Afforestation system, afforestation method, and information terminal

Abstract

To assist with replanting work. [Solution] The afforestation system includes a processor. The processor acquires replanting locations indicating where plants should be replanted in the afforestation area, identifies completion locations indicating where plant replanting has been completed, and generates display data including the completion locations.

Description

Technical Field

[0006] , [Figure 1] , ,

[0008] , , , ,

[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 afforestation systems, an afforestation system as disclosed in Patent Document 1 is known. In Patent Document 1, plants are planted in the 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 plants planted in the soil may wither. When the plants wither, a technology that can efficiently replant 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 acquires a replanting position indicating a position where a plant should be replanted in an afforestation area, identifies a completion position indicating a replanting position where the replanting of the plant is completed, and generates display data including the completion position.

Effects of the Invention

[0007] According to the present disclosure, the replanting work can be supported.

Brief Description of the Drawings

[0008] [Figure 1]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 functional block diagram showing an information terminal according to this embodiment. [Figure 6] Figure 6 is a schematic diagram showing the afforestation area and storage area according to the embodiment. [Figure 7] Figure 7 is a flowchart showing the method for determining the death of 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 shows an example of display data shown on the display device of the information terminal 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 a worker's route displayed on the display device of the information terminal according to the embodiment. [Figure 12] Figure 12 shows an example of a worker's route displayed on the display device of the information terminal according to the embodiment. [Figure 13] Figure 13 shows an example of a worker's route displayed on the display device of the information terminal according to the embodiment. [Figure 14] Figure 14 is a diagram illustrating a method for determining the completion position according to the embodiment. [Figure 15] Figure 15 is a flowchart showing a worker support method according to an embodiment. [Figure 16] Figure 16 shows an example of management data displayed on the display device of the information terminal according to the embodiment. [Figure 17]FIG. 17 is a flowchart showing a method for processing plant body data according to an embodiment. [Figure 18] FIG. 18 is a diagram showing an example of a real image and an AR image displayed on a display device of an information terminal according to an embodiment. [Figure 19] FIG. 19 is a flowchart showing a method for generating display data including an AR image according to an embodiment. [Figure 20] FIG. 20 is a diagram schematically showing an AR glass according to an embodiment. [Figure 21] FIG. 21 is a diagram showing an example of a real image and an AR image displayed on a display device of an AR glass according to an embodiment.

Embodiments of the Invention

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

[0010] The afforestation system 1 includes a server 2, an afforestation machine 3, an information terminal 4, and a mobile body 9. The server 2 includes a computer. The afforestation machine 3 operates in an afforestation area 11 (see FIG. 6) where the afforestation work is carried out. The afforestation machine 3 plants the seedlings 8 in the soil of the afforestation area 11. The server 2 is arranged outside the afforestation machine 3. The server 2 may be arranged inside the afforestation area 11 or outside the afforestation area 11. In the embodiment, the server 2 is arranged at a remote location from the afforestation area 11. The information terminal 4 is held by a person 100 engaged in the afforestation work. In the embodiment, the information terminal 4 is a tablet terminal. Note that the information terminal 4 may be a smartphone or a notebook personal computer. The mobile body 9 moves in the afforestation 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 afforestation area 11.

[0011] The server 2, the afforestation machine 3, the information terminal 4, and the mobile body 9 communicate 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 person 100 includes a manager 101 of the afforestation area 11 and a worker 102 of the afforestation work. The manager 101 supervises the worker 102.

[0013] The afforestation machine 3 performs the planting work. The worker 102 performs the replanting work. 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 work. The worker 102 holds a basket 7 containing a plurality of seedlings 8. When performing the replanting work, the worker plants the seedling 8 taken out from the basket 7 into the soil using the afforestation tool 6.

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

[0015] The vehicle body 31 is positioned above the running gear 32. The running gear 32 supports the vehicle body 31. The running gear 32 travels through the planted area 11. The running gear 32 includes a pair of tracks that rotate using power generated by the engine. The running gear 32 may also include wheels.

[0016] The planting device 33 plants seedlings 8 in the soil. The planting device 33 is positioned in front of the vehicle body 31. The planting device 33 has an arm 36, a frame 37, a hydraulic cylinder 38, and a plurality of planting sections 39. In this embodiment, three planting sections 39 are provided spaced apart in the vehicle width direction of the vehicle body 31. The arm 36 is attached to the frame of the traveling device 32 and supports the planting device 33 so that it can be raised and lowered. The frame 37 is attached to the end of the arm 36 and supports the plurality of planting sections 39. The hydraulic cylinder 38 is provided between the front of the vehicle body 31 and the frame 37 and raises and lowers the frame 37 by extending and retracting.

[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 34 includes a computer. The controller 34 outputs control signals to control the traveling device 32 and the planting device 33. The controller 34 communicates with the server 2 via the communication system 5.

[0020] The position sensor 35 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 35 includes a GNSS receiver and detects the position of the afforestation machine 3 in the global coordinate system.

[0021] In this embodiment, the position sensor 35 is installed on the vehicle body 31. The position sensor 35 detects the position of the vehicle body 31. The detection data from the position sensor 35 is transmitted to the controller 34. Based on the detection data from the position sensor 35 and the time when the planting device 33 plants the seedlings 8 in the soil, the controller 34 can calculate the planting position, which indicates the position of the seedlings 8 planted in the soil of the afforestation area 11. The position sensor 35 detects its own position. The relative position between the position sensor 35 and the planting device 33 is known data derived from the design data or specifications data of the afforestation machine 3. Based on the detection data from the position sensor 35, the known relative position between the position sensor 35 and the planting device 33, and the time when the planting device 33 plants the seedlings 8 in the soil, the controller 34 can calculate the planting position of the seedlings 8. The controller 34 transmits the planting position of the seedlings 8 to the server 2. The position sensor 35 may also be placed on the planting device 33. The controller 34 can calculate the planting position of the seedling 8 based on the detection data from the position sensor 35 that detected the position of the planting device 33 and the time when the planting device 33 planted the seedling 8 in the soil.

[0022] [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.

[0023] The controller 34 of the afforestation machine 3 also includes a computer. The controller 41 of the information terminal 4 (see Figures 4 and 5) 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 34 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.

[0024] 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 replanting position identification unit 23, a work area setting unit 24, an input data acquisition unit 25, and a display data generation unit 26. The functions of the functional units of Server 2 are performed by the processor 10A. Server 2 also has a storage unit 27. The functions of the storage unit 27 of Server 2 are performed by the storage 10C.

[0025] The afforestation machine 3 has a controller 34 and a position sensor 35. The information terminal 4 has a controller 41, an input device 42, a display device 43, a camera 44, and a sensor system 48. The sensor system 48 includes a position sensor 45 and a motion sensor 47. The mobile body 9 has a controller 91, a camera 92, and a position sensor 93.

[0026] 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 camera 44 images at least the planted area 11. The position sensor 45 includes a GNSS receiver and detects the position of the information terminal 4 in a global coordinate system. The position of the display device 43 in a global coordinate system is detected by detecting the position of the information terminal 4. The motion sensor 47 detects the movement of the information terminal 4. Examples of the motion sensor 47 include an inertial unit (IMU), an accelerometer, and a gyroscope.

[0027] The controller 91 of the mobile unit 9 communicates with the server 2 via the communication system 5. The camera 92 is mounted on the mobile unit 9. The camera 92 images at least the afforestation area 11. The camera 92 images the afforestation area 11 from above. The position sensor 93 detects the position of the mobile unit 9. The position sensor 93 includes a GNSS receiver and detects the position of the mobile unit 9 in the global coordinate system. By detecting the position of the mobile unit 9, the position of the camera 92 in the global coordinate system is detected.

[0028] The planting position acquisition unit 21 acquires the planting position, which indicates the location of the seedling 8 planted in the planting area 11 by the afforestation machine 3. As described above, the controller 34 of the afforestation machine 3 calculates the planting position of the seedling 8 based on the detection data of the position sensor 35 and the time when the planting device 33 planted the seedling 8 in the soil. The planting position acquisition unit 21 acquires the planting position of the seedling 8 from the controller 34 of the afforestation machine 3. Alternatively, the detection data of the position sensor 35 that detected the position of the afforestation machine 3 and the time data indicating the time when the planting device 33 planted the seedling 8 in the soil may be transmitted from the controller 34 of the afforestation machine 3 to the server 2. The server 2 may calculate the planting position of the seedling 8 based on the detection data of the position sensor 35 that detected the position of the afforestation machine 3 and the time when the planting device 33 planted the seedling 8 in the soil.

[0029] The image acquisition unit 22 acquires an image showing the image of the planted area 11 captured by the camera 92. The controller 91 of the mobile unit 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 unit 9.

[0030] 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 from the position sensor 93. The controller 91 acquires the position of the captured image in the camera coordinate system defined by the camera 92. Based on the detection data from the position sensor 93, 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. The image acquisition unit 22 acquires the captured image with its defined position in the global coordinate system from the controller 91 of the mobile body 9.

[0031] The replanting location identification unit 23 identifies a replanting location from among multiple planting locations of seedlings 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 seedling 8. The replanting location may include the location of the dead seedling 8. The replanting location identification unit 23 obtains a replanting location that indicates a location where a seedling 8 should be replanted in the afforestation area 11. The replanting location identification unit 23 obtains a replanting location that indicates the location of a dead seedling 8 from among multiple seedlings 8 planted in the afforestation area 11.

[0032] Furthermore, the replanting location identification unit 23 identifies survival locations from multiple planting locations of seedlings 8. Survival locations refer to locations where seedlings 8 are not replanted. In other words, survival locations refer to locations where seedlings 8 that have not died are planted. The replanting location identification unit 23 obtains survival locations, which indicate the locations of seedlings 8 that have not died, from among the multiple seedlings 8 planted in the afforestation area 11.

[0033] The replanting location identification unit 23 determines whether the seedlings 8 planted at the planting location are dead or not, based on the captured images of the planting area 11 acquired by the image acquisition unit 22. The storage unit 27 has reference images pre-stored, showing at least one of images of dead or alive seedlings 8. The replanting location identification unit 23 can determine whether the seedlings 8 planted at the planting location are dead or not by comparing the reference images with the captured images. By determining whether the seedlings 8 planted at the planting location are dead or not, the replanting location identification unit 23 can identify the living locations and replanting locations.

[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, an animal may remove it from the planting location. The replanting location identification unit 23 determines that the seedling 8 is dead even if the seedling 8 is unintentionally absent at the planting location. Furthermore, the death of a seedling 8 also includes a situation where the planted seedling 8 is unable to grow. After the seedling 8 has been planted at the planting location, it may be run over by a vehicle tire or submerged in a puddle, for example, which may make it difficult for the seedling 8 to grow, even if it is not dead. The replanting location identification unit 23 also determines that the seedling 8 is dead even if it is unable to grow.

[0035] The work area setting unit 24 sets the work area (see Figure 11) of the worker 102 who will be replanting at the replanting location to the afforestation area 11.

[0036] The input data acquisition unit 25 acquires plant data relating to the seedlings 8 at the replanting location. The input data acquisition unit 25 acquires plant data relating to the dead seedlings 8 at the replanting location. The worker 100 inputs the plant data by operating the information terminal 4. The information terminal 4 generates the plant data when operated by the worker 100. The plant data includes image data of the dead seedlings 8 captured by the camera 44. The plant data includes text data relating to the dead seedlings 8 input from the input device 42. The input data acquisition unit 25 acquires the plant data from the information terminal 4 via the communication system 5.

[0037] The display data generation unit 26 generates display data to be displayed on the display device 43 of the information terminal 4. The display data generated by the display data generation unit 26 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 26 on the display device 43.

[0038] [Information terminal] Figure 5 is a functional block diagram showing an information terminal 4 according to an embodiment. The information terminal 4 has a plurality of functional units. The functional units of the information terminal 4 include a afforestation location acquisition unit 411, a work area acquisition unit 412, a route calculation unit 413, a completion location identification unit 414, a real image acquisition unit 415, an augmented reality processing unit 416, and a display control unit 417. The functions of the functional units of the information terminal 4 are performed by the processor of the controller 41.

[0039] The afforestation location acquisition unit 411 acquires the survival location and replanting location of the seedlings 8 identified by the replanting location identification unit 23. The afforestation location acquisition unit 411 acquires the survival location and replanting location of the seedlings 8 from the replanting location identification unit 23 of the server 2 via the communication system 5.

[0040] The work area acquisition unit 412 acquires the work area of ​​worker 102 as set by the work area setting unit 24. The work area acquisition unit 412 acquires the work area of ​​worker 102 from the work area setting unit 24 of server 2 via the communication system 5.

[0041] The route calculation unit 413 calculates the route for the worker 102 to plant seedlings 8 at each of the multiple planting locations, based on the planting location acquisition unit 411.

[0042] The completion position identification unit 414 identifies a completion position among multiple replanting positions, indicating a replanting position where the replanting of seedlings 8 has been completed. The completion position identification unit 414 also identifies an incomplete position among multiple replanting positions, indicating a replanting position where the replanting of seedlings 8 has not been completed. The completion position identification unit 414 can identify the completion position based on the detection data from the position sensor 45.

[0043] The real-world image acquisition unit 415 acquires a real-world image showing the image of the afforestation area 11 captured by the camera 44.

[0044] The augmented reality processing unit 416 generates augmented reality images to support afforestation work in the afforestation area 11.

[0045] The display control unit 417 controls the display device 43. The display control unit 417 causes the display data generated in the display data generation unit 26 of the server 2 to be displayed on the display device 43. The display control unit 417 can generate display data to be displayed on the display device 43.

[0046] [Afforestation area and storage area] Figure 6 is a schematic diagram showing the planting area 11 and storage area 12 according to the embodiment. As shown in Figure 6, 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.

[0047] 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.

[0048] [Determination of seedling death] Figure 7 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, which indicates the location of the seedlings 8 planted in the planting area 11 by the planting machine 3. The planting position acquired by the planting position acquisition unit 21 is stored in the storage unit 27 (step SA1).

[0049] 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.

[0050] The image acquisition unit 22 acquires an image showing the image of the planted area 11 captured by the camera 92 (step SA2).

[0051] The replanting location identification unit 23 determines whether or not the seedlings 8 are dead based on the images of the planting area 11 acquired by the image acquisition unit 22. The replanting location identification unit 23 determines whether or not the seedlings 8 are dead based on a reference image showing at least one of the images of dead seedlings 8 and non-dead seedlings 8 and the images of the planting area 11 (step SA3).

[0052] 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 seedlings 8 may not be present at the planting location unintentionally. There is a possibility that the growth of seedlings 8 may be difficult. After a predetermined period has elapsed since the planting work, it will be determined whether or not the seedlings 8 have died.

[0053] The replanting location identification unit 23 may determine whether or not the seedling 8 is dead, for example, by a template matching method. The replanting location identification unit 23 may also 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 storage unit 27, which takes an image of the planting area 11 as input and outputs the result of determining whether or not the seedling 8 is dead. The replanting location identification unit 23 uses the trained model stored in the storage unit 27 to determine whether or not the seedling 8 is dead.

[0054] 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 a correct label. The training images of seedlings 8 that are not dead are assigned the label "not dead seedling" as a correct label. The training images of dead seedlings 8 are assigned the label "dead seedling" as a 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 27. 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.

[0055] The replanting location identification unit 23 uses a trained model generated by the learner 20 to determine whether or not the seedlings 8 planted in the afforestation area 11 are dead. The images of the seedlings 8 acquired by the image acquisition unit 22 are input to the trained model. The replanting location identification unit 23 inputs the images of the seedlings 8 acquired by the image acquisition unit 22 to the trained model as input data. As the images of the seedlings 8 are input to the trained model, the result of the death determination of the seedlings 8 is output as output data.

[0056] The replanting location identification unit 23 determines whether each of the multiple seedlings 8 planted in the afforestation area 11 is dead or not (step SA4).

[0057] The replanting location identification unit 23 identifies a replanting location from among multiple planting locations based on the result of the seedling 8 death determination (step SA5). As described above, the replanting location indicates the location of the dead seedling 8. The replanting location identification unit 23 identifies the planting location of the seedling 8 that was determined to be dead as the replanting location.

[0058] The replanting location identification unit 23 identifies a surviving location from among multiple planting locations based on the results of the seedling 8 death determination (step SA6). As described above, the replanting locations indicate the locations of seedlings 8 that have not died. The replanting location identification unit 23 identifies the planting locations of seedlings 8 that have been determined not to have died as surviving locations.

[0059] The display data generation unit 26 generates display data including the result of the seedling 8 death determination by the replanting location identification unit 23 (step SA7). In this embodiment, the display data generation unit 26 generates display data based on the replanting location and survival location identified by the replanting location identification unit 23. The display data generated by the display data generation unit 26 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 26 on the display device 43.

[0060] Figure 9 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 that indicates the result of the seedling 8 death determination by the replanting location identification unit 23. In this embodiment, the symbol 15 is a circular (dot-shaped) image. The symbol 15 includes a survival location symbol 151 that indicates a seedling 8 determined not to be dead, and a replanting location symbol 152 that indicates a seedling 8 determined to be dead. The survival location symbol 151 is displayed at the survival location of the seedling 8. The replanting location symbol 152 is displayed at the replanting location of the seedling 8. The survival location symbol 151 indicates the survival location. The replanting location symbol 152 indicates the replanting location. The survival location symbol 151 indicates the location of a seedling 8 that is not dead. The replanting location symbol 152 indicates the location of a dead seedling 8. The display form of the survival location symbol 151 and the display form of the replanting location symbol 152 are different. In one embodiment, the survival position symbol 151 is displayed in a first color (e.g., green). The replanting position 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 26 generates display data in which the survival position symbol 151 and the replanting position symbol 152 are superimposed on the captured image. In the captured image, the display data generation unit 26 superimposes the survival position symbol 151 on seedlings 8 that have been determined not to be dead, and superimposes the replanting position symbol 152 on seedlings 8 that have been determined to be dead. That is, in the captured image, the display data generation unit 26 superimposes the survival position symbol 151 on the survival position and the replanting position 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 replanting position 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] Figure 10 shows an example of display data displayed on the display device 43 of the information terminal 4 according to this embodiment. As shown in Figure 10, the display device 43 of the information terminal 4 displays an image of the planting area 11 captured by the camera 92 and a symbol 15 indicating the result of the seedling 8 death determination by the replanting location identification unit 23 superimposed on it. In the example shown in Figure 10, when the first button 18A displayed in the upper left of the display screen of the display device 43 is tapped, the survival location symbol 151 is displayed, and when the second button 18B is tapped, the replanting location 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 26 can generate display data in which the survival location symbol 151 indicating the location of seedlings 8 that have not died is superimposed on the image of the planting area 11 based on the input data from the input device 42. The display data generation unit 26 can generate display data in which a replanting position symbol 152 indicating the location of a dead seedling 8 is superimposed on the captured image of the planting area 11, based on the input data from the input device 42.

[0064] Figure 10 shows an example where the implantation location symbol 152 is superimposed on the captured image, but the survival location symbol 151 is not displayed. When the first button 18A is tapped, the survival location symbol 151 is superimposed on the captured image. When both the first button 18A and the second button 18B are tapped, both the survival location symbol 151 and the implantation location symbol 152 are superimposed on the captured image.

[0065] In this embodiment, the replanting location identification unit 23 calculates the mortality rate, which represents the proportion of seedlings 8 that have died in the planting area 11; the number of survivors, which represents the total number of seedlings 8 that have not died in the planting area 11; and the number of dead seedlings, which represents the total number of seedlings 8 that have died in the planting area 11. 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 the planting area 11. The number of survivors, which represents the total number of seedlings 8 that have not died, is equal to the number of survivor locations identified by the replanting location identification unit 23. The number of dead seedlings, which represents the total number of seedlings 8 that have died, is equal to the number of replanting locations identified by the replanting location identification unit 23. The display data shown on the display device 43 includes the mortality rate, the number of dead seedlings, and the number of survivors. In the example shown in Figure 10, numerical data 19A representing the mortality rate, numerical data 19B representing the number of dead seedlings, and numerical data 19C representing the number of survivors are displayed at the top of the display screen of the display device 43.

[0066] [Route of workers performing replanting work] The route calculation unit 413 calculates the route of the worker 102 who will perform the replanting work. Based on the replanting locations identified by the replanting location identification unit 23, the route calculation unit 413 calculates the route of the worker 102 to replant seedlings 8 at each of the multiple replanting locations. Based on the replanting locations acquired by the afforestation location acquisition unit 411 from the replanting location identification unit 23, the route calculation unit 413 calculates the route of the worker 102. The display control unit 417 generates display data including the route of the worker 102 calculated by the route calculation unit 413 and displays it on the display device 43.

[0067] Figure 11 is a diagram showing an example of a worker's route displayed on the display device 43 of the information terminal 4 according to the embodiment. In the example shown in Figure 11, the display data displayed on the display device 43 includes a plurality of planting position symbols 152 indicating planting positions, a work area image 17 indicating the work area set for worker 102, a worker symbol 14 indicating the position of worker 102 detected by the position sensor 45, and a route image 16 indicating the worker's route. In the embodiment, the work area image 17 is a linear image along the outer edge of the work area. The route image 16 is, for example, an arrow-shaped image indicating the worker's route and direction of travel. The route image 16 is an image showing a recommended route and recommended direction of travel that would allow worker 102 to work efficiently if they proceeded with planting work along that route. The route image 16 is displayed, for example, connecting adjacent planting position symbols 152. The worker symbol 14 is a circular (dot-shaped) image.

[0068] Furthermore, the display data shown on the display device 43 includes a starting point symbol 152S indicating the starting point of the path and an ending point symbol 152E indicating the ending point of the path. The starting point of the path is set to one of several replanting positions belonging to the work area. The ending point of the path is set to one of several replanting positions belonging to the work area. The path image 16 is displayed connecting the starting point symbol 152S to the ending point symbol 152E.

[0069] As shown in Figure 11, the display control unit 417 displays on the display device 43 display data in which a replanting position symbol 152 indicating the replanting position and a worker symbol 14 indicating the position of the worker 102 are superimposed on a route image 16 indicating the route. The display control unit 417 may also display on the display device 43 display data in which the worker symbol 14 and the route image 16 are superimposed on an image captured by the camera 92 (orthoimage).

[0070] The display control unit 417 can display a replanting position symbol 152 based on the replanting position acquired by the afforestation position acquisition unit 411 from the replanting position identification unit 23. The display control unit 417 can display a work area image 17 based on the work area acquired by the work area acquisition unit 412 from the work area setting unit 24. The display control unit 417 can display a worker symbol 14 based on the detection data from the position sensor 45 of the information terminal 4. The information terminal 4 is held by the worker 102. Therefore, the position of the information terminal 4 detected by the position sensor 45 can be considered as the position of the worker 102.

[0071] The work area setting unit 24 sets up work areas such that multiple replanting locations belong to one work area. The work area setting unit 24 sets multiple work areas in the afforestation area 11. Multiple workers 102 are assigned to each of the multiple work areas set up by the work area setting unit 24. The workers 102 plant seedlings 8 at the replanting locations in their assigned work areas.

[0072] The work area setting unit 24 can set work areas based on input data from the input device 42 of the information terminal 4. The work area setting unit 24 can set work areas based on input data from the input device 42 operated by, for example, the administrator 101. The administrator 101 operates the input device 42 of the information terminal 4 so that multiple work areas 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 with an input tool such as a finger or pen while confirming the afforestation area 11 displayed on the display device 43. By operating the touch panel, the administrator 101 can set work areas of any size and shape at any position in the afforestation area 11. The administrator 101 may operate the touch panel so that the number of replanting positions in each of the multiple work areas is uniform, or so that the size (area) of each of the multiple work areas 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 24 sets the work area based on the input data from the input device 42 of the information terminal 4. The display control unit 417 displays the work area image 17 based on the work area set by the work area setting unit 24.

[0073] The work area setting unit 24 may set the work area based on a predetermined algorithm. The work area setting unit 24 may also set the work area so that the number of replanting positions belonging to each of the multiple work areas is uniform.

[0074] The work area setting unit 24 may determine the number of replanting positions belonging to each of the multiple work areas based on the distance from the storage area 12 to the work area. The work area setting unit 24 may set the work areas such that the number of replanting positions belonging to the work area decreases as the distance from the storage area 12 to the work area increases. In other words, the work area setting unit 24 may set the work areas such that the number of replanting positions belonging to the work area increases as the distance from the storage area 12 to the work area decreases. 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, a worker 102 assigned to a work area that is far from the storage area 12 needs to travel a long distance from the storage area 12 to the work area. By assigning a work area with a small number of replanting positions to a worker 102 who needs to travel a long distance, the burden on multiple workers 102 is made more uniform.

[0075] The work area setting unit 24 may determine the number of replanting locations belonging to each of the multiple work areas 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. The worker 102 carries out the seedlings 8 contained in the baskets 7 from the storage area 12 and moves to the assigned work area. 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 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 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. When the work area setting unit 24 sets a work area that is farther from the storage area 12 than a predetermined distance threshold, it sets the work area so that the number of replanting locations belonging to the work area is less than the number of seedlings 8 that can be stored in the basket 7. By setting the work area so that the number of replanting locations belonging to a work area that is farther 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 a work area that is farther from the storage area 12 do not have to travel long distances back and forth between the storage area 12 and the work area. When the work area setting unit 24 sets a work area that is less than or equal to the distance threshold from the storage area 12, it sets the work area so that the number of replanting locations belonging to the work area is greater than the number of seedlings 8 that can be stored in the basket 7. Workers 102 assigned to a work area that is short of the storage area 12 still need to travel back and forth between the storage area 12 and the work area, but the distance traveled is short. This equalizes the workload of multiple workers 102.

[0076] The work area setting unit 24 may set work areas 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 27. The work area setting unit 24 may set work areas based on the skill level data stored in the storage unit 27. Skill level includes the speed of replanting work. The work area setting unit 24 may set work areas such that the number of replanting positions belonging to work areas assigned to workers 102 with high skill levels is large.

[0077] The route calculation unit 413 calculates the route for the worker 102 assigned to a work area that contains multiple replanting locations. The route calculation unit 413 can calculate the route using a known algorithm.

[0078] The route calculation unit 413 may determine the starting point of the route based on the current position of the worker 102 detected by the position sensor 45. For example, the route calculation unit 413 may determine the planting position closest to the current position of the worker 102 as the starting point of the route.

[0079] The route calculation unit 413 may determine one or both of the start and end points of the route based on the location of the work area and the location of the storage area 12. 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 location. Also, if the number of replanting locations belonging to the work area is greater than the number of seedlings 8 that can be stored in the basket 7, the worker 102 needs to travel back and forth between the storage area 12 and the work area. The route calculation unit 413 may, for example, determine the first replanting location that is closest to the storage area 12 in the work area from among the multiple replanting locations belonging to the work area as the start point of the route, and determine the second replanting location that is the next closest to the storage area 12 as the end point of the route.

[0080] The route calculation unit 413 may calculate a route such that multiple replanting locations in a single work area are connected by the shortest distance. In other words, the route calculated by the route calculation unit 413 may be the shortest route taken when the worker 102 replants seedlings 8 at each of the multiple replanting locations in the work area.

[0081] The route calculation unit 413 may calculate a route based on the topography of the work area. The route calculation unit 413 may calculate a route based on the topography of the work area such that the inclination angle of the route the worker 102 will take is less than or equal to a predetermined angle threshold. When the route calculation unit 413 calculates a route to guide the worker 102 from the first replanting position to the second replanting position, it may calculate a route based on the topography of the work area such that the height difference between the first replanting position and the second replanting position is less than or equal to a predetermined height threshold.

[0082] The worker 102 moves according to the path image 16 displayed on the display device 43, sequentially planting seedlings 8 at each of the multiple replanting locations. As the worker 102 moves, the worker symbol 14 moves on the display screen of the display device 43. The worker 102 moves within the work area so that the worker symbol 14 moves along the path image 16. The worker 102 can efficiently perform the replanting work by moving according to the path image 16 displayed on the display device 43.

[0083] Figure 12 is a diagram showing an example of a worker's path displayed on the display device 43 of the information terminal 4 according to the embodiment. As shown in Figure 12, the worker symbol 14 moves along with the movement of the worker 102. In this embodiment, the completion position identification unit 414 identifies completion positions, which indicate replanting locations where seedling 8 has been planted, and incomplete positions, which indicate replanting locations where seedling 8 has not yet been planted, from among a plurality of replanting locations belonging to the work area. The display control unit 417 generates display data including the completion positions and incomplete positions and displays it on the display device 43. As shown in Figure 12, the display control unit 417 generates display data including a completion symbol 1522 indicating a completion position and an incomplete symbol 1521 indicating an incomplete position. In the example shown in Figure 12, the incomplete symbol 1521 has the same display form as the replanting position symbol 152. The completion symbol 1522 is a symbol with a changed color from the replanting position symbol 152. As shown in Figure 12, the display control unit 417 generates display data including a completion symbol 1522, an incomplete symbol 1521, and a route image 16 showing the route.

[0084] In one embodiment, the route calculation unit 413 determines a recommended planting location from a plurality of planting locations based on the current position of the worker 102 detected by the position sensor 45. The display control unit 417 displays the recommended planting location in a different display format from the other planting locations. The display control unit 417 highlights the planting location where the worker 102 should perform the next planting operation. In the example shown in Figure 12, the planting location symbol 152 indicating the planting location where the next planting operation is recommended is highlighted by the highlighting image 70. In the example shown in Figure 12, the highlighting image 70 is a ring-shaped image surrounding the planting location symbol 152. By confirming the highlighted planting location symbol 152, the worker 102 can recognize the planting location where they should plant next.

[0085] Figure 13 shows an example of a worker's path displayed on the display device 43 of the information terminal 4 according to the embodiment. Worker 102 may deviate from the path. As shown in Figure 13, if worker 102 deviates from the path, the worker symbol 14 deviates from the path image 16. In this embodiment, the path calculation unit 413 recalculates the path if it determines that worker 102 has deviated from the path based on the position of worker 102 detected by the position sensor 45. In the example shown in Figure 13, the path calculation unit 413 determines the next planting position to be performed as the incomplete position closest to worker 102's current position. The path calculation unit 413 calculates the path from worker 102's current position to the next planting position to be performed. The display control unit 417 displays the path from worker 102's current position to the next planting position to be performed. The display control unit 417 also highlights the next planting position to be performed with a highlight image 70. A worker 102 who has deviated from the path can return to the replanting location path by checking the displayed data on the display device 43.

[0086] Figure 14 is a diagram illustrating a method for determining the completion position according to an embodiment. In this embodiment, the completion position determination unit 414 determines whether the worker 102 has satisfied the determination condition of staying at the replanting position for a specified time or longer, based on the detection data from the position sensor 45 that detects the position of the worker 102. The specified time is a predetermined time, for example, 10 seconds or more and 20 seconds or less. If the completion position determination unit 414 determines that the determination condition has been satisfied, it determines that the replanting position has been replanted. That is, if the completion position determination unit 414 determines that the determination condition has been satisfied, it determines that the seedling 8 has been replanted at the replanting position.

[0087] The worker 102 uses the afforestation tool 6 to plant seedlings 8 at the replanting location. The replanting work for one seedling 8 takes a certain amount of time from start to finish. Also, during the period in which the replanting work for one seedling 8 is being carried out, the worker 102's position (the position of the information terminal 4) does not change substantially. Therefore, the completion position identification unit 414 can determine whether or not a seedling 8 has been planted at the replanting location by determining, based on the detection data from the position sensor 45 that detects the worker 102's position, whether or not the determination condition that the worker 102 stays at the replanting location for a specified time or longer has been met.

[0088] If the afforestation tool 6 is equipped with a position sensor 61, the completion position identification unit 414 may determine whether or not a seedling 8 has been planted at the replanting position based on the detection data from the position sensor 61. The position sensor 61 includes a GNSS receiver and detects the position of the afforestation tool 6. The detection data from the position sensor 61 is transmitted to the controller 41 of the information terminal 4. During the period in which the replanting work of one seedling 8 is being carried out, the position of the afforestation tool 6 does not substantially change. Based on the detection data from the position sensor 61 that detects the position of the afforestation tool 6, the completion position identification unit 414 determines whether or not the determination condition that the afforestation tool 6 stays at the replanting position for a specified time or longer has been met. If the completion position identification unit 414 determines that the determination condition has been met, it can identify the replanting position as the completion position. The detection data from the position sensor 61 may also be transmitted to the server 2.

[0089] In another embodiment, the afforestation tool 6 may have an operating member 62 that is operated when replanting seedlings 8. The seedlings 8 are stored in the space inside the afforestation tool 6, and after the lower end of the afforestation tool 6 is inserted into the soil, the operating member 62 is operated, which opens the opening at the lower end of the afforestation tool 6, and the seedlings 8 are planted in the soil. When the operating member 62 is operated, an operation signal is generated and transmitted to the controller 41 of the information terminal 4. The completion position identification unit 414 may identify the replanting position as the completed position based on the operation signal generated when the operating member 62 is operated. When the completion position identification unit 414 has determined that the afforestation tool 6 is positioned at the replanting position based on the detection data of the position sensor 45 or the position sensor 61, and receives an operation signal from the operating member 62, it may determine that seedlings 8 have been replanted at the replanting position. The operation signal may also be transmitted to the server 2.

[0090] Figure 15 is a flowchart illustrating the method for assisting worker 102 according to the embodiment. The afforestation location acquisition unit 411 identifies the replanting location from the replanting location identification unit 23 of the server 2 (step SB1). The work area acquisition unit 412 acquires the work area from the work area setting unit 24 of the server 2 (step SB2).

[0091] The route calculation unit 413 calculates the route of the worker 102 assigned to a work area that contains multiple replanting locations (step SB3). The display control unit 417 acquires detection data from the position sensor 45 that detects the position of the worker 102 (step SB4). As explained with reference to Figure 11, the display control unit 417 displays on the display device 43 display data in which the replanting location symbol 152 indicating the replanting location and the worker symbol 14 indicating the position of the worker 102 detected by the position sensor 45 are superimposed on the route image 16 that shows the route.

[0092] The completion position identification unit 414 determines, based on the detection data from the position sensor 45 that detects the worker's position, whether or not the conditions for worker 102 staying at the replanting location for a specified time or longer have been met (step SB5).

[0093] In step SB5, if it is determined that the judgment condition is satisfied (step SB5: Yes), the completion position identification unit 414 identifies the replanting position as a completed position (step SB6). As explained with reference to Figure 12, the display control unit 417 changes the replanting position symbol 152 that satisfies the judgment condition from the incomplete symbol 1521 to the completed symbol 1522.

[0094] If, in step SB5, the determination condition is not met (step SB5: No), the completion position identification unit 414 identifies the replanting position as an incomplete position. The display control unit 417 does not change the display format of the replanting position symbol 152 that does not meet the determination condition.

[0095] The display control unit 417 generates display data corresponding to the determination result in step SB5 and displays it on the display device 43 (step SB7).

[0096] The route calculation unit 413 determines whether the worker 102 has deviated from the route based on the detection data from the position sensor 45 (step SB8). If it is determined in step SB8 that the worker 102 has deviated from the route (step SB8: Yes), the route calculation unit 413 recalculates the route based on the current position of the worker 102 detected by the position sensor 45. If it is determined in step SB8 that the worker 102 has not deviated from the route (step SB8: No), the route is not recalculated.

[0097] The completion position identification unit 414 determines whether seedlings 8 have been planted at all of the replanting locations in the work area. That is, the completion position identification unit 414 determines whether the replanting work in the work area has been completed (step SB9). If it is determined in step SB9 that the replanting work in the work area has not been completed (step SB9: No), the process returns to step SB4. If it is determined that the replanting work in the work area has been completed (step SB9: Yes), the support for the worker 102 performing the replanting work in the work area ends.

[0098] [Recording and displaying plant data] In one embodiment, the afforestation system 1 records plant data relating to the dead seedlings 8 at the replanting site. As shown in Figure 14, the worker 102, who has moved to the replanting site, can observe the dead seedlings 8. The worker 102 collects plant data relating to the dead seedlings 8 at the replanting site.

[0099] The plant data includes image data of the dead seedling 8 captured by the camera 44 of the information terminal 4. The worker 102 captures images of the dead seedling 8 at the replanting site with the camera 44. The image data of the seedling 8 captured by the camera 44 is transmitted to the server 2 via the communication system 5.

[0100] Furthermore, the plant data includes text data relating to the dead seedling 8, which is input from the input device 42 of the information terminal 4. The text data includes observation results of the seedling 8. The worker 102 can operate the input device 42 to input text data indicating observation results of the dead seedling 8 at the replanting location into the controller 41. The text data also includes the reason for the death of the seedling 8. As described above, the seedling 8 may die due to weather, pests such as ants, the surrounding natural environment, or soil conditions. The worker 102 can operate the input device 42 to input text data indicating the reason for the death of the seedling 8 into the controller 41. The text data input from the input device 42 is transmitted to the server 2 via the communication system 5. The plant data may also include the identification numbers of each of the multiple seedlings 8. The plant data and the dead seedling 8 may be associated based on the location data of the information terminal 4 when the plant data is input from the input device 42 of the information terminal 4.

[0101] The plant data can be in the form of audio data or video data from a video camera.

[0102] As mentioned above, the death of seedling 8 includes the unintentional absence of seedling 8 at the planting location and conditions that make it difficult for seedling 8 to grow. The plant data may also include data relating to the replanting location where seedling 8 is absent. That is, the plant data may include image data of the replanting location where seedling 8 is absent, captured by the camera 44 of the information terminal 4. Furthermore, if seedling 8 has been run over by a vehicle tire or submerged in a puddle, the plant data may include image data of the tire tracks or image data of the puddle.

[0103] In addition, along with the plant data, location data indicating the location of the dead seedling 8 is transmitted from the information terminal 4 to the server 2 via the communication system 5. The location of the dead seedling 8 is the replanting location and is detected by the location sensor 45.

[0104] The input data acquisition unit 25 of server 2 acquires plant data and location data related to seedlings 8 transmitted from the information terminal 4. The input data acquisition unit 25 stores management data in the storage unit 27, which associates the replanting locations detected by the location sensor 45 with the plant data. The storage unit 27 stores a data set that includes multiple replanting locations and the management data associated with each of the multiple replanting locations. The management data stored in the storage unit 27 only needs to be data that associates dead seedlings 8 with plant data. For example, management data that associates identification information of seedlings 8 at the replanting locations or symbols corresponding to seedlings 8 with plant data may be stored in the storage unit 27.

[0105] The display data generation unit 26 generates display data including management data. The display data including management data is distributed to each of the multiple information terminals 4. The display control unit 417 of the information terminal 4 can display the management data distributed from the server 2 on the display device 43. The employee 100 can check the management data displayed on the display device 43.

[0106] Figure 16 shows an example of management data displayed on the display device 43 of the information terminal 4 according to the embodiment. As shown in Figure 16, when management data for a certain replanting location is stored (registered) in the storage unit 27, the display data generation unit 26 displays a registration symbol 71 indicating that management data has been registered near the replanting location symbol 152 that indicates the replanting location for which the management data has been registered. When the registration symbol 71 is tapped (selected), specification data is generated that specifies the replanting location corresponding to the registration symbol 71. The registration symbol 71 is an example of an input device 42. As shown in Figure 16, the display control unit 417 displays plant body data 72 associated with the specified replanting location on the display device 43 based on the specification data that specifies the replanting location. In the example shown in Figure 16, the plant body data 72 displayed on the display device 43 includes image data 73 of the seedling 8 present at the replanting location, registration date data 74 indicating the registration date on which the plant body data related to the seedling 8 was stored (registered) in the storage unit 27, and text data 75 indicating the reason for the death of the seedling 8.

[0107] Figure 17 is a flowchart illustrating a method for processing plant data according to an embodiment. The replanting location identification unit 23 identifies the replanting location and transmits it to the first information terminal 4 (step SC1). The first information terminal 4 obtains the replanting location from the server 2 (step SC2). The worker 102 moves to the replanting location while confirming the replanting location symbol 152 displayed on the display device 43 of the first information terminal 4. After moving to the replanting location, the worker 102 images the dead seedling 8 at the replanting location with the camera 44 and inputs text data including the reason for the death of the seedling 8 by operating the input device 42. Plant data, including image data of the seedling 8 captured by the camera 44 and text data related to the seedling 8 input from the input device 42, is input to the controller 41 (step SC3). The plant data input to the controller 41 of the first information terminal 4 is transmitted to the server 2 via the communication system 5. The input data acquisition unit 25 of server 2 stores management data, which associates the replanting location with the plant body data, in the storage unit 27 (step SC4).

[0108] The display data generation unit 26 of server 2 generates display data including management data stored in the storage unit 27 and distributes it to each of the multiple information terminals 4 (step SC5). In the example shown in Figure 17, the display data generation unit 26 distributes display data including management data to both the first information terminal 4 and the second information terminal 4.

[0109] Each of the multiple information terminals 4 acquires display data including management data (step SC6). As explained with reference to Figure 16, when the registration symbol 71 is tapped on the display screen of the display device 43, the plant data 72 is displayed on the display device 43 (step SC7).

[0110] According to this embodiment, multiple workers 102 can share management data. The management data can be viewed on each of the multiple information terminals 4. If a display device is connected to the server 2, the worker 100 may view the management data via the display device connected to the server 2. If an input device is connected to the server 2, the worker 100 may register the management data in the storage unit 27 by operating the input device connected to the server 2.

[0111] [Augmented Reality Images] In one embodiment, the afforestation system 1 uses augmented reality (AR) to support the afforestation work of worker 102. In the following description, augmented reality will be abbreviated as AR as appropriate.

[0112] As described above, worker 102 operates the afforestation tool 6 to perform replanting work. When worker 102 operates the afforestation tool 6, an AR image (augmented reality image) to support the replanting work using the afforestation tool 6 is displayed on the display device 43 of the information terminal 4. The display device 43 displays the afforestation area 11, including the seedlings 8, with the AR image superimposed. By superimposing the AR image on the real image, worker 102's afforestation work (replanting work) is supported, and worker 102 can perform the afforestation work properly and efficiently.

[0113] As explained with reference to Figure 5, the controller 41 of the information terminal 4 includes a real-world image acquisition unit 415, an augmented reality processing unit 416, and a display control unit 417. The real-world image acquisition unit 415 acquires real-world images of the afforestation area 11 captured by the camera 44. The augmented reality processing unit 416 generates AR images (augmented reality images) to support afforestation work in the afforestation area 11. The display control unit 417 displays the AR images on the display device 43 so as to be superimposed on the real-world images of the afforestation area 11.

[0114] The information terminal 4 includes a sensor system 48. The sensor system 48 detects the planting area 11, which includes at least the seedlings 8. The sensor system 48 detects the state of the information terminal 4 (display device 43). The sensor system 48 includes a position sensor 45 and a motion sensor 47. The position sensor 45 detects the position of the information terminal 4. An example of the position sensor 45 is a GNSS receiver that detects the absolute position of the information terminal 4. The motion sensor 47 detects the movement of the information terminal 4. An example of the motion sensor 47 is an inertial sensor (IMU), an accelerometer, a gyroscope, and a geomagnetic sensor. The motion sensor 47 may also be a combination of at least two of the inertial sensor (IMU), accelerometer, gyroscope, and geomagnetic sensor.

[0115] Camera 44 captures images of at least objects present in the planted area 11. Multiple cameras 44 are installed on the information terminal 4. For example, cameras 44 are installed on the left and right sides of the information terminal 4.

[0116] Figure 18 shows an example of a real image and an AR image displayed on the display device 43 of the information terminal 4 according to the embodiment. In the example shown in Figure 18, the AR image includes a survival position symbol 151 indicating the survival position of the seedling 8 and a replanting position symbol 152 indicating the replanting position of the seedling 8. The survival position symbol 151 is displayed superimposed on the planting position in the real image. The replanting position symbol 152 is displayed superimposed on the replanting position in the real image. As described above, the afforestation position acquisition unit 411 acquires the planting position indicating the location of the seedling 8 planted in the afforestation area 11 and the replanting position indicating the location of the dead seedling 8 among the seedling 8 planted in the planting position from the replanting position identification unit 23 of the server 2. The augmented reality processing unit 416 can generate the survival position symbol 151 and the replanting position symbol 152 as an AR image based on the planting position and replanting position acquired by the afforestation position acquisition unit 411. In addition, either the survival position symbol 151 or the replantation position symbol 152 may be displayed on the display device 43 as an AR image.

[0117] Figure 19 is a flowchart showing a method for generating display data including an AR image according to an embodiment. The real-world image acquisition unit 415 acquires a real-world image of the afforestation area 11 captured by the camera 44 (step SD1).

[0118] The augmented reality processing unit 416 generates an AR image that includes at least one of the survival location symbol 151 and the replanting location symbol 152, based on the survival location and replanting location acquired by the afforestation location acquisition unit 411 and the location data and orientation data of the information terminal 4 (step SD2).

[0119] Since the information terminal 4 held by worker 102 is likely to move, the real-world image captured by the camera 44 is a moving image. The augmented reality processing unit 416 generates an AR image superimposed on the real-world image based on the movement of the information terminal 4 detected by the sensor system 48.

[0120] The display control unit 417 causes the display data generated so that the AR image is superimposed on the real image to be displayed on the display device 43 (step SD3).

[0121] The AR image generated by the augmented reality processing unit 416 may include the route image 16 described above. The display control unit 417 may display on the display device 43 display data in which a route image 16 showing the route of the worker 102 planting seedlings 8 at each of the multiple planting locations is superimposed on the real image as an AR image. The AR image may include an incomplete symbol 1521 indicating an incomplete location where planting of seedlings 8 has not been completed, or a completed symbol 1522 indicating a completed location where planting of seedlings 8 has been completed.

[0122] The AR image generated by the augmented reality processing unit 416 may include the enhanced image 70 described above. The display control unit 417 may display on the display device 43 display data in which an enhanced image 70, which highlights the planting location for which the next planting operation is recommended from among multiple planting locations, is superimposed on the real image as the AR image.

[0123] Figure 20 is a schematic diagram showing AR glasses 140 according to an embodiment. A worker 102 may wear so-called AR glasses 140 while performing tree planting work. The AR glasses 140 are worn on the head of the worker 102 performing tree planting work. When the worker 102 performs tree planting work, AR images (augmented reality images) to support the tree planting work are displayed on the AR glasses 140. The AR glasses 140 include a controller 141, a display device 143, a camera 144, and a sensor system 148.

[0124] The sensor system 148 detects objects present in the planted area 11. The sensor system 148 detects the state of the AR glasses 140. The sensor system 148 includes a position sensor and a motion sensor. The position sensor detects the position of the AR glasses 140. The motion sensor detects the movement of the AR glasses 140.

[0125] Camera 144 captures images of objects present in the planted area 11. Multiple cameras 144 are provided. For example, cameras 144 are provided on the left and right sides of the AR glasses 140.

[0126] The display device 143 is positioned in front of the worker's eyes. As shown in Figure 20, the AR glasses 140 are worn on the worker's head so that the display device 143 is positioned in front of the worker's eyes. The display device 143 displays a real-world image including objects present in the afforestation area 11. The display device 143 is transparent. The real-world image in front of the transparent display device 143 is displayed on the display device 143. The worker 102 can see the real-world image (outside world) in front of them through the transparent display device 143. An AR image is projected onto the display device 143. The AR image is displayed on the display device 143 so as to be superimposed on the real-world image. The worker 102 can see the real-world image with the AR image superimposed on it.

[0127] The controller 141 generates AR images to support the afforestation work. The controller 141 displays the AR images on the display device 43 so that the AR images are superimposed on the real-world images.

[0128] Because the head of the worker 102 wearing the AR glasses 140 moves, the images captured by the camera 144 are moving images. The controller 141 generates an AR image superimposed on the image based on the movement of the AR glasses 140 detected by the sensor system 148.

[0129] Figure 21 shows an example of a real image and an AR image displayed on the display device 143 of the AR glasses 140 according to the embodiment. The AR image may include, for example, an image showing the procedure for tree planting work. The AR image may also include an image showing the hand movements of a worker 102 performing tree planting work.

[0130] In the example shown in Figure 21, the real-world image includes a seedling 8 and a tree-planting tool 6. The real-world image also includes an image 103 of the hand of a worker 102 performing tree-planting work (replanting work) using the tree-planting tool 6. The hand image 103 is an image of a hand in real space (real-world image). The AR image is an image 104 that shows the hand movements that serve as a model for worker 102. Image 104 is displayed on the display device 143 so as to be superimposed on the real-world image. Image 104 is displayed on the display device 43 so as to be superimposed on image 103.

[0131] In the example shown in Figure 4, image 104 is an image showing the hand movements of worker 102 when planting trees in the past. The processor of controller 141 acquires a past image, which is an image showing the hand movements of worker 102 when planting trees in the past. The past image is stored in the storage of controller 141. The processor of controller 141 acquires the past image from the storage. The past image may also be stored in server 2 located outside the AR glasses 140. Controller 141 may acquire the past image from server 2 via communication system 5. Based on the past image, controller 141 generates image 104, which is an AR image.

[0132] Furthermore, the content and procedures of the tree-planting work shown in the past images are identical to those of the tree-planting work performed by worker 102 in the actual space.

[0133] Worker 102 can move their hands to ensure that the tree-planting work is carried out properly while viewing the real-world image 103 and the AR image 104. By referring to their past hand movements, worker 102 can utilize their strengths from past tree-planting work and identify areas for improvement. The AR image 104 supports worker 102's tree-planting work, enabling worker 102 to carry out the tree-planting work properly and efficiently.

[0134] If worker 102 is an unskilled worker, image 104 may be an image showing the hand movements of a skilled worker when performing tree planting work. The processor of controller 141 acquires a skilled image, which is an image showing the hand movements of a skilled worker when performing tree planting work. The skilled image is stored in the storage of controller 141. The processor of controller 141 retrieves the skilled image from storage. The skilled image may also be stored in server 2 located outside the AR glasses 140. Controller 141 may also acquire the skilled image from server 2 via communication system 5. Based on the skilled image, controller 141 generates image 104, which is an AR image.

[0135] Furthermore, the content and procedures of the afforestation work shown in the skilled worker images are identical to those of the afforestation work performed by worker 102 in the actual space.

[0136] Worker 102 can move their hands to ensure that the tree-planting work is carried out properly while viewing the real-world image 103 and the AR image 104. By performing the tree-planting work while referring to the hand movements of a skilled worker, worker 102 can identify areas for improvement. The AR image 104 supports worker 102's tree-planting work, enabling worker 102 to perform the tree-planting work properly and efficiently.

[0137] [effect] As described above, the processor of the controller 41 includes a planting location acquisition unit 411 that acquires replanting locations indicating the locations of dead seedlings 8 among the multiple seedlings 8 planted in the planting area 11, a completion location identification unit 414 that identifies completion locations indicating the locations where replanting of seedlings 8 has been completed, and a display control unit 417 that generates display data including the completion locations.

[0138] According to this embodiment, the replanting work is supported. The worker 102 can recognize the progress of the replanting work by checking the display data, including the completed position where replanting has been completed. Furthermore, it is prevented from the worker 102 mistakenly returning to the completed position or planting the seedling 8 incorrectly at the completed position even though replanting has been completed. As a result, the replanting work is carried out efficiently.

[0139] The completion position identification unit 414 identifies incomplete positions, which indicate locations where the replanting of seedlings 8 has not yet been completed. The display control unit 417 generates display data that includes a completion symbol 1522 indicating a completed position and an incomplete symbol 1521 indicating an incomplete position. By checking the display data, the worker 102 can recognize the completed positions and incomplete positions, respectively.

[0140] The controller 41's processor includes a path calculation unit 413 that calculates the path taken by the worker 102 to plant seedlings 8 at each of a plurality of replanting locations based on the replanting positions. The display control unit 417 generates display data including a completion symbol 1522, an incomplete symbol 1521, and a path image 16 showing the path. The worker 102 can recognize the relationship between the completion position, the incomplete position, and the path by checking the display data. The display control unit 417 may also display only the path image 16 for the incomplete symbol 1521 on the display device 43.

[0141] The completion position identification unit 414 determines, based on the detection data from the position sensor 45 that detects the position of the worker 102, whether the conditions for the worker 102 to stay at the replanting position for a specified time or longer have been met. If it determines that the conditions have been met, it identifies the replanting position as the completion position. In the replanting work of one seedling 8, the position of the worker 102 does not substantially change for a specified time, so the completion position identification unit 414 can determine, based on the detection data from the position sensor 45 that detects the position of the worker 102, whether or not the seedling 8 has been planted at the replanting position.

[0142] The completion position identification unit 414 determines, based on the detection data from the position sensor 61 that detects the position of the afforestation tool 6, whether the conditions for the afforestation tool 6 to remain at the replanting position for a specified time or longer have been met. If it determines that the conditions have been met, it identifies the replanting position as the completion position. In the replanting work of a single seedling 8, the position of the afforestation tool 6 does not substantially change for a specified time, so the completion position identification unit 414 can determine, based on the detection data from the position sensor 61 that detects the position of the afforestation tool 6, whether or not the seedling 8 has been replanted at the replanting position.

[0143] The completion position identification unit 414 identifies the replanting position as the completed position based on the operation signal generated when the operating member 62 of the afforestation tool 6 is operated. Since the operation of the operating member 62 of the afforestation tool 6 can be considered as the seedling 8 being planted in the soil, the completion position identification unit 414 can determine whether or not the seedling 8 has been replanted at the replanting position based on the detection data from the position sensor 61 that detects the position of the afforestation tool 6 and the operation signal from the operating member 62 of the afforestation tool 6.

[0144] [Other embodiments] In the above-described embodiment, the functional units of the server 2 may be configured by separate computers (hardware). The functional units of the controller 41 of the information terminal 4 may also be configured by separate computers (hardware).

[0145] In the above-described 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. Some or all of the functional parts of the controller 41 of the information terminal 4 may be provided in, for example, the server 2. The controller 41 (processor) of the information terminal 4 may acquire a replanting position indicating the location where seedlings 8 should be replanted in the afforestation area 11, acquire plant body data relating to the seedlings 8 at the replanting position, and store management data associating the seedlings 8 with the plant body data.

[0146] The controller 41 (processor) of the information terminal 4 may acquire the replanting locations that indicate where seedlings 8 should be replanted in the afforestation area 11, calculate the paths of workers who will replant seedlings 8 at each of the multiple replanting locations based on the replanting locations, and generate display data including the paths.

[0147] The controller 41 (processor) of the information terminal 4 may acquire the replanting locations that indicate where seedlings 8 should be replanted in the afforestation area 11, calculate the routes of the workers 102 who will replant seedlings 8 at each of the multiple replanting locations based on the replanting locations, and generate display data including the routes.

[0148] The controller 41 (processor) of the information terminal 4 may acquire the planting locations that indicate where seedlings 8 should be planted in the afforestation area 11, identify the completed planting locations that indicate where the planting of seedlings 8 has been completed, and generate display data including the completed planting locations.

[0149] The controller 41 (processor) of the information terminal 4 may acquire a real image of the afforestation area 11 captured by the camera 44, generate an augmented reality image to support afforestation work in the afforestation area 11, and display the augmented reality image on the display device 43 so as to be superimposed on the real image.

[0150] 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]

[0151] 1...Afforestation system, 2...Server, 3...Afforestation machinery, 4...Information terminal, 5...Communication system, 6...Afforestation tools, 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, 14...Worker symbol, 15...Symbol, 16...Route image, 17...Work area image, 18A...Number Button 1, 18B... Button 2, 19A... Numerical data, 19B... Numerical data, 19C... Numerical data, 20... Learner, 21... Planting position acquisition unit, 22... Image acquisition unit, 23... Supplementary planting position identification unit, 24... Work area setting unit, 25... Input data acquisition unit, 26... Display data generation unit, 27... Memory unit, 31... Vehicle body, 32... Driving device, 33... Planting device, 34... Controller, 35... Position sensor, 36... Arm, 37... Frame, 38... Hydraulic cylinder, 39... Planting unit, 39A... Plant body holding unit 39B...Main unit, 39C...Extendable part, 41...Controller, 42...Input device, 43...Display device, 44...Camera, 45...Position sensor, 47...Motion sensor, 48...Sensor system, 61...Position sensor, 62...Operating member, 70...Enhanced image, 71...Registered symbol, 72...Plant data, 73...Image data, 74...Registration date data, 75...Text data, 91...Controller, 92...Camera, 93...Position sensor, 100...Employee, 101...Manager, 102...Worker, 103...Image 104...Image, 140...AR glasses, 141...Controller, 143...Display device, 144...Camera, 148...Sensor system, 151...Survival position symbol, 152...Replanting position symbol, 152S...Starting point symbol, 152E...Ending point symbol, 411...Afforestation position acquisition unit, 412...Work area acquisition unit, 413...Route calculation unit, 414...Completion position identification unit, 415...Real image acquisition unit, 416...Augmented reality processing unit, 417...Display control unit, 1521...Incomplete symbol, 1522...Completion symbol.

Claims

1. Equipped with a processor, The aforementioned processor, In the afforestation area, we obtain the planting locations that indicate where plants should be replanted. The system identifies a completed position indicating a planting location where plant replanting has been completed, and an incomplete position indicating a planting location where plant replanting has not been completed. The system generates display data including a completion symbol indicating the completion position and an incomplete symbol indicating the incomplete position. Afforestation system.

2. The aforementioned processor, The aforementioned display data is displayed on the display device. The afforestation system according to claim 1.

3. The aforementioned processor, Based on the aforementioned replanting locations, the paths of workers who replant plants at each of the multiple replanting locations are calculated. The system generates display data including the completion symbol, the incomplete symbol, and a route image showing the route. The afforestation system according to claim 1.

4. The aforementioned processor, Only the path image for the aforementioned incomplete symbol is displayed on the display device. The afforestation system according to claim 3.

5. The aforementioned processor, Based on the detection data from a position sensor that detects the worker's position, it is determined whether the conditions for the worker staying at the replanting location for a specified time or longer are met. If the conditions are met, the replanting location is identified as the completed location. The afforestation system according to claim 1.

6. The worker uses a reforestation tool to replant the plant at the aforementioned replanting location. The aforementioned processor, Based on the detection data from the position sensor that detects the position of the afforestation tool, it is determined whether the conditions for the afforestation tool to stay at the replanting location for a specified time or longer are met. If it is determined that the conditions are met, the replanting location is identified as the completed location. The afforestation system according to claim 1.

7. The worker uses a reforestation tool to replant the plant at the aforementioned replanting location. The aforementioned afforestation tool has an operating member that is operated when replanting the plant body, The aforementioned processor, Based on the operation signal generated when the operating member is operated, the implantation position is determined to be the completed position. The afforestation system according to claim 1.

8. To obtain replanting locations that indicate where plants should be replanted in the afforestation area, To identify the completed planting location where plant replanting has been completed, and the incomplete planting location where plant replanting has not been completed, The process includes generating display data that includes a completion symbol indicating the completion position and an incomplete symbol indicating the incomplete position, Afforestation methods.

9. This includes displaying the aforementioned display data on a display device, The afforestation method according to claim 8.

10. Based on the aforementioned replanting locations, the worker's route for replanting plants at each of the multiple replanting locations is calculated, The process includes generating display data that includes the completion symbol, the incomplete symbol, and a route image showing the route, The afforestation method according to claim 8.

11. Only the path image for the aforementioned incomplete symbol is displayed on the display device. The afforestation method according to claim 10.

12. Based on the detection data from a position sensor that detects the worker's position, it is determined whether the conditions for the worker staying at the replanting location for a specified time or longer are met. If the conditions are met, the replanting location is identified as the completed location. The afforestation method according to claim 8.

13. The worker uses a reforestation tool to replant the plant at the aforementioned replanting location. Based on the detection data from the position sensor that detects the position of the afforestation tool, it is determined whether the conditions for the afforestation tool to stay at the replanting location for a specified time or longer are met. If it is determined that the conditions are met, the replanting location is identified as the completed location. The afforestation method according to claim 8.

14. The worker uses a reforestation tool to replant the plant at the aforementioned replanting location. The aforementioned afforestation tool has an operating member that is operated when replanting the plant body, Based on the operation signal generated when the operating member is operated, the implantation position is determined to be the completed position. The afforestation method according to claim 8.

15. Equipped with a processor, The aforementioned processor, In the afforestation area, we obtain the planting locations that indicate where plants should be replanted. The system identifies a completed position indicating a planting location where plant replanting has been completed, and an incomplete position indicating a planting location where plant replanting has not been completed. The system generates display data including a completion symbol indicating the completion position and an incomplete symbol indicating the incomplete position. Information terminal.

16. The aforementioned processor, The aforementioned display data is displayed on the display device. The information terminal according to claim 15.

17. The aforementioned processor, Based on the aforementioned replanting locations, the paths of workers who replant plants at each of the multiple replanting locations are calculated. The system generates display data including the completion symbol, the incomplete symbol, and a route image showing the route. The information terminal according to claim 15.

18. The aforementioned processor, Only the path image for the aforementioned incomplete symbol is displayed on the display device. The information terminal according to claim 17.

19. The aforementioned processor, Based on the detection data from a position sensor that detects the worker's position, it is determined whether the conditions for the worker staying at the replanting location for a specified time or longer are met. If the conditions are met, the replanting location is identified as the completed location. The information terminal according to claim 15.

20. The worker uses a reforestation tool to replant the plant at the aforementioned replanting location. The aforementioned processor, Based on the detection data from the position sensor that detects the position of the afforestation tool, it is determined whether the conditions for the afforestation tool to stay at the replanting location for a specified time or longer are met. If it is determined that the conditions are met, the replanting location is identified as the completed location. The information terminal according to claim 15.

Images