Harvesting planning device

Abstract

To provide a mowing planning apparatus capable of reducing burden on a manager.SOLUTION: An optimum harvest time calculation unit 22 predicts an optimum crop mowing time based on a crop growth condition and the like. In addition, a workable date and time setting unit 24 sets a workable date and time when mowing work can be performed based on weather information. Then, a mowing planning unit 27 makes a crop mowing plan based on the optimum crop mowing time and workable date and time. After the mowing plan is made, if a situation affecting the mowing plan changes, the mowing planning unit 27 changes the mowing plan according to the change.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a harvest planning device that plans the harvesting of plants. [Background technology]

[0002] Rice, Japan's staple crop, is almost 100% harvested mechanically. Of this, the majority of the harvested area is harvested by combine harvesters. The harvesting performance of combine harvesters is improving year by year, and this improvement in harvesting performance contributes to reducing the workload and shortening the work time.

[0003] On the other hand, the Basic Plan for Food, Agriculture and Rural Areas has accelerated the concentration of farmland in large-scale management entities. For large-scale management entities, the management of rice harvesting timing has become a heavy burden due to the increase in the number of managed fields and the expansion of the cultivated area. In other words, if rice is not harvested at the optimal harvest time, green immature grains and cracked rice will occur, so large-scale management entities must plan when to harvest rice in each field so that the rice in each field can be harvested as soon as possible. The plan must take into account not only the optimal harvest time for the rice growing in each field, but also the weather on the planned harvest day, and the operating status of combine harvesters and dryers that dry the rice after harvest. For this reason, large-scale management entities that manage many fields find it difficult to plan the harvesting of rice in each field, which is a burden on managers. Even if a plan is made, it must be reviewed depending on the growth status of the rice and the progress of harvesting, and changes to the plan are an additional burden on managers. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-33720 A Summary of the Invention [Problem to be solved by the invention]

[0005] An object of the present invention is to provide a reaping planning device that can reduce the burden on a manager. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, the harvesting planning device of the present invention includes an optimum harvesting time prediction unit that predicts the optimum harvesting time for a plant based on the growth condition of the plant, and a harvesting planning unit that creates a plan for harvesting the plant based on the optimum harvesting time predicted by the optimum harvesting time prediction unit and the available dates and times when harvesting work can be performed, and after creating the plan, the harvesting planning unit changes the plan in response to changes in conditions that affect the plan.

[0007] According to this configuration, the optimum time to cut a plant is predicted based on the growth condition of the plant. Then, a plan for cutting the plant is made based on the predicted optimum time to cut and the available date and time for cutting. Therefore, the manager who manages the area where the plants are growing does not need to predict the optimum time to cut the plant, and does not need to make a plan for cutting the plant. Furthermore, even if the conditions that affect the plan change after the cutting plan is made, the plan is changed in response to the change, so the manager does not need to change the cutting plan.

[0008] This reduces the burden on the administrator.

[0009] Furthermore, if the plant is a crop, the manager can predict the harvesting plan at the time of planting, making it easier to create a planting plan as to which variety of crop to plant in which field.

[0010] The reaping planning device may further include a work available date and time setting unit that sets work available dates and times based on meteorological information.

[0011] In this configuration, the administrator does not need to set the available work dates and times, which further reduces the burden on the administrator.

[0012] A plan for harvesting plants may be made based on the optimum harvesting period and the available date and time for harvesting, as well as information on the harvester that will perform the harvesting work.

[0013] In addition, in the plan for harvesting plants, it is preferable that a procedure for the harvesting work of a plurality of harvesters is set for each harvester.

[0014] In this case, the manager does not need to decide the procedure for the reaping work using a plurality of reapers, which further reduces the burden on the manager.

[0015] The multiple reapers may include reapers having different capacities.

[0016] For example, among the multiple harvesters, one or more harvesters may be configured to be capable of harvesting in both the outer periphery of the field where the plants grow and the central area inside it, and the other one or more harvesters may be configured to be capable of harvesting in the central area.

[0017] Even if multiple harvesters have different capacities, the system automatically creates a harvesting plan, eliminating the need for the manager to create a harvesting plan while taking into account the capacity of each harvester, greatly reducing the burden on the manager.

[0018] The situation that affects the plan is the progress of the plant harvesting work, and it is preferable that the progress of the harvesting work is input to the harvesting plan unit.

[0019] In this configuration, the mowing plan is automatically changed according to the progress of the mowing work, so even if the mowing work advances or falls behind schedule, the manager does not need to change the mowing plan, preventing an increase in the manager's burden.

[0020] The progress of the reaping work may be input from the reaper performing the reaping work according to the plan to the reaping planning unit via a server communicatively connected to the reaper and the reaping planning device.

[0021] Furthermore, in addition to the optimum harvesting period and the available harvesting date and time, harvesting plans may be made based on information regarding a dryer that dries the harvested material from the harvested plants.

[0022] After the crop is harvested from the cut plants, it can be dried in the dryer without waiting for the dryer to be available, which improves the quality of the harvested crop.

[0023] The reaping planning device preferably includes a display output unit that outputs information for displaying the reaping plan on a display.

[0024] The mowing plan is displayed on the display, making it easy for managers to understand the mowing plan.

[0025] The display output unit may output information for displaying the progress of the harvesting work on a display.

[0026] In this case, it is preferable that the display shows the progress of the harvesting work together with the harvesting plan, so that the manager can compare the harvesting plan with the progress of the harvesting work, consider the cause of the progress or delay of the harvesting work from the plan, and use the results of such consideration to improve the harvesting work. Effect of the Invention

[0027] According to the present invention, it is possible to reduce the effort required for planning and changing plant mowing plans. [Brief description of the drawings]

[0028] [Figure 1] 1 is a block diagram showing a configuration of a reaping planning system including a reaping planning device according to an embodiment of the present invention. [Diagram 2] 1 is a block diagram showing a configuration of a reaping planning device. [Diagram 3] 11 is a diagram for explaining a process of assigning days on which harvesting work will be performed to each farm field group. FIG. [Figure 4A]This is a diagram (part 1) for explaining a method for creating a harvesting plan for each harvesting work date. [Figure 4B] This is the second diagram to explain the method of creating a harvesting plan for each harvesting work day. [Figure 4C] This is the third diagram to explain the method of creating a harvesting plan for each harvesting work day. [Figure 4D] This is the fourth diagram to explain the method of creating a harvesting plan for each harvesting work day. [Figure 4E] This is the fifth diagram to explain the method of creating a harvesting plan for each harvesting work day. [Figure 4F] This is the sixth diagram to explain the method of creating a harvesting plan for each harvesting work day. [Figure 4G] This is a diagram (part 7) to explain the method of creating a harvesting plan for each harvesting work day. [Figure 4H] This is an eighth diagram to explain the method of creating a harvesting plan for each harvesting work day. [Figure 4I] This is the 9th diagram to explain the method of creating a harvesting plan for each harvesting work day. [Figure 4J] This is a diagram (part 10) to explain the method of creating a harvesting plan for each harvesting work day. [Figure 4K] This is an eleventh diagram to explain the method of creating a harvesting plan for each harvesting work day. [Figure 4L] This is the 12th diagram to explain the method of creating a harvesting plan for each harvesting work day. [Figure 4M] This is a diagram (part 13) to explain the method of creating a harvesting plan for each harvesting work day. [Figure 4N] This is the 14th diagram to explain the method of creating a harvesting plan for each harvesting work day. [Figure 4O] This is the 15th diagram to explain the method of creating a harvesting plan for each harvesting work day. [Figure 4P]This is the 16th diagram to explain the method of creating a harvesting plan for each harvesting work day. [Figure 4Q] This is the 17th diagram to explain the method of creating a harvesting plan for each harvesting work day. [Figure 4R] This is the 18th diagram to explain the method of creating a harvesting plan for each harvesting work day. [Figure 4S] This is the 19th diagram to explain the method of creating a harvesting plan for each harvesting day. [Figure 4T] This is a diagram (part 20) to explain the method of creating a harvesting plan for each harvesting work day. [Figure 4U] This is a diagram (part 21) to explain the method of creating a harvesting plan for each harvesting work day. [Diagram 5] FIG. 13 is a diagram showing an example of an entire reaping plan display screen that displays the entire reaping plan. [Figure 6] FIG. 13 is a diagram showing an example of a daily reaping plan display screen that displays a daily reaping plan. [Figure 7] FIG. 13 is a diagram showing an example of a machine-specific reaping plan display screen that displays a reaping plan for each machine. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0030] <Harvesting planning system> FIG. 1 is a block diagram showing a configuration of a reaping planning system 1 including a reaping planning device 2 according to an embodiment of the present invention.

[0031] The harvesting planning system 1 is a system that is preferably used by a manager of a large-scale farming organization that manages many farm fields, and collectively plans the harvesting of crops growing in each farm field managed by the manager (hereinafter, simply referred to as "harvesting plan"). Target crops are, for example, crops that need to be harvested for harvesting, and in the following, paddy rice is assumed, but is not limited to paddy rice.

[0032] Harvesting planning system 1 includes a harvesting planning device 2, a server 3, a combine harvester 4, and a terminal 5. Harvesting planning device 2 and server 3 are owned by a system provider that offers harvesting planning system 1, and combine harvester 4 and terminal 5 are owned by an administrator who uses harvesting planning system 1. The administrator owns multiple combine harvesters 4 that can be used to harvest rice.

[0033] The reaping planning device 2 includes a CPU (Central Processing Unit) and a memory. The memory includes non-volatile memory such as a hard disk drive (HDD) or flash memory, and volatile memory such as a dynamic random access memory (DRAM). The reaping planning device 2 is connected to a server 3 and a terminal 5 so as to be able to communicate with each other.

[0034] Information on crop growth (growth information) is input from the outside to the harvesting planning device 2. The growth information includes, for example, information on the crop growth status acquired by remote sensing, information on top dressing during the crop growth period, etc. Remote sensing is a technology for acquiring information on the earth's surface using observation equipment mounted on artificial satellites, unmanned aerial vehicles (drones), etc.

[0035] The reaping planning device 2 is also connected to the Internet, and weather information released by the Japan Meteorological Agency, for example, is input to the reaping planning device 2 via the Internet.

[0036] Furthermore, history information indicating the history of work performed by each combine harvester 4 is input to the harvesting planning device 2 from each combine harvester 4 via the server 3. The history information includes, for example, the travel path of the combine harvester 4, the progress of harvesting, the yield of rice (amount of rice harvested), and taste.

[0037] The reaping planning device 2 predicts the optimum reaping time for the crops in each field based on the growth information and weather information, and selects the date and time when reaping work is possible. The reaping planning device 2 then creates a reaping plan based on the optimum reaping time and the date and time when reaping work is possible for each field. After creating a reaping plan, if there is an advance or delay in the progress of reaping or if the weather information changes, the reaping planning device 2 re-creates (reschedules) the reaping plan. Details of the reaping planning device 2 will be described later.

[0038] The server 3 is communicatively connected to the reaping planning device 2, and is also communicatively connected to each combine harvester 4. When a reaping plan is made by the reaping planning device 2, the reaping plan is transmitted from the reaping planning device 2 to the server 3. The server 3 transmits the reaping plan received from the reaping planning device 2 to each combine harvester 4. Then, when the combine harvester 4 harvests crops in accordance with the reaping plan, history information is transmitted from the combine harvester 4 to the server 3. The server 3 transmits the history information received from the combine harvester 4 to the reaping planning device 2. The server 3 also analyzes the history information to determine the time actually required to harvest crops in each field and the time actually required to move between fields, and transmits the analysis results to the reaping planning device 2.

[0039] Each combine harvester 4 is equipped with, for example, an ECU (Electronic Control Unit) for overall overall control, and multiple ECUs for individual specific control. Each ECU is equipped with a microcontroller with a built-in CPU and memory. The memory includes non-volatile memory and volatile memory. Each ECU is connected to a bus (transmission line) for communication according to a CAN (Controller Area Network) communication protocol. In addition, the cabin of each combine harvester 4 is equipped with a virtual terminal (VT) 11 for input / output to the main ECU.

[0040] The multiple combine harvesters 4 include a model capable of automatic travel. The combine harvester 4 capable of automatic travel essentially has a vehicle position calculation unit 12, a route setting unit 13, and an automatic travel control unit 14 as functional processing units for automatic travel. The combine harvester 4 also essentially has a work control unit 15 and a history information management unit 16 as other functional processing units. These functional processing units are realized in software by program processing executed by the ECU, or are provided as hardware such as a logic circuit.

[0041] A satellite positioning module and an inertial positioning module are connected to the vehicle position calculation unit 12. The satellite positioning module receives positioning signals (GNSS signals) from GNSS (Global Navigation Satellite System) satellites, and outputs positioning data for calculating the vehicle position. The inertial positioning module includes a three-axis gyro acceleration sensor and a magnetic direction sensor, and outputs a position vector indicating the instantaneous running direction of the vehicle. The vehicle position calculation unit 12 calculates the position and direction of the vehicle from the positioning data input from the satellite positioning module, and corrects the calculation result using the position vector input from the inertial positioning module.

[0042] The route setting unit 13 sets a travel route for the automatic travel of the combine harvester 4. That is, the combine harvester 4 automatically travels to mow the central area of ​​the field excluding the peripheral area, and the route setting unit 13 sets a route for the combine harvester 4 to travel by repeating U-shaped turns in the central area, for example. Therefore, mowing in the central area by the automatic travel of the combine harvester 4 is performed after mowing in the peripheral area of ​​the field by the manual travel of the combine harvester 4, that is, so-called perimeter mowing. The manual travel may be travel by steering operation of an operator on board the combine harvester 4, or may be travel by remote control by an operator (manager).

[0043] The automatic travel control unit 14 controls a pair of left and right travel devices (for example, crawlers) so that the combine harvester 4 travels along the route set by the route setting unit 13.

[0044] The operation control unit 15 controls a reaping device that reaps the rice stalks and a threshing device that separates the rice grains from the reaped stalks during reaping work performed by the combine harvester 4 running automatically or manually.

[0045] The history information management unit 16 manages the history information. That is, in the combine harvester 4, various sensors are provided in a tank that stores rice, and while the harvested rice is stored in the tank, the various sensors detect the yield of the rice and also detect the protein and moisture contents of the harvested rice (rice) as taste. The history information management unit 16 associates the detected yield and taste with the travel trajectory of the combine harvester 4 and stores them in memory. Then, the history information management unit 16 transmits the history information stored in the memory to the server 3 in response to a request from the server 3 or spontaneously.

[0046] Terminal 5 is, for example, a tablet, a smartphone, or a personal computer equipped with a display. When the manager operates terminal 5, display data of the reaping plan created by reaping planning device 2 can be received by terminal 5. Depending on the display data received from reaping planning device 2, terminal 5 displays the entire reaping plan, a daily reaping plan, or a reaping plan by machine (by combine harvester 4).

[0047] <Harvesting planning device> FIG. 2 is a block diagram showing the configuration of the reaping planning device 2. As shown in FIG.

[0048] The harvesting planning device 2 has a storage unit 21 made of a non-volatile memory. The storage unit 21 stores information on a dryer that dries harvested rice (dryer information), information on a combine harvester 4 owned by the manager (owned machine information), information on varieties grown in the field (variety information), and a field map showing the position and size of the field.

[0049] The reaping planning device 2 essentially has, as functional processing units, an optimum harvest time calculation unit 22, an optimum harvest time map creation unit 23, an available work date and time setting unit 24, a priority determination unit 25, a available harvest yield calculation unit 26, a reaping planning unit 27, and a display output unit 28. These functional processing units are realized in the form of software by program processing executed by the ECU, or are provided as hardware such as a logic circuit.

[0050] The optimum harvest time calculation unit 22 periodically receives meteorological information and calculates the accumulated temperature (total of daily average temperatures) after the heading of rice in each field. The optimum harvest time calculation unit 22 then periodically calculates the optimum harvest time for each field and rice variety from the number of days after heading of rice in each field and the transition of the accumulated temperature.

[0051] Optimal harvest time map creation unit 23 reads out variety information including information on whether the variety grown in each field is an early-maturing variety, a mid-maturing variety, or a late-maturing variety from storage unit 21, identifies the optimum harvest time for each field from the variety information and the optimum harvest time calculated by optimum harvest time calculation unit 22, and creates an optimum harvest time map indicating the optimum harvest time for each field by applying the identified optimum harvest time to the field map. Optimal harvest time calculation unit 22 periodically calculates the optimum harvest time, so the optimum harvest time map is updated as appropriate according to the calculation results of the optimum harvest time.

[0052] The workable date and time setting unit 24 periodically receives weather information and sets the date and time when harvesting work can be performed in a predetermined period including the optimum harvesting period in each field based on the weather forecast and sunrise and sunset times included in the weather information. That is, the workable date and time setting unit 24 sets the time from sunrise to sunset on a day when fine weather is expected in the predetermined period as the workable date and time.

[0053] The priority determination unit 25 reads the vehicle information from the storage unit 21 and prioritizes the combine harvesters 4 to be used for harvesting work based on the vehicle information. The vehicle information includes, for each combine harvester 4 owned by the manager, the number of harvesting rows, the purchase date, the operating time up to the present, and information on whether automatic running is possible. The manager can set which of the vehicle information is to be given priority, and the priority determination unit 25 prioritizes the combine harvesters 4 to be used for harvesting work according to the set contents.

[0054] For example, if three combine harvesters 4 are named A, B, and C, and combine harvester A is a 6-row harvester, combine harvester B is a 5-row harvester, and combine harvester C is a 4-row harvester, and the setting is such that priority is given to the harvester with the greater number of harvesting rows, the priority is given in the order of combine harvester A, combine harvester B, and combine harvester C. In addition, if the purchase date of combine harvester A is August 22, 2016, the purchase date of combine harvester B is July 15, 2015, and the purchase date of combine harvester C is September 10, 2018, and the setting is such that priority is given to the harvester with the most recent purchase date, the priority is given in the order of combine harvester C, combine harvester A, and combine harvester B. Furthermore, if the current operating time of combine A is 98 hours 46 minutes, the current operating time of combine B is 131 hours 5 minutes, and the current operating time of combine C is 2 hours 13 minutes, and the setting is such that the harvester with the longer operating time is given priority, the priority will be assigned in the following order: combine B, combine A, and combine C.

[0055] The reapable yield calculation unit 26 reads out dryer information, including information on the processing capacity and operation status (availability) of the dryer, from the storage unit 21, and calculates the reapable yield on the reap day from the dryer information.

[0056] The harvesting plan unit 27 calculates the optimum harvesting time map created by the optimum harvesting time map creation unit 23, the available work date and time set by the available work date and time setting unit 24, the priority order of the use of the combine harvester 4 determined by the priority order determination unit 25, and the harvestable yield calculation unit 26. calculation Based on the harvestable yield, harvesting plans are made for all fields where rice is grown, to harvest the rice in each field. In addition, if there are changes in the optimum harvest time map, the available work date and time, the priority of the use of the combine harvester 4, or the like after the harvesting plan has been made, the harvesting plan unit 27 uses the changed information to change the harvesting plan.

[0057] Display output unit 28 creates and outputs display data for displaying on terminal 5 the entire reaping plan established by reaping planning unit 27, the reaping plan by day, or the reaping plan by machine. When terminal 5 receives the display data output from display output unit 28, the entire reaping plan, the reaping plan by day, or the reaping plan by machine is displayed on terminal 5. Note that when virtual terminal 11 of combine 4 receives the display data output from display output unit 28 via server 3, the entire reaping plan, the reaping plan by day, or the reaping plan by machine may be displayed on virtual terminal 11.

[0058] <Workday allocation processing> FIG. 3 is a diagram for explaining the process of allocating days on which harvesting work is to be performed to each farm field group.

[0059] The area in which the fields managed by the manager are located is divided into multiple areas, and the fields in each area are grouped. The same variety of rice is planted and grown in the fields that belong to the same field group.

[0060] When making a reaping plan, the reaping planning unit 27 assigns a reaping work date for each field group when reaping work is to be performed. In order to assign a reaping work date, first, a priority is assigned to the candidate dates for the reaping work date for each field group. The priority of the candidate dates is such that the optimal date most suitable for harvesting is ranked first, and the two days before the optimal date are ranked second and third from the optimal day side. In addition, the two days after the optimal date are ranked fourth and fifth from the optimal day side. Furthermore, each day going back from three days before the optimal date to the day after today is ranked sixth or later from the optimal day side, and if the days up to the day after today have been ranked but have not yet been ranked up to a predetermined rank, each day from the three days after the optimal date onwards is ranked in order from the optimal day side.

[0061] Assuming that today's date is September 18, 2023, for example, if the optimal date for harvesting rice in the fields of field group 1 is September 26, 2023, September 26, 2023 will be the first priority, and September 25 and 24, 2023 will be the second and third priority, respectively. In addition, September 27 and 28, 2023 will be the fourth and fifth priority, respectively, and September 23, 22, 21, 20 and 19 will be the sixth, seventh, eighth, ninth and tenth priority, respectively. Furthermore, September 29 and 30 will be the eleventh and twelfth priority, respectively.

[0062] If the best date for harvesting rice in the fields of field group 2 is September 27, 2023, then September 27, 2023 is set as the first priority date, September 26 and 25, 2023 are set as the second and third priority dates, respectively. Furthermore, September 28 and 29, 2023 are set as the fourth and fifth priority dates, respectively, and September 24, 23, 22, 21, 20 and 19 are set as the sixth, seventh, eighth, ninth, tenth and eleventh priority dates, respectively. Furthermore, September 30 is set as the twelfth priority date.

[0063] If the most suitable date for harvesting rice in the fields of field group 3 is September 28, 2023, then September 28, 2023 is set as the first priority date, September 27 and 26, 2023 are set as the second and third priority dates, respectively. Also, September 29 and 30, 2023 are set as the fourth and fifth priority dates, respectively, and September 25, 24, 23, 22, 21, 20, and 19 are set as the sixth, seventh, eighth, ninth, tenth, eleventh, and twelfth priority dates, respectively.

[0064] Then, for each field group, the candidate date with the highest priority is determined as the harvesting date. However, when focusing on one field group, if the candidate date with the second highest priority overlaps with a candidate date of another field group and the candidate date of the other field group has a higher priority than the first field group, the candidate date of the other field group is determined as the harvesting date, and for the first field group, the candidate date with the next highest priority is determined as the harvesting date.

[0065] For example, the second highest priority candidate date for field group 2 (September 26, 2023) overlaps with the first highest priority candidate date for field group 1, so that candidate date is determined as the harvesting date for field group 1, and the third highest priority candidate date (September 25, 2023) is determined as the harvesting date for field group 2. And, because the second highest priority candidate date for field group 1 has been determined as the harvesting date for field group 2, the third highest priority candidate date (September 24, 2023) is determined as the harvesting date for field group 1.

[0066] In addition, since the second and third highest priority candidate dates for field group 3 (September 27th and 26th, 2023) overlap with the first highest priority candidate date for field group 2 (September 27th, 2023) and the first highest priority candidate date for field group 3 (September 26th, 2023), the fourth highest priority candidate date (September 29th, 2023) will be determined as the harvesting date for field group 3.

[0067] Thereafter, the harvesting dates for field groups 1, 2, and 3 are determined according to the same rules.

[0068] <Harvesting plan for harvesting day> Each of Figs. 4A to 4U is a diagram for explaining a method for creating a reaping plan for each reaping work date.

[0069] For example, suppose a field group includes fields "10" to "21." An outer perimeter region and a central region are set for each of the fields "10" to "21." The outer perimeter regions are represented by adding "-1" to the end of the number of each of the fields "10" to "21," and the central regions are represented by adding "-2" to the end of the number of each of the fields "10" to "21." For example, field "11-1" represents the outer perimeter region of field "11," and field "11-2" represents the central region of field "11."

[0070] In the following description, an example is taken in which three combine harvesters 4 are used for harvesting work as combine harvesters A, B, and C. The priority order of use of combine harvesters A, B, and C (priority order determined by priority order determination unit 25) is set so that combine harvester A has the highest priority, combine harvester B has the next highest priority, and combine harvester C has the lowest priority. Also, combine harvesters A and B can be used for harvesting work in the entire field, while combine harvester C cannot be used for harvesting the outer peripheral area, i.e., for peripheral harvesting, and can only be used for harvesting work in the central area.

[0071] In order to make a harvesting plan for the harvesting day, first, it is confirmed whether there are any fields where harvesting has been completed in part, that is, fields where harvesting of the outer periphery has been completed. For example, if harvesting of the field "10-1" has been completed, it is confirmed that the field "10" is a field where harvesting has been completed in part, and as shown in FIG. 4A, the field "10-2" where harvesting has not been performed is listed in the candidate list as a candidate for harvesting work by the combine harvester A. Then, a field close to the field "10" where harvesting has not been performed is selected, and it is determined whether the sum of the time required for harvesting the periphery of the selected field and the time required for harvesting the field "10-2" is less than the time currently scheduled for use of the combine harvester C that can only be used for harvesting work in the central region. At this time, since the currently scheduled use time of Combine C is 0, the judgment is denied, and as shown by the dashed line in Figure 4B, the field "10-2" is excluded from the candidates for harvesting work by Combine A.

[0072] Since there is no field other than field "10" where harvesting has been partially completed, then, as shown in Fig. 4C, all fields "11" to "21" other than field "10" are listed in the candidate list. Then, as shown in Fig. 4D, fields "11" to "21" are sorted in ascending order of area, and fields "12", "15", "17", "20", "21", and "13" are listed in that order in the candidate list for harvesting by combine harvester A.

[0073] After that, the availability of the dryer is checked to determine whether the dryer can process the rice harvested in the harvesting work in the first field on the harvesting work candidate list, "12-1." At this time, the status of the dryer is as shown in Fig. 4E, and since only the rice harvested in the harvesting work in field "12-1" is to be processed and the yield of the rice is less than the yield that the dryer can process (harvestable yield), it is determined that the dryer can process it.

[0074] Next, as shown in FIG 4F, the time required for the combine harvester A to perform the reaping operation in the field "12-1" is calculated, and it is determined whether the reaping operation in the field "12-1" can be completed within a predetermined operation time (for example, from 10:00 am to 6:00 pm). If the reaping operation in the field "12-1" can be completed within the operation time, the reaping operation in the field "12-1" is entered into the timetable for the combine harvester A, as shown in FIG 4G.

[0075] After that, as shown in FIG. 4H, since it is decided to harvest the field "12-1", the field "12-1" is removed from the target fields of the harvesting plan. Then, the candidate list is updated, and it is determined whether the rice harvested in the harvesting operation in the first field "15-1" in the updated candidate list can be processed in a dryer. If the rice can be processed in a dryer, the time required for the harvesting operation in the field "15-1" by the combine harvester B is calculated, and it is determined whether the harvesting operation in the field "15-1" can be completed within a predetermined operation time. If the harvesting operation in the field "15-1" can be completed within the operation time, the harvesting operation in the field "15-1" is included in the timetable of the combine harvester B.

[0076] Since it has been newly decided that field "15-1" will be harvested, field "15-1" is removed from the fields targeted by the harvesting plan. After that, it is checked whether there are any fields for which harvesting has been partially completed. At this time, since harvesting has already been scheduled for fields "12" and "15," fields "12-2" and "15-2" are temporarily listed on the candidate list as candidates for harvesting work by combine harvester C, along with field "10-2," as fields for which harvesting has been partially completed. However, since harvesting work on fields "12-1" and "15-1" has not been completed at the time combine harvester C starts work, fields "12-2" and "15-2" are removed from the candidates for harvesting work by combine harvester C, as shown in FIG. 4I.

[0077] Then, it is determined whether the rice harvested in the harvesting operation in the field "10-2" remaining in the candidate list can be processed in a dryer. At this time, as shown in FIG. 4J, it is possible to process the rice harvested in the harvesting operation in the field "10-2" in a dryer. In this case, the time required for the harvesting operation in the field "10-2" by the combine harvester C is then calculated, and it is determined whether the harvesting operation in the field "10-2" can be completed within a predetermined operation time. If the harvesting operation in the field "10-2" can be completed within the operation time, the harvesting operation in the field "10-2" is entered in the timetable of the combine harvester C, as shown in FIG. 4K.

[0078] Next, it is checked whether there are any fields where partial reaping has been completed. At this point, reaping work in field "12-1" has been completed, so field "12-2" is added to the candidate list as a candidate for reaping work by combine harvester A. Then, field "14-1", which is a field close to field "12" and has not been reaped around, is selected, and the sum of the time required for reaping around the selected field "14-1" and the time required for reaping work in fields "12-1" and "12-2" is calculated. In addition, reaping work in field "15-1" has also been completed, so it is assumed that reaping work in field "15-2" will be performed by combine harvester C following reaping work in field "10-2", and the time required for reaping work in fields "10-2" and "15-2" is calculated. Then, it is determined whether the time required for the harvesting operations at fields "12-1", "12-2", and "14-1" is less than the time required for the harvesting operations at fields "10-2" and "15-2". If the determination is positive, it is determined whether the rice harvested in the harvesting operation at field "12-2" can be processed in a dryer. If processing in a dryer is possible, it is determined whether the harvesting operation at field "12-2" by combine A can be completed within a specified operation time. If the harvesting operation at field "12-2" can be completed within the operation time, the harvesting operation at field "12-2" is entered into the timetable of combine A, as shown in FIG. 4L.

[0079] Since it has been newly decided to harvest the field "12-2", as shown in FIG. 4M, the field "12-2" is removed from the fields targeted by the harvesting plan. After that, it is confirmed whether there are any fields that have been partially harvested, and the field "15-2" is added to the candidate list as a candidate for harvesting by the combine harvester B. Then, the field "14-1", which is close to the field "15" and has not been harvested around the periphery, is selected, and the sum of the time required for harvesting around the selected field "14-1" and the time required for harvesting in the fields "15-1" and "15-2" is calculated, and it is determined whether the sum is less than the time required for harvesting in the field "10-2" by the combine harvester C. If this determination is negative, the field "15-2" is removed from the candidate list.

[0080] Since there is no field other than field "15-2" where the harvesting has been partially completed, as shown in FIG. 4N, all fields "11" to "21" except fields "12" and "15" are listed in the candidate list. Then, when the harvesting operation by combine harvester B in field "15-1" is completed, field "14-1", which is the closest field to field "15-1" where combine harvester B is located, is selected, and it is determined whether the rice harvested in the harvesting operation in field "14-1" can be processed in a dryer. If processing in a dryer is possible, it is determined whether the harvesting operation by combine harvester B in field "14-1" can be completed within a specified operation time. If the harvesting operation in the field "14-1" can be completed within the work time, the harvesting operation in the field "14-1" is entered into the timetable of the combine harvester B, as shown in FIG. 4O.

[0081] Since it has been newly decided to harvest the field "14-1", as shown in FIG. 4P, the field "14-1" is removed from the target fields of the harvesting plan. After that, it is confirmed whether there are any fields where harvesting has been partially completed, and the fields "14-2" and "15-2" are added to the candidate list as targets for harvesting by the combine harvester C. Then, it is confirmed whether the rice harvested in the harvesting operation in the field "15-2" can be processed in a dryer when the harvesting operation in the field "15-2" is performed by the combine harvester C, and whether the harvesting operation in the field "15-2" by the combine harvester C can be completed within the specified work time. When both of these are confirmed, the harvesting operation in the field "15-2" is added to the timetable of the combine harvester C, as shown in FIG. 4Q.

[0082] As for field "14-2," if combine harvester B performs harvesting operations in field "14-2" and then performs harvesting operations in field "16-1," which is the closest to field "14-2," the time required for these harvesting operations will exceed the time required for combine harvester C to perform harvesting operations in fields "10-2" and "15-2," so field "14-2" is removed from the candidate list.

[0083] After that, since there is no field other than the field "14-2" where the harvesting has been partially completed, all the fields "11" to "21" except for the fields "12", "14", and "15" are listed in the candidate list as shown in FIG. 4R. Then, as shown in FIG. 4S, the fields "11" to "21" listed in the candidate list are sorted in order of proximity to the field "14-2" where the combine harvester B is located at the time of the completion of the harvesting operation in the field "14-2" by the combine harvester B. After this sorting, it is confirmed whether the rice harvested by the harvesting operation in the field "16-1" at the top of the candidate list for the harvesting operation can be processed in a dryer, and it is also confirmed whether the harvesting operation in the field "16-1" by the combine harvester B can be completed within a predetermined operation time. If both of these are confirmed, harvesting work in field “16-1” is added to the timetable for Combine B.

[0084] Next, as shown in FIG. 4T, all fields "11" to "21" other than fields "12", "14-1", "15", and "16-1" are listed in the candidate list, and the fields "11" to "21" listed in the candidate list are sorted in order of proximity to the field "12-2" where the combine harvester A is located when the combine harvester A finishes harvesting work in the field "12-2". After this sorting, it is confirmed whether the rice harvested by the harvesting work in the field "11-1" at the top of the harvesting work candidate list can be processed in a dryer, and whether the harvesting work in the field "11-1" by the combine harvester A can be completed within a predetermined work time. Then, if both of these confirmations are made, the harvesting work in the field "16-1" is added to the timetable of the combine harvester A, as shown in FIG. 4U.

[0085] After that, the timetables for combine harvesters A, B, and C are created in the same way from 1:00 pm onwards. When the rice harvested by the harvesting work cannot be processed by the dryer, or when the harvesting work cannot be completed within the working hours, the harvesting plan for the harvesting day is completed.

[0086] <Overall harvesting plan display> FIG. 5 is a diagram showing an example of an entire reaping plan display screen that displays the entire reaping plan.

[0087] The overall harvesting plan display screen shows the variety of rice being grown in each of the fields managed by the manager. In addition, for each field, the harvesting plan (the date that harvesting work is planned to be carried out) and the actual harvesting work performance (progress status) are displayed as a history. This makes it easy for the manager to understand the harvesting plans for all fields. In addition, by comparing the harvesting plan with the progress status of the harvesting work, the manager can consider the reasons for the progress or delay of the harvesting work compared to the plan and use the results of this consideration to improve the harvesting work.

[0088] <Daily harvesting plan display> FIG. 6 is a diagram showing an example of a daily reaping plan display screen that displays a daily reaping plan.

[0089] On the daily harvesting plan display screen, a farm field map is displayed in the left half area, and a timetable for each combine 4 (combine A, B, C) to be used for harvesting work in fields A to G displayed on the farm field map is displayed in the right half area. This allows the manager to easily understand the harvesting plan for the harvesting work day.

[0090] <Display harvesting plan by machine> FIG. 7 is a diagram showing an example of a machine-specific reaping plan display screen that displays a reaping plan for each machine (for each combine harvester 4).

[0091] On the machine-specific reaping plan display screen, a field map is displayed larger than on the daily reaping plan display screen, and the planned travel path of one combine harvester 4 is displayed on the field map. A timetable for that combine harvester 4 is displayed on the right side of the field map. This allows the manager to easily understand the plan for reaping work by one combine harvester 4. In addition, the plans for reaping work by other combine harvesters 4 can also be confirmed by switching the machine-specific reaping plan display screen.

[0092] <Action and effect> As described above, the optimum harvesting time for the crop is predicted based on the growing conditions of the crop. Furthermore, the possible work date and time when harvesting work can be performed is set based on the weather information. Then, a harvesting plan for the crop is made based on the predicted optimum harvesting time and the set possible work date and time. Therefore, the manager who manages the area where the crop is growing does not need to predict the optimum harvesting time for the crop, and does not need to make a harvesting plan for the crop. Furthermore, even if the conditions that affect the harvesting plan change after the harvesting plan is made, the harvesting plan is changed in response to the change, so the manager does not need to change the harvesting plan. This reduces the burden on the manager.

[0093] In addition, because managers can predict harvesting plans at the time of planting, it is easier for them to create planting plans regarding which varieties of crops to plant in which fields.

[0094] A crop harvesting plan is made based on the optimum harvesting period and available work dates and times, as well as information on the combine harvester 4 that will perform the harvesting work. Specifically, in the crop harvesting plan, the harvesting procedures for multiple combine harvesters 4 are set for each combine harvester 4. This eliminates the need for the manager to decide the harvesting procedures for multiple combine harvesters 4, further reducing the burden on the manager.

[0095] Also, as in the above-mentioned embodiment, among the multiple combine harvesters 4, the combine harvesters A and B are set to be capable of harvesting both in the outer periphery of the field where crops grow and in the central area inside the outer periphery, and even if the combine harvester C is set to be capable of harvesting in the central area, the harvesting plan is automatically created, so the manager does not need to create a harvesting plan while considering the capacity of each combine harvester 4. Therefore, the burden on the manager can be significantly reduced.

[0096] In addition, since the mowing plan is automatically changed according to the progress of the mowing work, even if the mowing work advances or falls behind the plan, the manager does not need to change the mowing plan, which prevents the manager's burden from increasing.

[0097] Furthermore, the harvesting plan takes into account the information from the dryer. This allows the rice to be dried in the dryer after harvesting without having to wait for the dryer to become available. This improves the quality of the rice.

[0098] <Modification> Although the embodiment of the present invention has been described above, the present invention can be embodied in other forms.

[0099] For example, in the above embodiment, the combine harvester 4 for harvesting rice was taken as an example of a harvester, but the harvester may be a machine for harvesting vegetables such as soybeans and green soybeans. Also, the objects to be harvested are not limited to crops, but can be expanded to include all plants such as weeds.

[0100] In addition, various design modifications can be made to the above-described configuration within the scope of the claims. [Explanation of symbols]

[0101] 2: Harvesting planning device 3: Server 4: Combine (harvesting machine) 22: Harvest time calculation section (harvest time prediction section) 24: Available date and time setting section 27: Harvesting Planning Department 28: Display output section

Claims

1. an optimum harvesting time prediction unit that predicts an optimum harvesting time for the plant based on a growth state of the plant; a workable date and time setting unit that sets a workable date and time when harvesting work is possible based on the sunrise and sunset times included in the weather information; a reaping planning unit that makes a plan for reaping the plants based on the optimum reaping time predicted by the optimum reaping time prediction unit and the workable date and time set by the workable date and time setting unit, The reaping planning unit changes the plan in response to a change in a situation that affects the plan after the reaping planning unit creates the plan, The situation affecting the plan is a progress status of the plant harvesting operation, A reaping planning device, wherein the reaping planning unit receives an input of a progress status of the reaping work.

2. The mowing planning device according to claim 1 , wherein the progress of the mowing work is input to the mowing planning unit from a mower performing the mowing work via a server communicably connected to the mowing machine and the mowing planning device.

3. The harvesting planning device according to claim 1 or 2, wherein the harvesting planning unit creates the plan based on information about a dryer that dries the harvested product harvested from the harvested plants, in addition to the optimum harvesting period and the available work date and time.

4. and a harvestable yield calculation unit that calculates a harvestable yield on a harvesting day from the information of the dryer. The reaping planning device according to claim 3 , wherein the reaping planning unit creates the plan based on the possible reaping yield calculated by the possible reaping yield calculation unit in addition to the optimum reaping period and the possible work date and time.

5. an optimum harvesting time prediction unit that predicts an optimum harvesting time for the plant based on a growth state of the plant; a workable date and time setting unit that sets a workable date and time when harvesting work is possible based on the sunrise and sunset times included in the weather information; a reaping planning unit that makes a plan for reaping the plants based on the optimum reaping time predicted by the optimum reaping time prediction unit and the workable date and time set by the workable date and time setting unit; a harvestable yield calculation unit that calculates a harvestable yield on a harvesting day from information of a dryer that dries the harvested product harvested from the harvested plant, the reaping planning unit creates the plan based on the optimum reaping period and the available work date and time, as well as on information about the dryer and the available reaping yield calculated by the available reaping yield calculation unit; The reaping planning device, wherein the reaping planning unit creates the plan and then modifies the plan in response to changes in conditions that affect the plan.

6. The harvesting planning device according to any one of claims 1 to 5, wherein the available work date and time setting unit sets the available work date and time from a weather forecast and sunrise / sunset times included in meteorological information.

7. The harvesting planning device according to claim 6, wherein the workable date and time setting unit sets the workable date and time within a predetermined period including the optimum harvesting period predicted by the optimum harvesting period prediction unit based on the weather forecast and sunrise / sunset times included in the weather information.

8. The reaping planning device according to any one of claims 1 to 7, wherein the reaping planning unit creates the plan based on information about a reaper that will perform reaping work, in addition to the optimum reaping period and the available work date and time.

9. and a priority order determination unit that prioritizes the reapers to be used for reaping work based on the information on the reapers, The reaping planning device according to claim 8 , wherein the reaping planning unit creates the plan based on the priority assigned by the priority order determining unit in addition to the suitable reaping period and the available work date and time.

10. an optimum harvesting time prediction unit that predicts an optimum harvesting time for the plant based on a growth state of the plant; a workable date and time setting unit that sets a workable date and time when harvesting work is possible based on the sunrise and sunset times included in the weather information; a reaping planning unit that makes a plan for reaping the plants based on the optimum reaping time predicted by the optimum reaping time prediction unit and the workable date and time set by the workable date and time setting unit; a priority order determination unit that assigns priorities to the reapers to be used for the reaping work based on information about the reapers performing the reaping work, the reaping planning unit creates the plan based on the optimum reaping period and the available work date and time, as well as on information about the reaper and the priority assigned by the priority order determination unit; The reaping planning device, wherein the reaping planning unit creates the plan and then modifies the plan in response to changes in conditions that affect the plan.

11. The harvesting planning device according to claim 10, wherein the available work date and time setting unit sets the available work date and time from a weather forecast and sunrise / sunset times included in meteorological information.

12. The harvesting planning device according to claim 11, wherein the workable date and time setting unit sets the workable date and time within a predetermined period including the optimum harvesting period predicted by the optimum harvesting period prediction unit based on the weather forecast and sunrise / sunset times included in the weather information.

13. an optimum harvesting time prediction unit that predicts an optimum harvesting time for the plant based on a growth state of the plant; a reaping planning unit that makes a plan for reaping the plants based on the optimum reaping time predicted by the optimum reaping time prediction unit and the available date and time for reaping work, The reaping planning unit changes the plan in response to a change in a situation that affects the plan after the reaping planning unit creates the plan, The situation affecting the plan is a progress status of the plant harvesting operation, A reaping planning device, wherein the reaping planning unit receives an input of a progress status of the reaping work.

14. A workable date and time setting unit that sets the workable date and time based on meteorological information, The reaping planning device according to claim 13, wherein the reaping planning unit creates the plan based on the optimum reaping period and the available work date and time set by the available work date and time setting unit.

15. The mowing planning device according to claim 13 or 14, wherein the progress of the mowing work is input to the mowing planning unit from a mower performing the mowing work via a server communicatively connected to the mower and the mowing planning device.

16. The harvesting planning device according to any one of claims 13 to 15, wherein the harvesting planning unit creates the plan based on the optimum harvesting period and the available work date and time, as well as information on a dryer that dries the harvested product from the harvested plants.

17. and a harvestable yield calculation unit that calculates a harvestable yield on a harvesting day from the information of the dryer. The reaping planning device according to claim 16, wherein the reaping planning unit creates the plan based on the possible reaping yield calculated by the possible reaping yield calculation unit in addition to the optimum reaping period and the possible work date and time.

18. The reaping planning device according to any one of claims 13 to 17, wherein the reaping planning unit creates the plan based on information about a reaper that will perform reaping work, in addition to the optimum reaping period and the available work date and time.

19. and a priority order determination unit that prioritizes the reapers to be used for reaping work based on the information on the reapers, The reaping planning device according to claim 18, wherein the reaping planning unit creates the plan based on the priority assigned by the priority order determining unit in addition to the suitable reaping period and the available work date and time.

20. 20. The reaping planning device according to claim 8, wherein the reaping planning unit sets, in the plan, a procedure for reaping work of the plurality of reapers for each of the reapers.

21. The mowing planning device according to claim 20, wherein the plurality of mowing machines include mowing machines having different capacities from each other.

22. The harvesting planning device of claim 21, wherein among the plurality of harvesters, one or more of the harvesters are configured to be capable of harvesting in both the peripheral region of the field in which the plants grow and the central region therein, and the other one or more of the harvesters are configured to be capable of harvesting in the central region.

23. The reaping planning device according to any one of claims 1 to 22, further comprising a display output unit that outputs information for displaying the plan on a display.

24. The reaping planning device according to claim 23, wherein the display output unit outputs information for causing the display device to display a progress status of the reaping work.

Images