multi-spectral camera, or a multi-wavelength spectroscopic camera such as a hyperspectral camera. The camera 92 may also be a stereo camera capable of acquiring 3D data of the planted area 11. The camera 92 may also be a depth camera (RGB-D camera) including an RGB camera and a depth sensor. A Time of Flight sensor is an example of a depth sensor. The camera 92 may also be a camera including an RGB camera and LiDAR (Light Detection And Ranging). The controller 91 of the mobile body 9 transmits the image captured by the camera 92 to the server 2. The image acquisition unit 22 acquires the image from the controller 91 of the mobile body 9.

[0031] The controller 91 of the mobile body 9 calculates the position of the captured image in the global coordinate system based on the detection data of the position sensor 93. The controller 91 acquires the position of the captured image in the camera coordinate system defined by the camera 92. The controller 91 converts the position of the captured image in the camera coordinate system to the position of the captured image in the global coordinate system based on the detection data of the position sensor 93. The image acquisition unit 22 acquires the captured image with a defined position in the global coordinate system from the controller 91 of the mobile body 9. The controller 91 may calculate the position and orientation of the captured image in the global coordinate system based on the detection data of the position sensor 93 and the detection data of the attitude sensor 94. The controller 91 may convert the position and orientation of the captured image in the camera coordinate system to the position and orientation of the captured image in the global coordinate system based on the detection data of the position sensor 93 and the detection data of the attitude sensor 94.

[0032] The determination area setting unit 23 sets a determination area 14 (see Figure 7) on the captured image, which includes the planting positions 13 of the seedlings 8. The determination area setting unit 23 compares the position of the planting area 11 on the captured image with the planting positions 13 acquired by the planting position acquisition unit 21, and sets the determination area 14 on the captured image of the planting area 11. As described above, the controller 91 of the mobile body 9 acquires the position of the captured image in the camera coordinate system and converts it to the position of the captured image in global coordinates. For example, the determination area setting unit 23 can set the determination area 14 on the captured image of the planting area 11 by comparing the position of the planting area 11 on the captured image in the global coordinate system with the planting positions 13 in the global coordinate system acquired by the planting position acquisition unit 21.

[0033] The determination unit 24 determines whether the seedlings 8 planted at the planting location 13 are dead or not based on the captured image of the determination area 14. The determination unit 24 outputs the result of the determination. The determination unit 24 can determine whether the seedlings 8 planted at the planting location 13 are dead or not based on a reference image showing at least one image of a dead or non-dead seedling 8 and the captured image.

[0034] In this embodiment, the death of a seedling 8 includes the absence of a seedling 8 at the planting location. For example, a malfunction in the afforestation machine 3 may prevent the seedling 8 from being planted unintentionally. Also, after the seedling 8 has been planted at the planting location 13, an animal may remove the seedling 8 from the planting location 13, for example. The determination unit 24 determines that the seedling 8 is dead even if the seedling 8 is unintentionally absent from the planting location 13.

[0035] The replanting location identification unit 25 identifies a replanting location from among multiple planting locations 13 for the seedling 8. A replanting location refers to a location where a seedling 8 should be replanted. Replanting means planting a new seedling 8 in the soil where a seedling 8 was planted during the planting work. For example, if a seedling 8 planted during the planting work dies, replanting may include planting a new plant in the location of the dead plant. The replanting location may include the location of the dead seedling 8. Based on the result of the determination by the determination unit 24, the replanting location identification unit 25 identifies a replanting location from among the multiple planting locations 13 where the seedling 8 should be replanted.

[0036] The aggregation unit 26 sets up multiple aggregation areas 16 (see Figure 11) in the planting area 11 where multiple seedlings 8 are planted. The aggregation unit 26 calculates a numerical value related to the death of seedlings 8 in each aggregation area 16. The numerical value includes a death rate, which indicates the proportion of seedlings 8 that have died. The aggregation unit 26 calculates a death rate, which indicates the proportion of seedlings 8 that have died, for each aggregation area 16.

[0037] Furthermore, the numerical value related to the death of seedlings 8 in the aggregation area 16 may include at least one of the following: the survival rate, which shows the proportion of seedlings 8 that have not died in the aggregation area 16 (the proportion of surviving seedlings 8); the number of dead seedlings 8, which shows the number of seedlings 8 that have died in the aggregation area 16; the number of surviving seedlings 8, which shows the number of seedlings 8 that have not died in the aggregation area 16 (the number of surviving seedlings 8); and the number of planted trees, which shows the sum of the number of dead and surviving seedlings in the aggregation area 16.

[0038] The work area setting unit 27 sets the work area 50 (see Figure 13) of the worker 102 who will be replanting at the replanting location to the afforestation area 11.

[0039] The display data generation unit 28 generates display data including the result of the determination unit 24. The display data generation unit 28 generates display data showing the relationship between the aggregation area 16 set by the aggregation unit 26 and the numerical value of the aggregation area 16 calculated by the aggregation unit 26. In this embodiment, the display data generation unit 28 generates display data showing the relationship between the aggregation area 16 set by the aggregation unit 26 and the mortality rate of the aggregation area 16 calculated by the aggregation unit 26. The display data generation unit 28 may also generate display data showing the relationship between the aggregation area 16 set by the aggregation unit 26 and the survival rate of the aggregation area 16 calculated by the aggregation unit 26. The display data generation unit 28 may also generate display data showing the relationship between the aggregation area 16 set by the aggregation unit 26 and the number of dead plants in the aggregation area 16 calculated by the aggregation unit 26. The display data generation unit 28 may also generate display data showing the relationship between the aggregation area 16 set by the aggregation unit 26 and the number of surviving plants in the aggregation area 16 calculated by the aggregation unit 26. The display data generation unit 28 may generate display data showing the relationship between the aggregation area 16 set by the aggregation unit 26 and the number of trees planted in the aggregation area 16 calculated by the aggregation unit 26. The display data generation unit 28 generates display data showing the work area 50 set by the work area setting unit 27. The display data generation unit 28 outputs the generated display data. The display data generated by the display data generation unit 28 is transmitted to the information terminal 4. The controller 41 of the information terminal 4 displays the display data transmitted from the display data generation unit 28 on the display device 43.

[0040] [Afforestation area and storage area] Figure 5 is a schematic diagram showing the planting area 11 and storage area 12 according to the embodiment. As shown in Figure 5, a planting area 11 is set up where seedlings 8 are planted. The area of ​​the planting area 11 is, for example, 10 hectares or more. The planting machine 3 plants the seedlings 8 in the planting area 11.

[0041] A storage area 12 is provided around the afforestation area 11, where seedlings 8 for replanting are placed. Multiple baskets 7 containing seedlings 8 are stored in the storage area 12. When a worker 102 performs replanting work, they take a basket 7 stored in the storage area 12 and then move to the replanting location. After moving to the replanting location, the worker 102 takes the seedlings 8 out of the basket 7 and plants them at the replanting location using an afforestation tool 6.

[0042] [Determination of seedling death] Figure 6 is a flowchart illustrating a method for determining the death of seedlings 8 according to an embodiment. Planting is carried out in the planting area 11 by the planting machine 3. The planting position acquisition unit 21 acquires the planting position 13, which indicates the location of the seedlings 8 planted in the planting area 11 by the planting machine 3. The planting position 13 acquired by the planting position acquisition unit 21 is stored in the storage unit 29 (step SA1).

[0043] After a predetermined period has elapsed since the planting work, the mobile unit 9 flies over the afforestation area 11 and the camera 92 takes images of the afforestation area 11. The imaging of the afforestation area 11 by the camera 92 is carried out, for example, from one week to one year after the planting work. As an example, the imaging of the afforestation area 11 by the camera 92 is carried out 15 days after the planting work.

[0044] The image acquisition unit 22 acquires an image showing the image of the planted area 11 captured by the camera 92 (step SA2).

[0045] The determination area setting unit 23 sets the determination area 14, which includes the planting position 13, in the captured image (step SA3).

[0046] Figure 7 is a diagram illustrating the planting positions 13 and determination areas 14 of seedlings 8 according to the embodiment. As shown in Figure 7, multiple seedlings 8 are planted at intervals in the soil of the planting area 11 by the planting operation of the afforestation machine 3. The determination area setting unit 23 sets the determination area 14 in the captured image of the planting area 11 so as to include the planting positions 13 of the seedlings 8. The determination area setting unit 23 compares the position on the captured image of the planting area 11 acquired in step SA2 with the planting position 13 acquired in step SA1 and sets the determination area 14 on the captured image of the planting area 11. The determination area setting unit 23 sets the determination area 14 in a global coordinate system. The size and shape of the determination area 14 are predetermined. The size of the determination area 14 is determined, for example, based on the spacing between adjacent planting positions 13. The determination area setting unit 23 sets the determination area 14 so that one planting position 13 is included in one determination area 14. The determination area setting unit 23 sets the determination areas 14 such that no more than two planting positions 13 are included in a single determination area 14. The determination area setting unit 23 sets a determination area 14 for each of the multiple planting positions 13. In this embodiment, the shape of the determination area 14 is circular with the planting position 13 at its center. The shape of the determination area 14 may also be a polygon such as a square or hexagon.

[0047] The determination unit 24 determines whether or not the seedling 8 is dead based on the captured image of the determination area 14. The determination unit 24 determines whether or not the seedling 8 is dead based on a reference image showing at least one of a dead seedling 8 and a non-dead seedling 8, and the captured image of the determination area 14 (step SA4).

[0048] After the planting work is carried out, some of the seedlings 8 planted during the planting work may die due to weather, pests such as ants, the surrounding natural environment, or soil conditions. Also, as mentioned above, there is a possibility that some seedlings 8 may not be present at the planting location 13 unintentionally. After a predetermined period has elapsed since the planting work, it will be determined whether or not the seedlings 8 have died.

[0049] The determination unit 24 may compare the reference image with the captured image to determine whether the seedling 8 planted at the planting position 13 is dead or not. If the storage unit 29 has a reference image in advance showing at least one of a dead seedling 8 and a non-dead seedling 8, the determination unit 24 may compare the reference image stored in the storage unit 29 with the captured image to determine whether the seedling 8 planted at the planting position 13 is dead or not. The determination unit 24 may determine whether the seedling 8 is dead or not by, for example, a template matching method.

[0050] The determination unit 24 may determine whether or not the seedling 8 is dead based on an artificial intelligence (AI) algorithm. In this embodiment, a trained model is pre-stored in the memory unit 29, which takes the captured image of the determination area 14 as input and outputs the result of determining whether or not the seedling 8 is dead. The determination unit 24 uses the trained model stored in the memory unit 29 to determine whether or not the seedling 8 is dead.

[0051] Figure 8 is a diagram illustrating the method for generating a trained model according to an embodiment. In this embodiment, a trained model is generated by supervised machine learning. As shown in Figure 8, during the training phase of machine learning, multiple training images of seedlings 8 are input to the learner 20. A training image is an example of a reference image. The training images of seedlings 8 include training images of seedlings 8 that are not dead and training images of dead seedlings 8. The training images of seedlings 8 are assigned the dead state of the seedling 8 as the correct label. The training images of seedlings 8 that are not dead are assigned the label "not dead seedling" as the correct label. The training images of dead seedlings 8 are assigned the label "dead seedling" as the correct label. The learner 20 performs supervised machine learning on the training images to generate a trained model that takes captured images as input and outputs the result of the dead state determination of the seedlings 8. The trained model generated by the learner 20 is stored in the storage unit 29. The learning device 20 may be a functional unit of the server 2, or it may be implemented by a computer different from the server 2.

[0052] Figure 9 is a diagram illustrating how to use the trained model according to the embodiment. The determination unit 24 uses the trained model generated by the learner 20 to determine whether or not the seedlings 8 planted in the afforestation area 11 have died. As shown in Figure 9, in the prediction stage, the captured image of the determination area 14 is input to the trained model. The determination unit 24 inputs the captured image of the determination area 14 to the trained model as input data. As the captured image of the determination area 14 is input to the trained model, the result of the seedling 8 death determination is output as output data.

[0053] Furthermore, if the spacing between adjacent planting positions 13 is known, the determination unit 24 may determine whether or not a seedling 8 is dead based on the captured image of the determination area 14 and the spacing between the planting positions 13. The afforestation machine 3 plants seedlings 8 in the soil at predetermined intervals during planting. Therefore, the determination unit 24 can acquire the spacing between the planting positions 13 in advance. Based on the captured image of the determination area 14, the determination unit 24 identifies the location of seedlings 8 that are not dead, and if the spacing between adjacent non-dead seedlings 8 is greater than the known spacing between planting positions 13, it may determine that there are dead seedlings 8 between adjacent non-dead seedlings 8. Alternatively, the determination unit 24 may determine whether or not a seedling 8 is dead based on the probability of death (survival probability) of the seedling 8.

[0054] The determination unit 24 determines whether each of the multiple seedlings 8 planted in the afforestation area 11 is dead or not (step SA5).

[0055] The replanting location identification unit 25 identifies the dead seedling location from among multiple planting locations 13 based on the result of the determination unit 24's determination of the seedling 8's death. A dead seedling location refers to a location where a dead seedling 8 exists. A dead seedling location refers to a location where a seedling 8 planted during the planting work has died. The replanting location identification unit 25 determines that the planting location 13 of the seedling 8 determined to be dead by the determination unit 24 is a dead seedling location (step SA6).

[0056] The replanting location identification unit 25 identifies the locations where seedlings 8 should be replanted after identifying the locations where seedlings have died (step SA7). The replanting locations include the locations where seedlings have died. If there are multiple locations where seedlings have died, the replanting location identification unit 25 may decide that all of the locations where seedlings have died are replanting locations, or it may decide that some of the locations where seedlings have died are replanting locations. For example, there may be areas in the planting area 11 where seedlings 8 cannot survive due to pests such as ants, the surrounding natural environment, or the condition of the soil. The replanting location identification unit 25 may decide that the locations where seedlings have died located outside the areas where they cannot survive are replanting locations, rather than deciding that the locations where seedlings have died located inside the areas where they cannot survive are replanting locations.

[0057] The implantation location identification unit 25 may also identify the implantation location based on input data from the input device 42. In other words, the implantation location may be identified by the worker 100 operating the input device 42.

[0058] The replanting location identification unit 25 identifies a survival location from among multiple planting locations 13 based on the result of the determination unit 24's determination of the death of the seedling 8 (step SA8). A survival location refers to a location where the seedling 8 is not replanted. In other words, a survival location refers to a location where a seedling 8 that has not died is planted. The replanting location identification unit 25 determines the planting location 13 of the seedling 8 that the determination unit 24 has determined not to be dead as a survival location.

[0059] The display data generation unit 28 generates display data including the result of the determination unit 24's determination of the death of the seedling 8 (step SA9). In this embodiment, the display data generation unit 28 generates display data based on the replanting location and survival location identified by the replanting location identification unit 25. The display data generated by the display data generation unit 28 is transmitted to the information terminal 4. The controller 41 of the information terminal 4 displays the display data transmitted from the display data generation unit 28 on the display device 43.

[0060] Figure 10 shows an example of display data displayed on the display device 43 of the information terminal 4 according to the embodiment. The display data displayed on the display device 43 includes a symbol 15 indicating the result of the determination unit 24's determination of the death of the seedlings 8. In this embodiment, the symbol 15 is a circular (dot-shaped) image. The symbol 15 includes a first symbol 151 indicating a seedling 8 that has been determined not to be dead, and a second symbol 152 indicating a seedling 8 that has been determined to be dead. The first symbol 151 is displayed at the living position of the seedling 8. The second symbol 152 is displayed at the replanting position of the seedling 8. The first symbol 151 indicates the position of the seedling 8 that is not dead. The second symbol 152 indicates the position of the dead seedling 8. The display form of the first symbol 151 and the display form of the second symbol 152 are different. In this embodiment, the first symbol 151 is displayed in a first color (e.g., green). The second symbol 152 is displayed in a second color (e.g., red).

[0061] Symbol 15 is displayed on the display device 43 together with the captured image captured by the camera 92. Symbol 15 is superimposed on the captured image captured by the camera 92. The display data generation unit 28 generates display data in which the first symbol 151 and the second symbol 152 are superimposed on the captured image. In the captured image, the display data generation unit 28 superimposes the first symbol 151 on seedlings 8 that are determined not to be dead, and superimposes the second symbol 152 on seedlings 8 that are determined to be dead. That is, in the captured image, the display data generation unit 28 superimposes the first symbol 151 on the living position and the second symbol 152 on the replanting position.

[0062] Since display data including the results of the seedling 8 death determination is generated, the worker 102 can efficiently carry out the replanting work by checking the display data. Since the second symbol 152 indicating the replanting position is displayed on the display device 43, the worker 102 can efficiently carry out the replanting work by checking the display device 43.

[0063] [Generating a heatmap] The aggregation unit 26 sets up multiple aggregation areas 16 in the planting area 11 where multiple seedlings 8 are planted. The aggregation unit 26 calculates a mortality rate for each aggregation area 16, which indicates the proportion of seedlings 8 that have died. In this embodiment, the mortality rate refers to the proportion of seedlings 8 that have died out of the multiple seedlings 8 planted by the transplanting work in one aggregation area 16. The mortality rate refers to the proportion of dead locations out of the multiple planting locations 13 in one aggregation area 16.

[0064] The aggregation unit 26 calculates the mortality rate based on the results of the determination unit 24's determination of the seedlings 8's mortality. The aggregation unit 26 calculates the number of surviving seedlings 8 (number of living seedlings 8) and the number of dead seedlings 8 (number of dead seedlings 8) for each aggregation area 16, and then calculates the mortality rate. The number of surviving seedlings 8 (number of living seedlings 8) is equal to the number of surviving locations identified by the replanting location identification unit 25. The number of dead seedlings 8 (number of dead seedlings 8) is equal to the number of dead locations identified by the replanting location identification unit 25. The aggregation unit 26 can calculate the mortality rate based on the number of surviving locations and the number of dead locations identified by the replanting location identification unit 25. If the number of dead locations is equal to the number of replanting locations where seedlings 8 should be replanted, the aggregation unit 26 may calculate the mortality rate based on the number of surviving locations and the number of replanting locations.

[0065] The display data generation unit 28 generates display data showing the relationship between the aggregation area 16 and the mortality rate of the aggregation area 16. The display data includes a heatmap in which the color intensity of the aggregation area 16 is varied based on the mortality rate. The display data may also include a heatmap in which the intensity is varied in a single color.

[0066] Figure 11 is a diagram showing an example of display data shown on the display device 43 of the information terminal 4 according to the embodiment. Figure 12 is a flowchart showing the method for generating a heat map of the mortality rate according to the embodiment.

[0067] The aggregation unit 26 sets up multiple aggregation areas 16 in the planting area 11 (step SB1). As shown in Figure 11, in this embodiment, the multiple aggregation areas 16 are set up in a matrix in the planting area 11. The shape of one aggregation area 16 is square. The dimension of one side of the aggregation area 16 is, for example, 100m. Note that the shape of one aggregation area 16 may also be rectangular.

[0068] The aggregation unit 26 aggregates the number of surviving seedlings 8 that have not died and the number of dead seedlings 8 that have died for each aggregation area 16. That is, the aggregation unit 26 aggregates the number of surviving locations and the number of dead locations for each of the multiple aggregation areas 16 (step SB2).

[0069] If Ca is the number of surviving locations (survival count) in one aggregation area 16, Cb is the number of dead locations (dead count), and M is the deadness rate, then the following equation holds: [M = Cb / (Ca + Cb)]. The aggregation unit 26 calculates the deadness rate for each of the multiple aggregation areas 16 based on the number of surviving locations Ca and the number of dead locations Cb aggregated in step SB2 (step SB3).

[0070] The display data generation unit 28 generates display data including a heat map showing the relationship between the aggregation area 16 and the mortality rate of the aggregation area 16 (step SB4). The display data generated by the display data generation unit 28 is transmitted to the information terminal 4. The controller 41 of the information terminal 4 displays the display data transmitted from the display data generation unit 28 on the display device 43.

[0071] As shown in Figure 11, the display data shown on the display device 43 includes a heatmap in which the color density of the aggregation area 16 differs depending on the mortality rate. The intensity of the colors in the aggregation area 16 changes depending on the mortality rate. In this embodiment, the higher the mortality rate, the higher the color density of the aggregation area 16.

[0072] In this embodiment, the image of the planting area 11 captured by the camera 92, a plurality of aggregation areas 16, and symbols 15 indicating the results of the determination unit 24's determination of the death of seedlings 8 are superimposed on the display. In the example shown in Figure 11, when the first button 18A displayed in the upper left of the display screen of the display device 43 is tapped, the first symbol 151 is displayed, and when the second button 18B is tapped, the second symbol 152 is displayed. The first button 18A and the second button 18B are examples of input devices 42. That is, the display data generation unit 28 can generate display data in which the first symbol 151 indicating the location of seedlings 8 that have not died is superimposed on the aggregation area 16 based on the input data from the input device 42. The display data generation unit 28 can generate display data in which the second symbol 152 indicating the location of dead seedlings 8 is superimposed on the aggregation area 16 based on the input data from the input device 42.

[0073] Figure 11 shows an example where the second symbol 152 is superimposed on the captured image, and the first symbol 151 is not displayed. When the first button 18A is tapped, the first symbol 151 is superimposed on the captured image. When both the first button 18A and the second button 18B are tapped, both the first symbol 151 and the second symbol 152 are superimposed on the captured image.

[0074] The display data generation unit 28 generates display data by superimposing numerical data 17 related to the death of seedlings 8 onto the aggregation area 16. The numerical data 17 includes the death rate for each aggregation area 16, the number of surviving seedlings 8 that have not died, and the number of dead seedlings 8 that have died. For example, in the example shown in Figure 11, the numerical data 17 superimposed on aggregation area 16A includes the death rate (3%), the number of surviving seedlings (1350), and the number of dead seedlings (31). That is, the display data generation unit 28 generates display data by superimposing numerical data showing the death rate onto the aggregation area 16. The display data generation unit 28 generates display data by superimposing numerical data showing the number of surviving seedlings and numerical data showing the number of dead seedlings onto the aggregation area 16. The death rate is calculated for each of the multiple aggregation areas 16 and superimposed on each of the multiple aggregation areas 16. The number of surviving seedlings is aggregated for each of the multiple aggregation areas 16 and superimposed on each of the multiple aggregation areas 16. The number of dead plants is tallied for each of the multiple aggregation areas 16 and displayed superimposed on each of the multiple aggregation areas 16.

[0075] Furthermore, numerical data representing the survival rate, which shows the percentage of seedlings 8 that have not died in the aggregation area 16, may be superimposed on the aggregation area 16. Numerical data representing the number of dead seedlings 8 that have died in the aggregation area 16, may be superimposed on the aggregation area 16. Numerical data representing the number of surviving seedlings 8 that have not died in the aggregation area 16, may be superimposed on the aggregation area 16. Numerical data representing the total number of planted trees, which shows the sum of the number of dead and surviving trees, may be superimposed on the aggregation area 16.

[0076] In this embodiment, the aggregation unit 26 calculates the overall mortality rate, which represents the proportion of seedlings 8 that have died in the entire planting area 11; the total number of surviving seedlings 8 that have not died in the entire planting area 11; and the total number of dead seedlings 8 that have died in the entire planting area 11. The display data shown on the display device 43 includes the overall mortality rate, the total number of dead seedlings, and the total number of surviving seedlings. In the example shown in Figure 11, numerical data 19A representing the overall mortality rate, numerical data 19B representing the total number of dead seedlings, and numerical data 19C representing the total number of surviving seedlings are displayed at the top of the display screen of the display device 43.

[0077] A heat map is generated with varying color densities in the aggregation area 16 based on the mortality rate. By checking the heat map displayed on the display device 43, the worker 102 can intuitively recognize areas with high mortality rates and areas that require focused replanting.

[0078] As described above, the aggregation unit 26 can calculate not only the mortality rate, but also the survival rate, the number of dead trees, the number of surviving trees, and the number of trees planted for each aggregation area 16. Display data (heatmap) showing the relationship between aggregation area 16 and the survival rate of aggregation area 16 may be generated and displayed on the display device 43. Display data (heatmap) showing the relationship between aggregation area 16 and the number of dead trees of aggregation area 16 may be generated and displayed on the display device 43. Display data (heatmap) showing the relationship between aggregation area 16 and the number of surviving trees of aggregation area 16 may be generated and displayed on the display device 43. Display data (heatmap) showing the relationship between aggregation area 16 and the number of trees planted in aggregation area 16 may be generated and displayed on the display device 43.

[0079] [Assignment of replanting work] The work area setting unit 27 sets the work area 50 of the worker 102 to plant seedlings at the planting locations identified by the replanting location identification unit 25 in the afforestation area 11. The work area setting unit 27 sets multiple work areas 50 in the afforestation area 11. Multiple workers 102 are assigned to each of the multiple work areas 50 set by the work area setting unit 27. The workers 102 plant seedlings 8 at the replanting locations in their assigned work area 50.

[0080] The work area setting unit 27 can set the work area 50 based on a predetermined algorithm.

[0081] The work area setting unit 27 can set the work area 50 based on input data from the input device 42 of the information terminal 4. The work area setting unit 27 can set the work area 50 based on input data from the input device 42 operated by, for example, the administrator 101. The work area setting unit 27 can set the work area 50 based on the mortality rate calculated for each aggregation area 16 by the aggregation unit 26.

[0082] The administrator 101 operates the input device 42 of the information terminal 4 so that multiple work areas 50 are set in the afforestation area 11. The administrator 101 operates the input device 42 while confirming the afforestation area 11 displayed on the display device 43 of the information terminal 4. If the input device 42 includes a touch panel located on the display screen of the display device 43, the administrator 101 operates the touch panel to draw the outline of the work area 50 with their finger or a pen or other input tool while confirming the afforestation area 11 displayed on the display device 43. By operating the touch panel, the administrator 101 can set work areas 50 of any size and shape at any location in the afforestation area 11.

[0083] The administrator 101 operates the input device 42 to input a ring line, for example, tracing the outline of the work area 50. If the input data includes a ring line that shows the outline of the work area 50, the work area setting unit 27 can set the work area 50 based on the ring line. Alternatively, the administrator 101 may operate the input device 42 to input multiple points that define the outline of the work area 50. If the input data includes multiple points that define the outline of the work area 50, the work area setting unit 27 can set the work area 50 based on the multiple points. The work area setting unit 27 may also set a polygonal work area 50 that connects multiple points.

[0084] When the second symbol 152 indicating the replanting position is displayed on the display device 43, the administrator 101 can operate the input device 42 so that the work area 50 is set while confirming the second symbol 152 displayed on the display device 43. The work area setting unit 27 can set the work area 50 by acquiring input data from the input device 42 while the replanting position (the second symbol 152 indicating the replanting position) is displayed on the display device 43.

[0085] The administrator 101 may operate the input device 42 so that the work area 50 is set while the dead location (a symbol indicating the dead location) showing the position of the dead seedling 8 is displayed on the display device 43. The work area setting unit 27 may also set the work area 50 by acquiring input data from the input device 42 while the dead location (a symbol indicating the dead location) is displayed on the display device 43.

[0086] The administrator 101 may operate the input device 42 so that the work area 50 is set while the survival position (first symbol 151 indicating the survival position) showing the location of the surviving seedling 8 is displayed on the display device 43. The work area setting unit 27 may also set the work area 50 by acquiring input data from the input device 42 while the survival position (first symbol 151) is displayed on the display device 43.

[0087] Administrator 101 may operate the input device 42 so that the work area 50 is set while display data showing the relationship between the aggregation area 16 and the mortality rate of the aggregation area 16 is displayed on the display device 43. In other words, administrator 101 may operate the input device 42 so that the work area 50 is set while a heat map showing the mortality rate is displayed on the display device 43. The work area setting unit 27 may set the work area 50 by acquiring input data from the input device 42 while a heat map showing the relationship between the aggregation area 16 and the mortality rate of the aggregation area 16 is displayed on the display device 43.

[0088] The administrator 101 may operate the input device 42 to set the work area 50 while the work area 50 and the storage area 12 are displayed on the display device 43. The work area setting unit 27 may set the work area 50 by acquiring input data from the input device 42 while the work area 50 and the storage area 12 are displayed on the display device 43.

[0089] The administrator 101 may operate the input device 42 so that the work area 50 is set while the number of workers is displayed on the display device 43. The work area setting unit 27 may acquire input data from the input device 42 and set the work area 50 while the number of workers is displayed on the display device 43.

[0090] The administrator 101 may operate the input device 42 so that the work area 50 is set while the image of the afforestation area 11 is displayed on the display device 43. The image of the afforestation area 11 includes an image captured by the camera 92 of the mobile unit 9 or an orthoimage. An orthoimage is an image obtained by converting an image captured by the camera 92 of the mobile unit 9 so that it looks as if viewed from directly above, that is, without distortion. The image of the afforestation area 11 may also be an image showing the outline of the afforestation area 11. The work area setting unit 27 may set the work area 50 by acquiring input data from the input device 42 while the image of the afforestation area 11 is displayed on the display device 43.

[0091] The administrator 101 may operate the input device 42 so that the work area 50 is set while the image used for determining whether the seedling 8 has died (or survived) is displayed on the display device 43. Examples of images used for determining whether the seedling 8 has died include spectrum images, bar graphs, pie charts, and the heat map described above. The work area setting unit 27 may also set the work area 50 by acquiring input data from the input device 42 while the image used for determining whether the seedling 8 has died is displayed on the display device 43.

[0092] The work area setting unit 27 may set the work area 50 by acquiring input data from the input device 42 while the display device 43 is displaying at least one or at least two of the following: the replanting location (second symbol 152), the dead location (symbol indicating the dead location), the living location (first symbol 151), the heat map, the image of the planting area 11, and the image used to determine whether the seedlings 8 have died.

[0093] The display data generation unit 28 generates display data indicating the work area 50 set by the work area setting unit 27. The display data may also show the relationship between the work area 50 set by the work area setting unit 27 and the worker 102 assigned to the work area 50.

[0094] The display data generation unit 28 may generate display data that includes at least one of the following: the number of replanting locations included in one work area 50; the mortality rate, which indicates the proportion of dead seedlings 8 among the multiple seedlings 8 planted in one work area 50; the number of dead seedlings 8 in one work area 50; the number of surviving seedlings 8 in one work area 50; and the distance between the storage area 12 and the work area 50. The display data may also include numerical data.

[0095] Figure 13 is a diagram showing an example of display data shown on the display device 43 of the information terminal 4 according to the embodiment. Figure 14 is a diagram illustrating the method for assigning replanting work according to the embodiment. Figure 15 is a flowchart showing the method for assigning replanting work according to the embodiment.

[0096] As shown in Figure 14, the following description will explain an example in which the work area 50 is set based on input data from the input device 42 of the information terminal 4 held by the administrator 101. The work area setting unit 27 sets the work area 50 based on the input data from the input device 42 operated by the administrator 101. Display data indicating the set work area 50 is distributed to the information terminal 4 held by the worker 102.

[0097] The replanting location identification unit 25 identifies the dead location from a plurality of planting locations 13 based on the result of the determination unit 24's determination of the dead seedling 8, and then identifies the replanting location (step SC1). After identifying the planting location 13 of the seedling 8 that the determination unit 24 has determined to be dead as the dead location, the replanting location identification unit 25 identifies the replanting location where the seedling 8 should be replanted.

[0098] The administrator 101 operates the input device 42 of the information terminal 4 so that multiple work areas 50 are set in the afforestation area 11. The administrator 101 operates the input device 42 while confirming the afforestation area 11 displayed on the display device 43 of the information terminal 4. If the input device 42 includes a touch panel located on the display screen of the display device 43, the administrator 101 operates the touch panel to draw the outline of the work area 50 with their finger or a pen or other input tool while confirming the afforestation area 11 displayed on the display device 43. By operating the touch panel, the administrator 101 can set work areas 50 of any size and shape at any location in the afforestation area 11.

[0099] If a heat map showing the mortality rate or a second symbol 152 indicating the replanting location is displayed on the display device 43, the administrator 101 may operate the touch panel to draw the outline of the work area 50 while checking the heat map or second symbol 152 displayed on the display device 43. The administrator 101 may also operate the touch panel to ensure that the amount of replanting work is uniform in each of the multiple work areas 50 while checking the heat map or second symbol 152 displayed on the display device 43. That is, the administrator 101 may operate the touch panel to ensure that the number of replanting locations is uniform in each of the multiple work areas 50, or to ensure that the size (area) of each of the multiple work areas 50 is uniform. The input data generated by operating the input device 42 is transmitted from the administrator 101's information terminal 4 to the server 2. The work area setting unit 27 acquires the input data from the input device 42 of the information terminal 4 (step SC2).

[0100] The work area setting unit 27 sets multiple work areas 50 in the afforestation area 11 based on the input data from the input device 42 (step SC3). The display data generation unit 28 generates display data indicating the work areas 50 set by the work area setting unit 27 (step SC4).

[0101] The display data generated by the display data generation unit 28 is transmitted to the information terminal 4 held by the worker 102. The controller 41 of the information terminal 4 displays the display data transmitted from the display data generation unit 28 on the display device 43.

[0102] As shown in Figure 13, the display data shown on the display device 43 includes an image of the planting area 11 captured by the camera 92, a heat map showing the mortality rate, a symbol 15 indicating the result of the seedling mortality determination by the determination unit 24, and a hatched image showing the work area 50 set in the planting area 11. The image captured by the camera 92, the heat map including multiple aggregation areas 16, the symbol 15, and the hatched image showing the work area 50 are superimposed on each other. The hatched image showing the work area 50 is displayed so as to cover at least a portion of the image.

[0103] Multiple work areas 50 may be set up based on the number of workers 102 performing the replanting work. For example, the same number of work areas 50 as the number of workers 102 performing the replanting work may be set up in the afforestation area 11. In the example shown in Figure 13, five work areas 50 are set up in the afforestation area 11. The work areas 50 include a first work area 51, a second work area 52, a third work area 53, a fourth work area 54, and a fifth work area 55. Multiple work areas 50 are set up so as not to overlap with each other. The first worker 102A is assigned to the replanting work in the first work area 51, the second worker 102B is assigned to the replanting work in the second work area 52, the third worker 102C is assigned to the replanting work in the third work area 53, the fourth worker 102D is assigned to the replanting work in the fourth work area 54, and the fifth worker 102E is assigned to the replanting work in the fifth work area 55.

[0104] The hatching image designs (hatching patterns) for each of the multiple work areas 50 are all different. The hatching image designs allow the worker 102, who is viewing the display device 43, to distinguish between the multiple work areas 50. The display data generation unit 28 may change the hatching image design in relation to the worker 102. For example, the display data generation unit 28 may generate a hatching image of a first design as the hatching image for the first work area 51 to which the first worker 102A is assigned, and generate a hatching image of a second design as the hatching image for the second work area 52 to which the second worker 102B is assigned. The same applies to the third work area 53, the fourth work area 54, and the fifth work area 55. By changing the hatching image design for each work area 50, the worker viewing the display device 43 can recognize the relationship between the work area 50 and the worker 102 assigned to that work area 50. By checking the hatching image displayed on the display device 43, worker 102 can recognize the work area 50 where he / she will perform replanting work, and can also recognize the work areas 50 where others will perform replanting work. The worker's name may also be displayed superimposed on the hatching image. For example, the name of the first worker 102A may be displayed superimposed on the hatching image representing the first work area 51. The name of the second worker 102B may be displayed superimposed on the hatching image representing the second work area 52. The same applies to the third work area 53, the fourth work area 54, and the fifth work area 55.

[0105] The display data generation unit 28 determines the size and shape of the hatching image representing the work area 50 in accordance with the size (area) and shape of the work area 50 set by the work area setting unit 27. The hatching image is an image that represents the size and shape of the work area 50. Depending on the size of the hatching image, each of the multiple workers 102 can recognize the size and shape of the work area 50 in which they will perform replanting work, and can recognize the size and shape of the work area 50 in which others will perform replanting work. Numerical data representing the area of ​​the work area 50 may be displayed superimposed on the hatching image. For example, numerical data representing the area of ​​the first work area 51 may be displayed superimposed on the hatching image representing the first work area 51. Numerical data representing the area of ​​the second work area 52 may be displayed superimposed on the hatching image representing the second work area 52. The same applies to the third work area 53, the fourth work area 54, and the fifth work area 55.

[0106] When the first button 18A is tapped, a first symbol 151 indicating the survival position of the seedling 8 is displayed, and when the second button 18B is tapped, a second symbol 152 indicating the replanting position of the seedling 8 is displayed. Based on the input data from the input device 42, the display data generation unit 28 can generate display data in which the first symbol 151 indicating the survival position of the seedling 8 is superimposed on the work area 50. Based on the input data from the input device 42, the display data generation unit 28 can generate display data in which the second symbol 152 indicating the replanting position of the seedling 8 is superimposed on the work area 50. Figure 13 shows an example in which the second symbol 152 is superimposed on the work area 50 and the first symbol 151 is not displayed.

[0107] As described above, the display data generation unit 28 generates display data by superimposing numerical data 17 related to the death of seedlings 8 onto the aggregation area 16. The numerical data 17 includes the death rate for each aggregation area 16, the survival rate which shows the proportion of seedlings 8 that have not died, the number of dead seedlings 8 (number of death locations) which shows the number of dead seedlings 8, the number of surviving seedlings 8 (number of surviving locations) which shows the number of seedlings 8 that have not died, and the number of trees planted which shows the sum of the number of dead and surviving trees. The display data may also include numerical data showing the death rate in one work area 50, numerical data showing the survival rate in one work area 50, numerical data showing the number of dead seedlings in one work area 50, numerical data showing the number of surviving seedlings in one work area 50, and numerical data showing the number of trees planted in one work area 50. In other words, the display data generation unit 28 may generate display data that includes the death rate, survival rate, number of dead seedlings, number of surviving seedlings, and the number of dead seedlings (number of death locations) for each work area 50.

[0108] The work area setting unit 27 may set the work area 50 based on a predetermined algorithm. The work area setting unit 27 may set the work area 50 based on input data from the input device 42 and a predetermined algorithm. For example, if the number of workers 102 performing replanting work is input from the input device 42, the work area setting unit 27 may set the work area 50 based on the number of workers 102. The work area setting unit 27 may set the same number of work areas 50 as the number of workers 102 in the afforestation area 11.

[0109] The work area setting unit 27 may set the work area 50 based on the replanting positions identified by the replanting position identification unit 25. The work area setting unit 27 may also set the work area 50 so that the number of replanting positions belonging to each of the multiple work areas 50 is uniform.

[0110] The work area setting unit 27 may determine the number of replanting positions belonging to each of the multiple work areas 50 based on the distance from the storage area 12 to the work area 50. The work area setting unit 27 may set the work areas 50 such that the number of replanting positions belonging to a work area 50 decreases as the distance from the storage area 12 to the work area 50 increases. In other words, the work area setting unit 27 may set the work areas 50 such that the number of replanting positions belonging to a work area 50 increases as the distance from the storage area 12 to the work area 50 increases. As described above, when performing replanting work, the worker 102 takes the basket 7 stored in the storage area 12 and then moves to the replanting position. Since the afforestation area 11 is vast, the worker 102 assigned to a work area 50 that is far from the storage area 12 needs to travel a long distance from the storage area 12 to the work area 50. By assigning a work area 50 with fewer replanting locations to a worker 102 who needs to travel long distances, the workload of multiple workers 102 is made more uniform.

[0111] The work area setting unit 27 may determine the number of replanting locations belonging to each of the multiple work areas 50 based on the number of seedlings 8 that the worker 102 can carry out from the storage area 12 at one time and the distance from the storage area 12 to the work area 50. The worker 102 carries the seedlings 8 contained in the baskets 7 out of the storage area 12 and moves to the assigned work area 50. The number of seedlings 8 that can be contained in the baskets 7 is finite. Also, the number of baskets 7 that the worker 102 can carry out at one time is finite. If the number of replanting locations belonging to the work area 50 is greater than the number of seedlings 8 that can be contained in the baskets 7, the worker 102 needs to go back to the storage area 12 to get a new basket 7 (seedlings 8) after replanting all the seedlings 8 contained in the baskets 7. In other words, if the number of replanting locations belonging to the work area 50 is greater than the number of seedlings 8 that can be contained in the baskets 7, the worker 102 needs to go back and forth between the storage area 12 and the work area 50. When the work area setting unit 27 sets a work area 50 whose distance from the storage area 12 is longer than a predetermined distance threshold, it sets the work area 50 such that the number of replanting locations belonging to the work area 50 is less than the number of seedlings 8 that can be stored in the basket 7. By setting the work area 50 such that the number of replanting locations belonging to the work area 50, which is far from the storage area 12, is less than the number of seedlings 8 that can be stored in the basket 7, workers 102 assigned to the work area 50, which is far from the storage area 12, do not have to travel the long distance back and forth between the storage area 12 and the work area 50. When the work area setting unit 27 sets a work area 50 whose distance from the storage area 12 is less than or equal to the distance threshold, it sets the work area 50 such that the number of replanting locations belonging to the work area 50 is greater than the number of seedlings 8 that can be stored in the basket 7. Workers 102 assigned to the work area 50, which is short of the storage area 12, will need to travel back and forth between the storage area 12 and the work area 50, but the distance traveled back and forth will be short. This equalizes the workload for multiple workers 102.

[0112] The work area setting unit 27 may set the work area 50 based on the skill levels of multiple workers 102. Skill level data indicating the skill level of the workers 102 is stored in advance in the storage unit 29. The work area setting unit 27 may set the work area 50 based on the skill level data stored in the storage unit 29. Skill level includes the speed of replanting work. The work area setting unit 27 may set the work area 50 such that a large number of replanting positions belong to the work area 50 assigned to workers 102 with high skill levels.

[0113] Furthermore, the work area setting unit 27 divides the afforestation area 11 into multiple areas based on the replanting locations identified by the replanting location identification unit 25, and sets a portion of the afforestation area 11 500 where the density of replanting locations is equal to or greater than a predetermined value as the work area 50, while areas with a density of replanting locations less than the predetermined value do not need to be set as the work area 50.

[0114] Figure 16 is a diagram illustrating the method for setting up the work area 50 according to the embodiment. In Figure 16, the density of replanting locations in a portion of area 500 of the afforestation area 11 is greater than or equal to a predetermined value. The density of replanting locations refers to the number of replanting locations per unit area. By having multiple workers 102 concentrate replanting work in areas 500 with a high density of replanting locations, the replanting work can be completed earlier.

[0115] Furthermore, the work area setting unit 27 may choose not to set some areas 500 of the planting area 11 where the density of replanting locations is above a specified value as the work area 50, and may set areas where the density of replanting locations is below a specified value as the work area 50. Areas 500 where the density of replanting locations is above a specified value are likely to be unsuitable for afforestation due to weather, pests such as ants, the surrounding natural environment, or soil conditions. Even if seedlings 8 are replanted in areas 500 where the density of replanting locations is above a specified value, the replanted seedlings 8 may quickly wither and die. By not setting areas 500 where the density of replanting locations is above a specified value as the work area 50, the waste of seedlings 8 is suppressed.

[0116] Furthermore, the work area setting unit 27 may choose not to set some areas 500 of the planting area 11 where the density of replanting locations is outside the predetermined range as work area 50, but rather to set areas where the density of replanting locations is within the predetermined range as work area 50. If the density of replanting locations is too high, there is a high possibility that the seedlings 8 will die, and if the density of replanting locations is too low, the efficiency of the replanting work will decrease.

[0117] The work area setting unit 27 may divide the work area 50, which is set based on the density of replanting locations, into multiple work areas 50. For example, if a single work area 50 contains areas with high density of replanting locations and areas with low density, each area is set as a separate work area 50.

[0118] Furthermore, the work area setting unit 27 may set a portion of the planting area 11, specifically areas 500, as work areas 50 if the mortality rate (the percentage of dead seedlings 8 among the multiple seedlings 8 planted in the planting area 11) is equal to or greater than a predetermined value, and may not set areas with a mortality rate below the predetermined value as work areas 50.

[0119] Furthermore, the work area setting unit 27 may set a portion of the planted area 11 (area 500) with a mortality rate below a specified value as the work area 50, and may not set areas with a mortality rate above a specified value as the work area 50.

[0120] Furthermore, the work area setting unit 27 may set a portion of the planting area 11, specifically the area 500 within a predetermined range of tree mortality rates, as a work area 50, and may not set areas outside the predetermined range of tree mortality rates as work areas 50.

[0121] [effect] As described above, the processor 10A of server 2 includes a work area setting unit 27 that sets the work area 50 of the worker 102 who will plant seedlings 8 at the planting location in the planting area 11, and a display data generation unit 28 that generates display data indicating the work area 50.

[0122] According to this embodiment, replanting work is supported. Display data is generated indicating the work area 50 to which worker 102 is assigned, so that worker 102 can efficiently perform replanting work by checking the display data.

[0123] The processor 10A of server 2 is equipped with a planting location identification unit 25 that identifies planting locations indicating where seedlings 8 should be planted in the planting area 11. The planting location identification unit 25 identifies the planting locations where the worker 102 should plant seedlings 8.

[0124] The work area setting unit 27 sets the work area 50 based on the input data from the input device 42. The administrator 101 can set a work area 50 of any size and shape at any location in the afforestation area 11 by operating the input device 42.

[0125] The work area setting unit 27 can set up multiple work areas 50 based on the number of workers 102. The work area setting unit 27 can set up multiple work areas 50 based on the number of workers 102 so that the workload of each of the multiple workers 102 is equal.

[0126] The work area setting unit 27 sets the work area 50 based on the replanting positions. For example, by setting the work area 50 so that the difference in the number of replanting positions belonging to each of the multiple work area 50 is less than or equal to a predetermined allowable value, the workload of each of the multiple workers 102 is made uniform. For example, by setting the work area 50 so that the replanting positions belonging to each of the multiple work area 50 are uniform, the workload of each of the multiple workers 102 is made uniform.

[0127] The work area setting unit 27 may set the work areas 50 such that the difference between the areas of each of the multiple work areas 50 is less than or equal to a predetermined allowable value. For example, the work area setting unit 27 may set the work areas 50 such that the areas of each of the multiple work areas 50 are uniform. This equalizes the workload of each of the multiple workers 102.

[0128] A storage area 12 is provided around the afforestation area 11, where seedlings 8 for replanting are placed. The work area setting unit 27 determines the number of replanting locations belonging to each of the multiple work areas 50 based on the distance from the storage area 12 to the work area 50. The work areas 50 are set up so that the number of replanting locations belonging to each work area 50 decreases as the distance from the storage area 12 to the work area 50 increases, thereby equalizing the workload of each of the multiple workers 102.

[0129] A storage area 12 is provided around the afforestation area 11 where seedlings 8 for replanting are placed. The work area setting unit 27 determines the number of replanting locations belonging to each of the multiple work areas 50 based on the number of seedlings 8 that a worker 102 can carry out from the storage area 12 at one time and the distance from the storage area 12 to the work area 50. The work areas 50 are set so that the number of replanting locations belonging to the work area 50 is less than the number of seedlings 8 that can be stored in the basket 7 the longer the distance from the storage area 12, and the work areas 50 are set so that the number of replanting locations belonging to the work area 50 is greater than the number of seedlings 8 that can be stored in the basket 7 the shorter the distance from the storage area 12, thereby equalizing the workload of each of the multiple workers 102.

[0130] The work area setting unit 27 sets a portion of the planting area 11, specifically area 500, where the density of replanting locations is above a specified value, as the work area 50. By having multiple workers 102 concentrate replanting work in the area 500 with a high density of replanting locations, the replanting work is completed earlier.

[0131] The display data shown on the display device 43 includes the number of replanting locations included in the work area 50. After checking the display data, the worker 102 can recognize their own workload based on the number of replanting locations displayed on the display device 43.

[0132] The display data shown on the display device 43 includes a hatched image that shows the size and shape of the work area 50. The worker 102, after checking the display data, can recognize their own workload based on the hatched image displayed on the display device 43.

[0133] The display data generation unit 28 generates display data in which a second symbol 152 indicating the replanting location is superimposed on the work area 50. The display data generation unit 28 generates display data in which the second symbol 152 indicating the replanting location is superimposed on an image showing the work area 50. The image showing the work area 50 includes an image of the work area 50 captured by the camera 92 of the mobile unit 9 or an orthoimage of the work area 50. The worker 102, after checking the display data, can recognize the replanting location of the seedlings 8 in the afforestation area 11.

[0134] [Other embodiments] In the embodiment described above, the information terminal 4 is assumed to be held by the worker 100. The information terminal 4 does not have to be held by the worker 100. The information terminal 4 may be located in an office outside the afforestation area 11. The information terminal 4 may be a smartphone or personal computer located in the office. A manager or supervisor located in the office may use the information terminal 4 located in the office to view and input various data related to afforestation work.

[0135] In the above-described embodiment, the planting position 13 is detected by the position sensor 34 of the afforestation machine 3. If a position sensor including a GNSS receiver is provided on the afforestation tool 6, the planting position 13 may be detected by the position sensor of the afforestation tool 6. The planting position acquisition unit 21 may acquire the planting position 13 of the seedling 8 from the position sensor of the afforestation tool 6.

[0136] In the above-described embodiment, the functional units of server 2 may be configured by separate computers (hardware). For example, the server that generates the display data and the server that distributes the display data to the information terminal 4 may be separate servers.

[0137] In the above embodiment, some or all of the functional parts of the server 2 may be provided in, for example, the controller 41 of the information terminal 4. The controller 41 (processor) of the information terminal 4 may acquire planting positions 13 indicating the locations of seedlings 8 planted in the afforestation area 11, acquire captured images showing images of the afforestation area 11 captured by the camera 92, compare the positions on the captured images with the planting positions 13, set a determination area 14 on the captured images, determine whether the seedlings 8 are dead or not based on the captured images of the determination area 14, and output the determination result. The controller 41 (processor) of the information terminal 4 may generate display data including the determination result and display the display data on the display device 43.

[0138] The controller 41 (processor) of the information terminal 4 may set the work area 50 for the worker 102 to plant seedlings 8 at the planting location in the planting area 11, generate display data indicating the work area 50, and display the display data on the display device 43. The controller 41 (processor) of the information terminal 4 may identify the planting location in the planting area 11. The controller 41 (processor) of the information terminal 4 may set the work area 50 based on input data from the input device 42. The controller 41 (processor) of the information terminal 4 may set multiple aggregation areas 16 in the planting area 11 where multiple seedlings 8 are planted, calculate the mortality rate indicating the percentage of dead seedlings 8 for each aggregation area 16, and set the work area 50 after acquiring input data while displaying the relationship between the aggregation area 16 and the mortality rate of the aggregation area 16 on the display device 43.

[0139] The controller 41 (processor) of the information terminal 4 may set up multiple aggregation areas 16 in the planting area 11 where multiple seedlings 8 are planted, calculate a numerical value related to the death of the seedlings 8 for each aggregation area 16, generate display data (heatmap) showing the relationship between the aggregation areas 16 and the numerical values ​​in each aggregation area 16, and display the display data (heatmap) on the display device 43. Alternatively, the controller 41 (processor) of the information terminal 4 may generate display data superimposed on the numerical values ​​related to the death of the seedlings 8 in the aggregation areas 16, and display the display data on the display device 43.

[0140] Furthermore, if the communication environment in the afforestation area 11 is poor, communication between the information terminal 4 and the server 2 may become difficult. If communication between the information terminal 4 and the server 2 is difficult, data transmitted from the first information terminal 4 may be received by the second information terminal 4 without going through the server 2. By providing all of the functional parts of the server 2 in the controller 41 of the information terminal 4, the information terminal 4 can perform the processing described in the above embodiment. The first information terminal 4 and the second information terminal 4 may communicate via a wireless LAN (Local Area Network) such as Wi-Fi®. The first information terminal 4 and the second information terminal 4 may communicate via a wireless PAN (Personal Area Network) such as Bluetooth® or Zigbee®. [Explanation of symbols]

[0141] 1...Afforestation system, 2...Server, 3...Afforestation machine, 4...Information terminal, 5...Communication system, 6...Afforestation tool, 7...Basket, 8...Seedling (plant body), 9...Mobile unit, 10...Computer, 10A...Processor, 10B...Main memory, 10C...Storage, 10D...Input / output interface, 10E...Communication interface, 10F...Computer program, 11...Afforestation area, 12...Storage area, 13...Planting position, 14...Judgment area, 15...Symbol, 16...Aggregation area, 16A...Aggregation area, 17...Numerical data, 18A...First button, 18B...Second button, 19A...Numerical data, 19B...Numerical data, 19C...Numerical data, 20...Learner, 21...Planting position acquisition unit, 22...Image acquisition unit, 23...Judgment area setting unit, 24...Judgment unit, 25...Replanting position identification unit, 26 ...aggregation unit, 27...work area setting unit, 28...display data generation unit, 29...storage unit, 30...vehicle body, 31...driving device, 32...planting device, 33...controller, 34...position sensor, 35...attitude sensor, 36...arm, 37...frame, 38...hydraulic cylinder, 39...planting unit, 39A...plant body holding unit, 39B...main unit, 39C...extendable unit, 41...controller, 42...input device, 43...display device, 44...position sensor, 50...work area, 51...first work area, 52...second work area, 53...third work area, 54...fourth work area, 55...fifth work area, 91...controller, 92...camera, 93...position sensor, 94...attitude sensor, 100...employee, 101...manager, 102...worker, 151...first symbol, 152...second symbol, 500...area.

Claims

1. Equipped with a processor, The aforementioned processor, In the afforestation area, the work area for workers to plant at the planting locations, which indicate where plants should be replanted, is set within the afforestation area. To generate display data indicating the aforementioned work area, Afforestation system.

2. The aforementioned processor, In the aforementioned afforestation area, the location of the replanting is identified. The afforestation system according to claim 1.

3. The aforementioned processor, Based on the input data from the input device, the work area is set. The afforestation system according to claim 1.

4. The aforementioned input data includes a circular line, The processor sets the work area based on the annular line. The afforestation system according to claim 3.

5. The aforementioned input data includes multiple points, The processor sets the work area based on the points. The afforestation system according to claim 3.

6. The aforementioned processor, With the aforementioned planting position displayed on the display device, the input data is acquired and the work area is set. The afforestation system according to claim 3.

7. The aforementioned processor, With the location of the dead plant body displayed on the display device, the input data is acquired and the work area is set. The afforestation system according to claim 3.

8. The aforementioned processor, In a afforestation area where multiple plant species are planted, multiple aggregation areas are set up. The mortality rate, which indicates the proportion of dead plants, is calculated for each survey area. With the display data showing the relationship between the aggregation area and the mortality rate of the aggregation area displayed on the display device, the input data is acquired and the work area is set. The afforestation system according to claim 3.

9. The aforementioned processor, With the work area and the storage area, which is provided in at least a part of the periphery of the afforestation area and where the plants for replanting are placed, displayed on the display device, the input data is acquired and the work area is set. The afforestation system according to claim 3.

10. The aforementioned processor, With the number of workers displayed on the display device, the input data is acquired and the work area is set. The afforestation system according to claim 3.

11. The aforementioned processor, With at least one of the following displayed on the display device—the planting area, the replanting location, the dead plant location indicating the location of dead plants, the living plant location indicating the location of living plants, the orthomosaic image of the planting area, and the image used for determining plant death—the input data is acquired and the work area is set. The afforestation system according to claim 3.

12. A storage area is provided around the periphery of the aforementioned afforestation area where the plants for replanting are to be placed. The aforementioned processor, Based on the distance from the storage area to the work area, the number of replanting locations belonging to each of the multiple work areas is determined. The afforestation system according to claim 1.

13. A storage area is provided around the periphery of the aforementioned afforestation area where the plants for replanting are to be placed. The aforementioned processor, Based on the number of plants that the worker can carry out from the storage area at one time and the distance from the storage area to the work area, the number of replanting locations belonging to each of the multiple work areas is determined. The afforestation system according to claim 1.

14. The processor sets at least one of the following areas as the work area: a portion of the afforestation area where the density of the replanting locations is greater than or equal to a specified value, a portion of the afforestation area where the density of the replanting locations is less than a specified value, and a portion of the afforestation area where the density of the replanting locations is within a specified range. The afforestation system according to claim 1.

15. The aforementioned processor, The work area is defined as at least one of the following: a portion of the afforestation area where the mortality rate, which indicates the proportion of dead plants among the multiple plants planted in the afforestation area, is equal to or greater than a specified value; a portion of the afforestation area where the mortality rate is less than a specified value; and a portion of the afforestation area where the mortality rate is within a specified range. The afforestation system according to claim 1.

16. The aforementioned display data is The work area includes the number of replanting locations, the mortality rate which indicates the proportion of dead plants among the multiple plants planted in the work area, and the distance between the work area and a storage area which is provided in at least a part of the perimeter of the afforestation area and where the plants for replanting are placed. The afforestation system according to claim 1.

17. The aforementioned display data includes an image showing the size and shape of the work area. The afforestation system according to claim 1.

18. The processor generates display data in which a symbol indicating the replanting position is superimposed on the work area. The afforestation system according to claim 1.

19. In the afforestation area, the work area for workers to plant at the planting locations, which indicate where plants should be replanted, is set within the afforestation area. This includes generating display data indicating the aforementioned work area, Afforestation methods.

20. Equipped with a processor, The aforementioned processor, In the afforestation area, the work area for workers to plant at the planting locations, which indicate where plants should be replanted, is set within the afforestation area. To generate display data indicating the aforementioned work area, Information terminal.

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