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

Abstract

To support cultivation management by a user by imaging a farm field by a work device.SOLUTION: A farm field information management method includes determining a moving route 650 of a work device 100 for executing work in a farm field 600. The farm field information management method includes determining an imaging position 700 for imaging the farm field 600 on the moving route 650. The farm field information management method also includes outputting instruction information indicating the moving route 650 to the work device 100, and controlling the work device 100. The farm field information management method further includes outputting farm field image information indicating a farm field image taken by the work device 100 when the work device 100 reaches the imaging position 700. Determining the imaging position 700 may include determining the imaging position 700 so that the ratio of the region of the farm field 600 included in the imaging range of the imaging range imaged by the work device 100 is larger than a threshold in the moving route 650.SELECTED DRAWING: Figure 7

Description

[Technical field]

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

[0002] In recent years, there has been research into the analysis of cultivation management using information on work carried out in farm fields.

[0003] Patent Document 1 discloses a technology in which an imaging unit attached to a work vehicle captures images of the surroundings of the work vehicle when the work vehicle passes near a preset monitoring position in a farm field. This enables the disclosed system to capture images of the target crops regardless of the position of the target crops. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-15557 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when the work vehicle does not pass near the monitoring position, the technology described in Patent Document 1 cannot capture an image of the monitored crop. Therefore, when the work device works in the field, the field may not be captured. On the other hand, for cultivation management, the field may be captured and the state of the field recorded regardless of the route the work device takes in the field. In this case, a worker needs to capture the field with a camera and record the captured image, in addition to the work performed by the work device.

[0006] In view of the above circumstances, one object of the present disclosure is to support a user, for example, a worker, in managing cultivation by reliably capturing an image of the periphery of a working device along a path along which the working device moves when performing work in a farm field. Other objects can be understood from the following description and the explanation of the embodiment. [Means for solving the problem]

[0007] The means for solving the problems will be described below using the numbers and symbols used in the description of the embodiment of the invention. These numbers and symbols are added in parentheses for reference purposes to show an example of the correspondence between the description of the claims and the description of the embodiment of the invention. Therefore, the description in parentheses should not be interpreted as limiting the scope of the claims.

[0008] A farm field information management method according to one embodiment for achieving the above object includes determining a movement path (650) of a working implement (100) performing work in a farm field (600). The farm field information management method also includes determining an imaging position (700) on the movement path (650) for imaging the farm field (600). The farm field information management method also includes outputting instruction information representing the movement path (650) to the working implement (100) and controlling the working implement (100). The farm field information management method also includes outputting farm field image information representing a farm field image captured by the working implement (100) when the working implement (100) reaches the imaging position (700).

[0009] A farm field information management system (1000) according to an embodiment for achieving the above object includes a path determination unit (250), an image capture position determination unit (260), and an output unit (280). The path determination unit (250) determines a movement path (650) of a working device (100) performing work in a farm field (600). The image capture position determination unit (260) determines an image capture position (700) on the movement path (650) for capturing an image of the farm field (600). The output unit (280) outputs instruction information representing the movement path (650) to the working device (100) to control the working device (100). In addition, the output unit (280) outputs farm field image information representing a farm field image captured by the working device (100) when the working device (100) reaches the image capture position (700).

[0010] To achieve the above object, a farm field information management program (520) according to one embodiment causes the calculation device (220, 320, 420) to determine a movement path (650) of a working device (100) performing work in a farm field (600). The farm field information management program (520) also causes the calculation device (220, 320, 420) to determine an imaging position (700) for imaging the farm field (600) on the movement path (650). The farm field information management program (520) outputs instruction information representing the movement path (650) to the working device (100) and causes the calculation device (220, 320, 420) to control the working device (100). Furthermore, the farm land information management program (520) causes the calculation device (220, 320, 420) to output farm land image information representing a farm land image captured by the working implement (100) when the working implement (100) reaches the imaging position (700). Effect of the Invention

[0011] According to the above aspect, the user can efficiently analyze cultivation management. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a configuration diagram of a farm field information management system according to an embodiment. [Diagram 2]FIG. 1 is a configuration diagram of a working device according to an embodiment. [Diagram 3] FIG. 2 is a configuration diagram of a control device according to an embodiment. [Figure 4] FIG. 2 is a diagram illustrating a functional block executed by the farm field information management system according to the embodiment. [Diagram 5] 1 is a configuration diagram of a farm field information management device according to an embodiment. [Figure 6] FIG. 2 is a configuration diagram of a terminal according to an embodiment. [Figure 7] 4 is a flowchart showing a process performed by a farm field information management system according to an embodiment. [Figure 8] 5A and 5B are diagrams for explaining a moving path and an imaging position of a working device according to an embodiment. [Figure 9] 5A and 5B are diagrams for explaining a moving path and an imaging position of a working device according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] (Embodiment) A farm field information management system 1000 according to this embodiment of the present invention will be described with reference to the drawings. In this embodiment, as shown in Fig. 1, the farm field information management system 1000 includes a work device 100, a control device 200, a farm field information management device 300, and a terminal 400. The control device 200 is communicatively connected to the work device 100. The farm field information management device 300 is communicatively connected to the control device 200 and the terminal 400 via a network 20, for example the Internet.

[0014] The farm field information management device 300 distributes field information on the farm field 600 where the work was performed by the working device 100, such as the work area by the working device 100, the movement path of the working device 100, and the work type of the work performed. The terminal 400 displays the farm field information distributed from the farm field information management device 300 and notifies a user, such as a worker or the owner of the farm field 600. Here, the work area indicates the area in the farm field 600 where the working device 100 performed the work. The movement path indicates the path in the farm field 600 where the working device 100 moved to perform the work. The work type indicates the type of work performed by the working device 100 in the farm field 600, such as sowing, plowing, fertilizer spraying, pesticide spraying, harvesting, etc. Therefore, the user can efficiently analyze cultivation management based on the farm field information displayed by the terminal 400.

[0015] The field information distributed by the field information management device 300 includes information based on operation information of the task device 100 measured by the task device 100. For this reason, the task device 100 acquires operation information that indicates the state of the task device 100 when working in the field 600. The task device 100 outputs the acquired operation information to the field information management device 300. As a result, the field information management device 300 acquires the operation information from the task device 100. Note that the operation information may be transmitted from the task device 100 to the field information management device 300 via the control device 200.

[0016] Furthermore, the farm field information management device 300 distributes farm field information including captured images, such as moving images and still images, of the farm field 600. By displaying the captured images of the farm field 600, the user can easily visually understand the condition of the farm field 600.

[0017] Here, the captured image of the field 600 is automatically acquired by the working device 100. For example, the working device 100 is configured to capture an image of the surroundings. The control device 200 is configured to control the working device 100 which moves within the field 600 to perform work. For example, the control device 200 determines a movement path of the working device 100, and controls the working device 100 to move along the determined movement path. The control device 200 determines an imaging position on the movement path, and acquires an image captured by the working device 100 at the determined imaging position. The control device 200 outputs field image information representing an image of the field 600 captured at the imaging position to the field information management device 300.

[0018] In this way, the farm field information management system 1000 automatically acquires and distributes images of the farm field 600 when the work implement 100 performs work. This allows the user to easily visually check, using the terminal 400, the state of the farm field 600 when work was performed, without having to image the farm field 600 himself.

[0019] (Configuration of the farm information management system) The configuration of the working device 100 included in the farm field information management system 1000 will be described. As shown in FIG. 2, the working device 100 includes one or more imaging devices 110 and a positioning device 120. The imaging devices 110 capture images of the periphery of the working device 100 and acquire captured image information representing the captured images of the periphery. For example, the working device 100 includes two imaging devices 110 on an upper portion of a cabin having a driver's seat. Of the two imaging devices 110, a first imaging device 110-1 captures an image in front of the working device 100. For example, a first optical axis direction 111-1 of the first imaging device 110-1 is configured to face the traveling direction when the working device 100 moves straight forward. Also, of the two imaging devices 110, a second imaging device 110-2 captures an image behind the working device 100. The second optical axis direction 111-2 of the second imaging device 110-2 is configured to face in the opposite direction to the traveling direction when the working apparatus 100 moves straight forward. The first optical axis direction 111-1 of the first imaging device 110-1 and the second optical axis direction 111-2 of the second imaging device 110-2 may be configured to face in the horizontal direction, or may be configured to face in a direction different from the horizontal direction, for example, in a direction inclined downward from the horizontal direction. Here, the optical axis direction 111 of the imaging device 110 represents, for example, a direction from the position of the imaging device 110 to a position represented at the center of an image captured by the imaging device 110.

[0020] The positioning device 120 includes, for example, a Global Navigation Satellite System (GNSS) receiver, and acquires position information that indicates the position at each time. Therefore, the position information indicates the position along the trajectory traveled by the working device 100. The working device 100 acquires position information that indicates the position of the working device 100 at each time.

[0021] The working device 100 also acquires status information that indicates the status of the working device 100, such as information that indicates the speed, steering angle, engine RPM, engine load, and ON / OFF status of various clutches of the working device 100. When the working device 100 is a vehicle that tows a working machine, such as a tractor, the status information may include information such as a PTO (power take-off) RPM when transmitting power to the working machine, and a hitch height and a lift arm angle that indicate the attitude of the working machine. For example, as shown in FIG. 2, when the working device 100 tows a rotary tiller 130 as a working machine, the status information may include information that indicates whether the rotary tiller 130 is lowered or raised. When the working device 100 lowers the rotary tiller 130 and is moving, the working device 100 performs tilling work on the field 600. The working device 100 may be a vehicle formed integrally with the working machine, such as a combine harvester. The work device 100 may also be a drone that sprays pesticides.

[0022] The working apparatus 100 outputs captured image information and position information to the control device 200. For example, the working apparatus 100 outputs captured image information representing an image captured by the imaging device 110 to the control device 200 in real time. The working apparatus 100 also outputs position information to the control device 200 in real time.

[0023] Furthermore, the work device 100 outputs operation information including position information and status information to the farm field information management device 300. For example, the work device 100 may successively output operation information to the control device 200. When the engine is stopped, the work device 100 may transmit at least a portion of operation information, such as status information, from when the engine is started to when it is stopped to the control device 200. Furthermore, the work device 100 may output accumulated operation information to the control device 200 via an external storage device, such as a Universal Serial Bus flash drive (USB memory).

[0024] Next, the configuration of the control device 200 shown in Fig. 1 will be described. As shown in Fig. 3, the control device 200 includes an input / output device 210, a calculation device 220, a communication device 230, and a storage device 240. The control device 200 includes, for example, a computer, a tablet, a mobile terminal, and the like. Information for the calculation device 220 to execute processing is input to the input / output device 210. In addition, the input / output device 210 outputs the result of the calculation device 220 executing the processing. The input / output device 210 includes various input devices and output devices, and includes, for example, a keyboard, a mouse, a microphone, a display, a speaker, a touch panel, and the like.

[0025] The communication device 230 is directly connected to the maintenance apparatus 100 wirelessly, for example, via a wireless LAN (Local Area Network), and communicates with the maintenance apparatus 100. The communication device 230 transfers a signal acquired from the maintenance apparatus 100 to the arithmetic device 220. The communication device 230 also transfers a signal generated by the arithmetic device 220 to the maintenance apparatus 100.

[0026] The communication device 230 is electrically connected to the network 20 and communicates with each device via the network 20. The communication device 230 transfers signals acquired from the farm field information management device 300 to the calculation device 220. The communication device 230 also transfers signals generated by the calculation device 220 to the farm field information management device 300. The communication device 230 includes various interfaces such as a transceiver used for wireless communication such as a wireless LAN (Local Area Network) or a cellular network, a NIC (Network Interface Card), and a USB (Universal Serial Bus).

[0027] The storage device 240 stores various data for controlling the work device 100, such as the work device control program 500. The storage device 240 is used as a non-transitory tangible storage medium for storing the work device control program 500. The work device control program 500 may be provided as a computer program product recorded on a computer-readable storage medium 1, or may be provided as a computer program product downloadable from a server.

[0028] The arithmetic device 220 reads and executes the task device control program 500, thereby implementing a path determination unit 250, an image capture position determination unit 260, an image acquisition unit 270, and an output unit 280, as shown in FIG. 4. The path determination unit 250 determines a movement path along which the task device 100 performs work in the field 600. The image capture position determination unit 260 determines an image capture position for capturing an image of the field 600 on the determined movement path. The image acquisition unit 270 acquires a field image of the field 600 captured by the task device 100. The output unit 280 outputs instruction information to the task device 100 for the task device 100 to move and perform work along the determined movement path, thereby controlling the task device 100. The output unit 280 also outputs field image information acquired from the task device 100 to the field information management device 300. The route determination unit 250 may display information indicating the determined moving route in cooperation with the input / output device 210. The imaging position determination unit 260 may display information indicating the determined imaging position in cooperation with the input / output device 210.

[0029] Next, the configuration of the farm field information management device 300 shown in Fig. 1 will be described. As shown in Fig. 5, the farm field information management device 300 includes an input / output device 310, a calculation device 320, a communication device 330, and a storage device 340. The farm field information management device 300 is, for example, a computer. Information for the calculation device 320 to execute processing is input to the input / output device 310. The input / output device 310 outputs a result of the processing executed by the calculation device 320. The input / output device 310 includes various input devices and output devices, for example, a keyboard, a mouse, a microphone, a display, a speaker, a touch panel, etc. The input / output device 310 may be omitted.

[0030] The communication device 330 is electrically connected to the network 20 and communicates with each device via the network 20. The communication device 330 transfers operation information acquired from the work device 100 and farm field image information acquired from the control device 200 to the arithmetic device 320. The communication device 330 also transfers signals generated by the arithmetic device 320 to the terminal 400. The communication device 330 includes various interfaces, such as a network interface card (NIC) and a universal serial bus (USB).

[0031] The storage device 340 stores various data for distributing field information related to the field 600, such as distribution data 510, and the field information management program 520. The storage device 340 is used as a non-transitory tangible storage medium for storing the field information management program 520. The field information management program 520 may be provided as a computer program product recorded on a computer-readable storage medium 2, or may be provided as a computer program product downloadable from a server.

[0032] The distributed data 510 stores field information about the field 600. The field information indicates, for example, the movement path of the work device 100, the work area in which the work was performed by the work device 100, the type of work performed by the work device 100, and the like.

[0033] The arithmetic device 320 reads out and executes the farm field information management program 520 from the storage device 340, and performs various data processing operations for distributing the farm field information. For example, the arithmetic device 320 includes a central processing unit (CPU) and the like.

[0034] The arithmetic device 320 reads and executes the field information management program 520 to realize the distribution unit 350, as shown in Fig. 4. The distribution unit 350 distributes field information representing work performed by the working device 100 in the field 600. For example, the distribution unit 350 determines the work type of the work performed by the working device 100 in the field 600 based on operation information of the working device 100. The distribution unit 350 distributes the field information including information representing the determined work type. The distribution unit 350 also distributes the field information including field image information representing a field image of the field 600 captured by the working device 100.

[0035] Next, the configuration of the terminal 400 shown in Fig. 1 will be described. As shown in Fig. 6, the terminal 400 includes an input / output device 410, a calculation device 420, a communication device 430, and a storage device 440. The terminal 400 includes, for example, a computer, a tablet, a mobile phone, and the like. Information for the calculation device 420 to execute processing is input to the input / output device 410. In addition, the input / output device 410 outputs the result of the calculation device 420 executing the processing. The input / output device 410 includes various input devices and output devices, and includes, for example, a keyboard, a mouse, a microphone, a display, a speaker, a touch panel, and the like.

[0036] The communication device 430 is electrically connected to the network 20 and communicates with each device via the network 20. The communication device 430 transfers signals acquired from the farm field information management device 300 to the calculation device 420. The communication device 430 also transfers signals generated by the calculation device 420 to the farm field information management device 300. The communication device 430 includes various interfaces, such as a transceiver used for wireless communication in a wireless local area network (LAN) or a cellular network, a network interface card (NIC), a universal serial bus (USB), etc.

[0037] The storage device 440 stores various data, such as the display program 530, for displaying field information related to the field 600 in which work is performed by the working device 100. The storage device 440 is used as a non-transitory tangible storage medium for storing the display program 530. The display program 530 may be provided as a computer program product recorded on a computer-readable storage medium 3, or may be provided as a computer program product downloadable from a server.

[0038] The arithmetic device 420 reads and executes the display program 530 to implement a display unit 450 in cooperation with the input / output device 410, as shown in Fig. 4. The display unit 450 acquires farm field information from the farm field information management device 300 and displays the acquired farm field information.

[0039] (Operation of the farm information management system) A worker performing work in the field 600 inputs a registration operation to the input / output device 210 of the control device 200 to register a work area in which work will be performed in the field 600 in the control device 200. When the registration operation is input to the input / output device 210, the arithmetic device 220 of the control device 200 reads and executes the implement control program 500. When the implement control program 500 is executed, the arithmetic device 220 executes the process shown in Fig. 7, which is part of the field information management method.

[0040] In step S110, the path determination unit 250 realized by the calculation device 220 registers a work area in the field 600. For example, the path determination unit 250 instructs the worker to move the work device 100 along a path that goes around the contour of the field 600. The path determination unit 250 acquires position information of the work device 100 when the worker moves the work device 100 along the contour of the field 600. Based on the acquired position information, the path determination unit 250 registers an area surrounded by the path traveled by the work device 100 as a work area in the field 600 where work is to be performed.

[0041] In step S115, the path determination unit 250 determines a movement path along which the working device 100 moves in the field 600 to perform work. As shown in FIG. 8, the path determination unit 250 determines a movement path 650 along which the working device 100 moves in the registered working area 610 to perform work. For example, the movement path 650 includes a plurality of straight path 651 and a plurality of turning paths 652. For example, when the working area 610 has a rectangular shape, the plurality of straight path 651 extend in a first direction along the long side of the rectangle of the working area 610, and are arranged parallel to each other in a second direction perpendicular to the first direction. In addition, each of the plurality of turning paths 652 connects two adjacent straight path 651. For example, the end point of the first straight path 651-1 is connected to the start point of the first turning path 652-1, and the end point of the first turning path 652-1 is connected to the start point of the second straight path 651-2. The end point of the second straight path 651-2 is connected to the start point of the second turning path 652-2, and the end point of the second turning path 652-2 is connected to the start point of the third straight path 651-3.

[0042] 7, the imaging position determination unit 260 determines an imaging position 700 on the determined movement path 650 at which the working apparatus 100 images the field 600. The imaging position 700 is determined so that, within the imaging range captured by the imaging device 110 of the working apparatus 100, the range in which the area of ​​the field 600 is imaged is wider than a threshold value. For example, the imaging position 700 may be determined so that the area of ​​the field 600 included in the imaging range of the imaging device 110 is the widest.

[0043] 8, the imaging position determination unit 260 selects a straight line path 651 whose distance from the center position 670 of the field 600, for example, the geometric center when the field 600 is viewed in the vertical direction, is smaller than a threshold value, and determines the imaging position 700 on the selected straight line path 651. When the distance from a plurality of straight line paths 651, for example, a fourth straight line path 651-4 and a fifth straight line path 651-5, to the center position 670 is smaller than a threshold value, the imaging position 700 is determined on one of the plurality of straight line paths 651 whose distance from the center position 670 is smaller than the threshold value. The imaging position 700 may be determined on the straight line path 651 whose distance from the center position 670 is the smallest.

[0044] For example, the imaging position determination section 260 determines the start point of the selected straight line path 651, for example the fourth straight line path 651-4, as the imaging position 700, for example the first imaging position 700-1. The imaging position determination section 260 may also determine the end point of the selected straight line path 651 as the imaging position 700, for example the second imaging position 700-2.

[0045] The imaging position determination unit 260 may determine a plurality of imaging positions 700. For example, the imaging position determination unit 260 may determine the start point and end point of the selected straight line path 651 as the imaging positions 700, for example, the first imaging position 700-1 and the second imaging position 700-2. When the imaging position determination unit 260 determines the start point of the selected straight line path 651 as the imaging position 700, for example, the first imaging position 700-1, the imaging position determination unit 260 may also determine the start point of a straight line path 651 adjacent to the selected straight line path 651, for example, the fifth straight line path 651-5, as the imaging position 700, for example, the third imaging position 700-3. In addition, when the imaging position determination unit 260 determines the end point of the selected straight path 651 as the imaging position 700, for example the second imaging position 700-2, it may determine the end point of a straight path 651 adjacent to the selected straight path 651, for example the fifth straight path 651-5, as the imaging position 700, for example the fourth imaging position 700-4.

[0046] As shown in FIG. 2, when the working apparatus 100 includes a plurality of imaging devices 110, the imaging position determination unit 260 determines the imaging device 110 having the smallest angle between the direction from the imaging position 700 toward the central position 670 and the optical axis direction 111 of the imaging device 110 at the imaging position 700 as the imaging device 110 that will capture an image at the imaging position 700. For example, as shown in FIG. 8, when the first imaging position 700-1 is determined as the imaging position 700, the angle between the direction from the first imaging position 700-1 toward the central position 670 and the first optical axis direction 111-1 of the first imaging device 110-1 capturing an image of the front at the first imaging position 700-1 is smaller than 90 degrees. On the other hand, the angle between the direction from the first imaging position 700-1 toward the central position 670 and the second optical axis direction 111-2 of the second imaging device 110-2 capturing an image of the rear at the first imaging position 700-1 is larger than 90 degrees. Therefore, the imaging position determination section 260 determines the first imaging device 110-1 as the imaging device 110 that captures an image at the first imaging position 700-1.

[0047] Furthermore, when the second imaging position 700-2 is determined as the imaging position 700, the angle between the direction from the second imaging position 700-2 toward the central position 670 and the first optical axis direction 111-1 of the first imaging device 110-1 capturing an image of the front at the second imaging position 700-2 is greater than 90 degrees. On the other hand, the angle between the direction from the second imaging position 700-2 toward the central position 670 and the second optical axis direction 111-2 of the second imaging device 110-2 capturing an image of the rear at the second imaging position 700-2 is less than 90 degrees. Therefore, the imaging position determination unit 260 determines the second imaging device 110-2 as the imaging device 110 capturing an image at the second imaging position 700-2.

[0048] 7, the output unit 280 outputs instruction information including route information indicating the travel route 650 to the working device 100, and controls the working device 100. The instruction information includes not only the route information, but also control information for the working device 100 to perform work. For example, as shown in FIG 2, when the working device 100 is a tractor that pulls the rotary tiller 130, the control information includes information indicating the height of the rotary tiller 130 at each position on the travel route 650.

[0049] 7, the task device 100 starts work in the field 600 based on the instruction information acquired from the output section 280 of the control device 200. For example, the task device 100 outputs an image captured by the imaging device 110, for example image information representing a moving image, to the control device 200 in real time. The task device 100 also successively outputs position information representing the position of the task device 100 measured by the positioning device 120 to the control device 200. The task device 100 also outputs operation information including status information representing the status of the task device 100 and position information to the field information management device 300.

[0050] In step S135, image acquisition section 270 of control device 200 acquires captured image information representing an image captured by imaging device 110 from operating apparatus 100. For example, the captured image information represents a video captured by operating apparatus 100. Image acquisition section 270 displays the video captured by operating apparatus 100 in real time on input / output device 210 based on the captured image information. By image acquisition section 270 displaying the video captured by operating apparatus 100, a user, for example, a worker, can check the situation around operating apparatus 100.

[0051] In step S140, the image acquiring section 270 acquires a farm field image captured at the imaging position 700 from the captured image information. For example, the image acquiring section 270 acquires the arrival time at which the working device 100 reaches the imaging position 700 based on the position information of the working device 100. For example, the image acquiring section 270 acquires the time at which the distance from the position represented by the position information of the working device 100 to the imaging position 700 is smaller than a threshold as the arrival time. The image acquiring section 270 extracts a farm field image captured at the arrival time, for example a still image, from the video represented in the captured image information.

[0052] In step S145, the output unit 280 outputs to the farm field information management device 300 farm field image information representing the extracted farm field image.

[0053] In step S150, the distribution unit 350 of the field information management device 300 updates the distribution data 510 based on the field image information acquired from the output unit 280 of the control device 200 and the operation information acquired from the task device 100. For example, the distribution unit 350 identifies the field 600 in which the task device 100 has performed work based on the operation information of the task device 100, such as location information. For example, the distribution unit 350 searches for a field 600 that includes a position represented by the location information of the task device 100, and determines that the task device 100 has performed work in the searched field 600. The distribution unit 350 may also acquire information related to the field 600 in which work has been performed from the output unit 280 of the control device 200.

[0054] The distribution unit 350 registers the field image represented in the field image information acquired from the output unit 280 of the control device 200 in the distribution data 510 as an image representing the state of the identified field 600. In this manner, the field image representing the state of the field 600 is automatically registered in the distribution data 510 of the field information management device 300.

[0055] Furthermore, the distribution unit 350 may register in the distributed data 510 a working area in the field 600 where the working device 100 has performed work. For example, the distribution unit 350 determines a convex hull including the position represented in the position information of the working device 100 as the working area where the working device 100 has performed work, and registers the determined working area in the distributed data 510. The convex hull represents the smallest area including all the positions represented in the position information. Furthermore, the working area may represent an area obtained by expanding the outline of the convex hull outward by the working width of the working device 100.

[0056] Furthermore, the distribution unit 350 may register in the distribution data 510 a route traveled by the task apparatus 100 during work in the field 600. For example, the distribution unit 350 may register, as the route traveled by the task apparatus 100, a line connecting the positions indicated in the position information of the task apparatus 100 in the order of the times at which they were measured.

[0057] Furthermore, the distribution unit 350 may register in the distribution data 510 the task type of the task performed by the task device 100 in the field 600 based on operation information, such as status information, of the task device 100. For example, the distribution unit 350 determines the task type based on the operation information using a trained model obtained by machine learning. In this case, the trained model is trained to determine the task type from the operation information. The distribution unit 350 may also determine the task type based on the model of the task device 100. In this case, the storage device 340 stores task correspondence data that associates the model of the task device 100 with the task type. The distribution unit 350 determines the task type based on the task correspondence data. The determined task type is registered in the distribution data 510.

[0058] Furthermore, the distribution unit 350 may register the amount of work performed in the field 600, such as the amount of pesticide sprayed, the amount of fertilizer sprayed, the crop yield, and the like, in the distribution data 510. For example, the distribution unit 350 determines the amount of work performed in the field 600 by the operation device 100 based on operation information, such as status information, of the operation device 100. The determined amount of work is registered in the distribution data 510.

[0059] The distribution unit 350 distributes to the terminal 400 the field information registered in the updated distribution data 510, such as information representing the field images, the movement path of the work device 100, the type of work performed in the field 600, the amount of work performed in the field 600, etc.

[0060] In step S155, the display unit 450 of the terminal 400 displays the distributed field information on the input / output device 410. For example, the display unit 450 displays a field image shown in the field information as the state of the field 600. The user can visually and easily understand the state of the field 600 by checking the displayed field image. The display unit 450 also displays the type of work, amount of work, etc., of the work performed in the field 600. This allows the user to efficiently analyze the cultivation management in the field 600.

[0061] (Modification) The configuration described in the embodiment is an example, and the configuration can be changed within a range that does not impair the function. For example, in step S115 shown in Fig. 7, the path determination unit 250 may determine a movement path 650 having a plurality of straight paths 651, a plurality of turning paths 652, and a headland path that moves along the contour of the working area 610. In the movement path 650, the headland path may be set so that the working device 100 moves before the plurality of straight paths 651, or may be set so that the working device 100 moves after the plurality of straight paths 651.

[0062] Also, the turning path 652 may connect the two most distant straight paths 651. For example, in the example shown in FIG. 8, the turning path 652 connects the end in the first direction of the first straight path 651-1 and the end in the first direction of the most distant sixth straight path 651-6. The end in the second direction of the sixth straight path 651-6 is connected to the end in the second direction of the second straight path 651-2, which is the most distant from the sixth straight path 651-6, of the unconnected straight paths 651, via the turning path 652. In this way, the multiple turning paths 652 may connect the two most distant straight paths 651 to form one moving path 650.

[0063] Furthermore, in step S120, the imaging position determination unit 260 may determine the imaging position 700 to be the midpoint of the selected straight line path 651, for example, the fourth straight line path 651-4. In this case, when the working apparatus 100 includes a plurality of imaging devices 110, the imaging position determination unit 260 acquires, at the imaging position 700, images captured by the two imaging devices 110 whose optical axis directions 111 face in opposite directions.

[0064] Furthermore, the imaging position determination unit 260 may select, from among the multiple rotation paths 652, a rotation path 652 whose distance from the center position 670 of the working area 610 is greater than a threshold value, and determine the imaging position 700 on the selected rotation path 652. Furthermore, the imaging position determination unit 260 may select, from among the multiple rotation paths 652, a rotation path 652 whose distance from the center position 670 of the working area 610 is the greatest, and determine the imaging position 700 on the selected rotation path 652. For example, as shown in FIG. 9, the imaging position determination unit 260 determines the imaging position 700, for example, a fifth imaging position 700-5, on the first rotation path 652-1 whose distance from the center position 670 of the working area 610 is the greatest. In this case, the fifth imaging position 700-5 to be determined is determined to be a position where the optical axis direction 111 of the imaging device 110 provided on the working apparatus 100 is closest in a direction from the fifth imaging position 700-5 toward the central position 670 when the working apparatus 100 moves along the first rotation path 652-1. The imaging position determination section 260 may determine the imaging position 700 on the rotation path 652 that is farthest from the central position 670 in the second direction.

[0065] Furthermore, the imaging position determination unit 260 may determine an imaging position 700, for example, a sixth imaging position 700-6, on a selected rotation path 652, for example, a rotation path 652 that is farthest from the first rotation path 652-1, for example, the third rotation path 652-3. In this case, the sixth imaging position 700-6 is determined to be a position where the optical axis direction 111 of the imaging device 110 provided on the working apparatus 100 is closest in the direction from the sixth imaging position 700-6 toward the central position 670 when the working apparatus 100 moves along the third rotation path 652-3.

[0066] When determining the multiple imaging positions 700 , the imaging position determination section 260 may determine the imaging positions 700 on the straight path 651 and the imaging positions 700 on the turning path 652 .

[0067] 7, the image acquisition unit 270 may acquire, from the captured image information, a video captured when the imaging position 700 is reached, for example a short video, as a field image. In this case, the output unit 280 outputs to the field information management device 300, field image information representing the video captured when the working device 100 reaches the imaging position 700. The distribution unit 350 of the field information management device 300 distributes the video as a field image representing the state of the field 600. The display unit 450 of the terminal 400 displays the video on the input / output device 410 as a field image representing the state of the field 600.

[0068] In step S150 shown in FIG. 7, information about the work determined by the distribution unit 350, such as a movement route, a work type, and a workload of the work, may be input by a user, for example, a worker, using the terminal 400. For example, the user inputs information about the work performed in the field 600 to the input / output device 410 of the terminal 400. The display unit 450 of the terminal 400 outputs the input information about the work to the field information management device 300. The distribution unit 350 of the field information management device 300 registers the acquired information about the work in the distribution data 510. In this case, the operation device 100 does not need to acquire the operation information. Note that the information about the work may be input by the user to the control device 200 and output from the control device 200 to the field information management device 300.

[0069] The above-described embodiment and modified examples are merely examples, and the configurations described in each embodiment and modified example may be arbitrarily modified and / or arbitrarily combined as long as the functions are not impaired. Furthermore, some of the functions described in the embodiment and modified examples may be omitted as long as the required functions can be realized. For example, the farm field information management system 1000 shown in FIG. 1 may not include some or all of the work implement 100, the control device 200, and the terminal 400. Furthermore, all of the processing of the terminal 400 may be executed by the control device 200.

[0070] Further, all the processing of the control device 200 may be executed by the farm field information management device 300. In this case, a registration operation for registering a work area in which work is to be performed in the farm field 600 is input to the working device 100. The working device 100 outputs information indicating the registered work area to the farm field information management device 300. Subsequent processing is performed by a path determination unit 250, an imaging position determination unit 260, an image acquisition unit 270, and an output unit 280 realized by the farm field information management device 300.

[0071] Also, a part of the processing of the control device 200 may be executed by the working device 100. For example, the image acquisition section 270 shown in FIG. 4 may be executed by the working device 100. In this case, the output section 280 of the control device 200 outputs to the working device 100 instruction information indicating the moving path 650 and the imaging position 700 to the working device 100. The image acquisition section 270 realized by the working device 100 extracts a field image captured at the imaging position 700 from the captured image captured by the imaging device 110. The image acquisition section 270 of the working device 100 outputs field image information indicating the extracted field image to the control device 200. Also, in this case, the imaging device 110 of the working device 100 may capture a still image at the imaging position 700 as the field image. In this case, the image acquisition section 270 of the working device 100 outputs field image information indicating the captured still image to the control device 200.

[0072] The farm field information management program 520 may include some or all of the implement control program 500 and the display program 530. The time used in the processing of the farm field information management system 1000 may be a predetermined reference time, for example, the time that has elapsed since the time the implement 100 was started up.

[0073] A working area 610 in which the working apparatus 100 performs work may be registered in advance in the control device 200. In this case, step S110 shown in FIG. [Explanation of symbols]

[0074] 1, 2, 3: Storage medium 20: Network 100: Work equipment 110: Imaging device 111: Optical axis direction 120: Positioning device 130: Rotary tiller 200: Control device 210: Input / Output device 220: Arithmetic device 230:Communication equipment 240: Storage device 250: Route determination section 260: Imaging position determination unit 270: Image acquisition unit 280: Output section 300: Field information management device 310: Input / Output device 320: Arithmetic device 330: Communication equipment 340 :Storage device 350: Distribution Department 400 : Terminal 410: Input / Output device 420: Arithmetic device 430:Communication equipment 440 :Storage device 450:Display section 500: Work device control program 510: Distribution data 520: Field information management program 530: Display program 600: Field 610 :Work area 650: Travel route 651: Straight line 652: Turning path 670: Center position 700: Imaging position 1000: Field information management system

Claims

1. A method for determining a movement path of a working implement for performing work in a farm field, determining an imaging position on the movement path for imaging the farm field; outputting instruction information representing the movement path to the working device and controlling the working device; outputting farm field image information representing a farm field image captured by the working device when the working device reaches the imaging position; Including, The movement path includes a plurality of straight paths extending in a first direction and a plurality of turning paths, Determining the imaging position includes: determining the imaging position on a first straight line path, among the plurality of straight line paths, the first straight line path having a distance from a center position of the field that is smaller than a threshold value; A field information management method comprising:

2. The first straight path is the straight path that is closest to a center position of the field among the plurality of straight paths. The farm field information management method according to claim 1 .

3. Determining the imaging position includes: determining a start point or an end point of the first straight line path as the imaging position; Includes The farm field information management method according to claim 1 or 2.

4. Determining the imaging position includes: determining a midpoint of the first straight line path as the imaging position; Includes The farm field information management method according to any one of claims 1 to 3.

5. Determining a movement path of a working implement performing work in a farm field; determining an imaging position on the movement path for imaging the farm field; outputting instruction information representing the movement path to the working device and controlling the working device; outputting farm field image information representing a farm field image captured by the working device when the working device reaches the imaging position; Including, The movement path includes a plurality of straight paths extending in a first direction and a plurality of turning paths, Determining the imaging position includes: selecting a first turning path from the plurality of turning paths, the first turning path having a distance from a center position of the field that is greater than a threshold value; determining, on the selected first turning path, a position where an optical axis direction of an imaging device provided on the working implement is closest to a direction from the imaging position toward a center position of the field, as the imaging position; Includes Field information management methods.

6. The first turning path is the farthest from a center position of the field among the plurality of turning paths. The farm field information management method according to claim 5 .

7. The first turning path is the farthest from a center position of the field in a second direction perpendicular to the first direction among the plurality of turning paths. The farm field information management method according to claim 5 .

8. Determining the imaging position includes: selecting a second turning path from the plurality of turning paths, the second turning path being the furthest from the first turning path; determining, on the second turning path, a position where an optical axis direction of an imaging device provided on the working implement is closest to a center position of the field from the imaging position, as the imaging position; Includes The farm field information management method according to claim 6 or 7.

9. Determining a movement path of a working implement performing work in a farm field; determining an imaging position on the movement path for imaging the farm field; outputting instruction information representing the movement path to the working device and controlling the working device; outputting farm field image information representing a farm field image captured by the working device when the working device reaches the imaging position; Including, The working device includes a plurality of imaging devices for imaging the surroundings, Determining the imaging position includes: determining a first imaging device to capture an image at the imaging position from among the plurality of imaging devices; Including, The first imaging device has, among the plurality of imaging devices, a smallest angle between a direction from the imaging position toward a center position of the field and an optical axis direction. Field information management methods.

10. a path determination unit that determines a movement path of a working implement that performs work in a farm field; an imaging position determination unit that determines an imaging position for imaging the farm field on the movement path; an output unit that outputs instruction information representing the movement path and the imaging position to the working device and controls the working device; Equipped with the output unit outputs farm field image information representing a farm field image captured by the work device when the work device reaches the imaging position; The movement path includes a plurality of straight paths extending in a first direction and a plurality of turning paths, The imaging position determination unit determines the imaging position on a first straight path, among the plurality of straight paths, whose distance from a center position of the field is smaller than a threshold value. Field information management system.

11. a path determination unit that determines a movement path of a working implement that performs work in a farm field; an imaging position determination unit that determines an imaging position for imaging the farm field on the movement path; an output unit that outputs instruction information representing the movement path and the imaging position to the working device and controls the working device; Equipped with the output unit outputs farm field image information representing a farm field image captured by the work device when the work device reaches the imaging position; The movement path includes a plurality of straight paths extending in a first direction and a plurality of turning paths, The imaging position determination unit is selecting a first turning path from the plurality of turning paths, the first turning path having a distance from a center position of the field that is greater than a threshold value; A position on the selected first turning path where an optical axis direction of an imaging device provided on the working implement is closest to a center position of the field from the imaging position is determined as the imaging position. Field information management system.

12. a path determination unit that determines a movement path of a working implement that performs work in a farm field; an imaging position determination unit that determines an imaging position for imaging the farm field on the movement path; an output unit that outputs instruction information representing the movement path and the imaging position to the working device and controls the working device; Equipped with the output unit outputs farm field image information representing a farm field image captured by the work device when the work device reaches the imaging position; The working device includes a plurality of imaging devices for imaging the surroundings, the imaging position determination unit determines a first imaging device that performs imaging at the imaging position among the plurality of imaging devices; The first imaging device has, among the plurality of imaging devices, a smallest angle between a direction from the imaging position toward a center position of the field and an optical axis direction. Field information management system.

13. Determining a movement path of an implement for performing work in a farm field; determining an imaging position on the movement path for imaging the farm field; outputting instruction information representing the movement path and the imaging position to the working device to control the working device; outputting farm field image information representing a farm field image captured by the working device when the working device reaches the imaging position; and causing a computing device to execute the following: The movement path includes a plurality of straight paths extending in a first direction and a plurality of turning paths, Determining the imaging position includes: determining the imaging position on a first straight line path, among the plurality of straight line paths, the first straight line path having a distance from a center position of the field that is smaller than a threshold value; A field information management program including:

14. Determining a movement path of an implement for performing work in a farm field; determining an imaging position on the movement path for imaging the farm field; outputting instruction information representing the movement path and the imaging position to the working device to control the working device; outputting farm field image information representing a farm field image captured by the working device when the working device reaches the imaging position; and causing a computing device to execute the following: The movement path includes a plurality of straight paths extending in a first direction and a plurality of turning paths, Determining the imaging position includes: selecting a first turning path from the plurality of turning paths, the first turning path having a distance from a center position of the field that is greater than a threshold value; determining, on the selected first turning path, a position where an optical axis direction of an imaging device provided on the working implement is closest to a direction from the imaging position toward a center position of the field, as the imaging position; A field information management program including:

Images