Crop harvesting support method, harvesting support system, and program

Abstract

To provide a method for supporting harvesting crops, a harvesting support system, and a program that can improve the work efficiency for harvesting crops.SOLUTION: The method for supporting harvesting crops according to an embodiment includes: predicting the growth of individual crops on the basis of positional information of each crop in a farm and information on the growth of the crops; and notifying an agricultural farm or a worker of the situation in which the positions of ones of the crops in the farm that are in a harvesting time and the position of the agricultural machine or the worker are separate by not larger a predetermined distance on the basis of the predicted growth result.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a crop harvesting support method, a harvesting support system, and a program. [Background technology]

[0002] Conventionally, the selling price is set according to the size of each harvested crop, such as fresh broccoli, and traded agricultural products are required to be harvested at a certain size. Therefore, conventionally, there are techniques for acquiring and analyzing images of agricultural products to predict the optimum time to harvest the crops (Patent Documents 1 to 5). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-40589 [Patent Document 2] Special Publication No. 2021-510305 [Patent Document 3] Patent Publication No. 2021-73860 [Patent Document 4] Patent No. 6267841 [Patent Document 5] Japanese Patent Application Publication No. 6-133624 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with conventional technology, due to the large variation in crop growth within a field, it was necessary to visually determine the appropriate harvest time for each individual crop and harvest them individually. Also, during busy periods and hot summer months, harvesting is sometimes done at night, but it is difficult for workers to distinguish the size of the crops at night, which can reduce work efficiency.

[0005] The present invention has been made in consideration of the above circumstances, and aims to provide a crop harvesting support method, a harvesting support system, and a program that can improve work efficiency related to crop harvesting. [Means for solving the problem]

[0006] The crop harvesting support method, harvesting support system, and program according to the present invention employ the following configuration. A first aspect of the present invention is a crop harvesting support method that predicts the growth of each individual crop based on position information of each individual crop in a field and information related to the growth of the crop, and based on the predicted growth results, notifies the agricultural machinery or the worker when the position of an individual crop in the field that is suitable for harvesting is within a predetermined distance from the position of the agricultural machinery or the worker.

[0007] In the harvesting support method according to a second aspect of the present invention, the information relating to the growth of the crop further includes details of work performed by the agricultural machine or the worker for each of the individual crops.

[0008] In the harvesting support method of a third aspect of the present invention, the location information for each individual crop further includes location information of an airborne vehicle equipped with a camera that photographs the crop from above the field, or location information based on the movement of the agricultural machinery or the worker acquired by a location information acquisition unit attached to the agricultural machinery or the worker.

[0009] The harvesting support method according to a fourth aspect of the present invention further provides the agricultural machine or the worker with location information of one or more individual crops in the field that are suitable for harvesting.

[0010] The harvesting support method of the fifth aspect of the present invention further changes the content of the notification to the agricultural machine or the worker depending on the distance between the individual suitable for harvest and the agricultural machine or the worker.

[0011] The harvesting support method according to a sixth aspect of the present invention further changes the content of the notification to the agricultural machine or the worker depending on the number of days until the optimum harvest time for the individual crops.

[0012] The harvesting support method according to a seventh aspect of the present invention further provides information on the optimum harvesting time for each crop when a plurality of crops exist in the farm field.

[0013] The harvesting support method of the eighth aspect of the present invention further notifies the agricultural machine or the worker of information indicating whether or not individual crops in the field that are within a predetermined distance from the position of the agricultural machine or the worker are suitable for harvesting.

[0014] The harvesting support method of the ninth aspect of the present invention further comprises not notifying the agricultural machine or the worker after the individual has been harvested, even if the position of the agricultural machine or the worker is within a predetermined distance from the position of the individual that is suitable for harvesting.

[0015] In a harvesting support method according to a tenth aspect of the present invention, the position information acquisition unit further acquires the position information at intervals of less than a predetermined distance or at timings of less than a predetermined time.

[0016] The harvesting support system of an eleventh aspect of the present invention is a harvesting support system comprising: a growth prediction unit that predicts the growth of each individual crop based on position information of each individual crop in a field and information related to the growth of the crop; and an information providing unit that provides information to the agricultural machinery or the worker when the position of an individual crop in the field that is suitable for harvesting is within a predetermined distance based on the growth results predicted by the growth prediction unit.

[0017] A twelfth aspect of the present invention is a program that causes a computer to predict the growth of each individual crop based on position information of each individual crop in a field and information related to the growth of the crop, and based on the predicted growth results, notify the agricultural machinery or the worker when the position of an individual crop in the field that is suitable for harvesting is within a predetermined distance from the position of the agricultural machinery or the worker. [Effects of the Invention]

[0018] According to the aspects of the present invention, it is possible to improve work efficiency related to harvesting crops. [Brief explanation of the drawings]

[0019] [Figure 1] 1 is a configuration diagram of a harvest support system 1 according to an embodiment. [Figure 2] FIG. 1 is a configuration diagram of an agricultural machine 100. [Figure 3] FIG. 10 is a diagram for explaining acquisition of a work position. [Figure 4] FIG. 2 is a configuration diagram of a worker support device 200. [Figure 5] FIG. 2 is a diagram illustrating the configuration of a management server 300. [Figure 6] FIG. 10 is a diagram showing an example of the contents of individual management information 372. [Figure 7] FIG. 10 is a diagram showing an example of prediction using a growth model. [Figure 8] FIG. 10 is a diagram showing an example of the contents of growth prediction information 374. [Figure 9] 10 is a diagram showing an example of an image provided by an information providing unit 350. FIG. [Figure 10] FIG. 10 is a diagram (part 1) showing an example of an image that provides information based on a prediction result. [Figure 11] FIG. 2 is a diagram (part 2) showing an example of an image that provides information based on a prediction result. [Figure 12] FIG. 10 is a diagram for explaining notification of information on crops suitable for harvesting to a worker P. [Figure 13]FIG. 10 is a diagram for explaining notification of crops that are suitable for harvesting by displaying an image. [Figure 14] 3 is a sequence diagram showing an example of processing executed by the harvest support system 1. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, embodiments of a crop harvesting support method, a harvesting support system, and a program according to the present invention will be described with reference to the drawings.

[0021] [Overall configuration] FIG. 1 is a configuration diagram of a harvest support system 1 according to an embodiment. The harvest support system 1 includes, for example, a flying object FO, an agricultural machine 100, a worker support device 200, and a management server 300. The flying object FO, the agricultural machine 100, the worker support device 200, and the management server 300 are communicably connected, for example, via a network NW. The network NW includes, for example, a Wi-Fi network, a cellular network, the Internet, a wide area network (WAN), a local area network (LAN), a provider device, a wireless base station, etc. The harvest support system 1 may include a plurality of agricultural machines 100 and worker support devices 200. The management server 300 is an example of a "management device."

[0022] The airborne object FO is, for example, a drone. Alternatively, the airborne object FO may be a small unmanned aerial vehicle (UAV). The flight of the airborne object FO is controlled by, for example, the management server 300. Alternatively, the airborne object FO may fly autonomously according to a program stored in an internal memory. The airborne object FO is equipped with, for example, an imaging device C such as a digital camera. The imaging device C captures aerial images of the field F including the crops from above the crops, for example, at regular intervals or whenever the airborne object FO travels a certain distance. The imaging device C may capture aerial images of the field F from above in response to an operation from the management server 300. The airborne object FO transmits the captured aerial images to the management server 300 via the network NW. Furthermore, the airborne object FO also includes a positioning device (not shown) that determines the position of the airborne object FO itself based on signals received from satellites constituting a Global Navigation Satellite System (GNSS), such as a Global Positioning System (GPS). The imaging device C associates the captured aerial image of the field F with information indicating the position of the flying object FO (hereinafter referred to as "GPS information") and transmits the associated image to the management server 300. The GPS information includes, for example, information such as the latitude, longitude, and altitude of the flying object FO. The flying object FO may be equipped with, for example, an altimeter that measures altitude based on air pressure, and may transmit information on the altitude of the flying object FO measured by the altimeter in association with the aerial image in place of or in addition to the altitude information included in the GPS information.

[0023] The agricultural machine 100 may be, for example, a tractor, cultivator, transplanter, pesticide sprayer, combine, harvester, or the like. The agricultural machine 100 acquires location information and details of work performed on the crops according to its operation, and transmits the acquired information to the management server 300 via the network NW. Crops are cultivated plants such as vegetables and flowers. Examples of crops include leafy vegetables such as broccoli, cabbage, and lettuce, and fruit vegetables such as pumpkin and watermelon, but are not limited to these. For example, any crop for which shipping standards, such as the size and weight of the harvested product, are defined for each individual crop. The work details may include, for example, at least one of planting work, pesticide spraying work, and harvesting work. The work details may also include watering work, top dressing work, inter-cultivation work, and soil piling work. The agricultural machine 100 provides information obtained from the management server 300 to the worker operating the agricultural machine 100.

[0024] The worker support device 200 is, for example, a wearable device that can be worn by or attached to the worker P, a device that can be held by the worker P, or a device that is a combination of these. The worker support device 200 acquires position information and details of work on crops according to the movements of the worker P, and transmits the acquired information to the management server 300 via the network NW. The worker support device 200 also provides the information obtained from the management server 300 to the worker P.

[0025] The management server 300 is, for example, a general-purpose PC (Personal Computer) or a server device. The management server 300 may also be a cloud computing system implemented by a server device or a storage device. The management server 300 may also be a communication terminal such as a smartphone or a tablet terminal. The management server 300 acquires aerial images and location information from the flying object FO via the network NW, analyzes the acquired images, acquires the location and size of each individual crop in the image, associates the location and size with the individual crop information, and registers the associated location and size in a storage unit, thereby managing the growth of each individual crop (for example, for each stalk). The management server 300 also acquires location information and work details from one or more agricultural machines 100 or worker support devices 200 via the network NW, and associates the work location, work details, and date and time information based on the acquired location information with the individual crop information and registers the associated location and size in a storage unit, thereby managing the growth of each individual crop (for example, for each stalk). The management server 300 also comprehensively analyzes the acquired information and predicts the growth of each individual plant based on the position information of each individual plant in the field and information related to the crop growth, and predicts the optimum harvest time, etc. Information related to crop growth includes, for example, the details of work performed by the agricultural machine 100 or worker for each individual plant. The management server 300 also provides information to the agricultural machine 100 and the worker support device 200. The agricultural machine 100, the worker support device 200, and the management server 300 will each be described in detail below.

[0026] [Agricultural machinery] 2 is a configuration diagram of the agricultural machine 100. The agricultural machine 100 includes a position information acquisition unit 110, an input / output unit 120, a work operation unit 130, a traveling unit 140, a control device 150, and a memory unit 160.

[0027] The position information acquisition unit 110 is attached to a highly stable position such as the roof (ceiling) RF of the body of the agricultural machine 100. The position information acquisition unit 110 is, for example, an RTK-GNSS (Real Time Kinematic - Global Navigation Satellite System) receiver. The position information acquisition unit 110 determines the position (e.g., latitude, longitude, and altitude) of the agricultural machine 100 with high accuracy by combining, for example, positioning using satellites such as a GPS (Global Positioning System) device with position information data from a reference station installed on the ground. Alternatively, the position information acquisition unit 110 may acquire position information only from a GPS device or a base station. The position information acquisition unit 110 may acquire position information at a predetermined cycle, or may acquire position information when a predetermined operation is detected by the work operation unit 130. For example, the position information acquisition unit 110 acquires position information at intervals less than a predetermined distance or at timings less than a predetermined time. The predetermined distance is, for example, less than 20 cm (preferably less than 5 cm). The predetermined time is, for example, less than 1 minute (preferably less than 10 seconds). Note that the distance or time is not limited to the above-mentioned example, and may be changed as appropriate depending on the field conditions, crops, etc. The position information acquisition unit 110 may be attached to a part of the agricultural machine 100 where the agricultural machine 100 works on crops (for example, the tip of the arm unit ARM).

[0028] The input / output unit 120 includes an input unit that receives operation input from the worker operating the agricultural machine 100, and an output unit that provides information to the worker. The input unit includes, for example, a driving operator that allows the worker to operate the agricultural machine 100 and move it using the traveling unit 140, and various switches in an operation control unit that causes a working part (for example, the work operation unit 130) to perform a predetermined operation. Examples of predetermined operations include operations related to agricultural work such as planting crops, spraying pesticides on crops, and harvesting crops. The output unit includes, for example, a display unit that displays operation details and information acquired from the management server 300 to the worker of the agricultural machine 100 using images, and an audio output unit that outputs audio. The input / output unit 120 may also have an input / output configuration such as a touch panel.

[0029] The work motion unit 130 acquires work motions of the work part when planting crops, spraying pesticides on crops, harvesting crops, etc. The work motion unit 130 is provided, for example, at the tip of the arm unit ARM. For example, the work motion unit 130 is equipped with motion sensors such as an acceleration sensor, an angular velocity sensor (gyro sensor), and a geomagnetic sensor, and acquires the speed and direction of the work part from information detected by the motion sensors.

[0030] The traveling section 140 causes the agricultural machine 100 to travel in a predetermined direction at a predetermined speed, based on, for example, the operation of the driving control by the operator.

[0031] The control device 150 controls the overall operation of the agricultural machine 100. The control device 150 includes, for example, a communication device 152, a work determination unit 154, a work information generation unit 156, and an output control unit 158. The control device 150 is realized, for example, by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Furthermore, some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or GPU (Graphics Processing Unit), or may be realized by a combination of software and hardware. The program may be stored in advance in a storage device such as an HDD (Hard Disk Drive) or flash memory (a storage device with a non-transitory storage medium), or may be stored in a removable storage medium (a non-transitory storage medium) such as a DVD or CD-ROM, and installed in the storage device (e.g., the storage unit 160) of the agricultural machine 100 by attaching the storage medium to a drive device or the like.

[0032] The storage unit 160 may be realized by the various storage devices described above, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a ROM (Read Only Memory), a RAM (Random Access Memory), or the like. The storage unit 160 may also be a portable storage medium, such as an SD card or a USB (Universal Serial Bus) memory. The storage unit 160 stores information acquired by the position information acquisition unit 110, information input and output by the input / output unit 120, and information acquired by the control device 150. The storage unit 160 may also store information acquired from the management server 300. For example, if the storage unit 160 is a portable storage medium, the agricultural machine 100 and the management server 300 can each store information in the portable storage medium and carry the portable storage medium with the stored information, thereby enabling the agricultural machine 100 and the management server 300 to acquire each other's information without going through the network NW.

[0033] The communication device 152 communicates with the management server 300 via the network NW. The work determination unit 154 determines the work content performed by the agricultural machine 100 based on the operation content performed by the work operation unit 130. For example, based on the operation content of the work parts acquired by the work operation unit 130 and predetermined operation patterns for each work content, the work determination unit 154 determines whether the operation performed by the work operation unit 130 is planting work, pesticide spraying work, harvesting work, etc. For example, if the operation pattern is planting crops in a field, it is determined to be planting work; if the operation pattern is spraying pesticides in a field, it is determined to be pesticide spraying work; and if the operation pattern is harvesting crops, it is determined to be harvesting work. Furthermore, if an operation is performed after receiving input of work content from the operator via the input / output unit 120, the work determination unit 154 may determine that the operation is the operation of the input work content.

[0034] The work information generation unit 156 generates work information by associating the position information acquired by the position information acquisition unit 110 with the work content determined by the work determination unit 154. The work information may include date and time information associated with the position information and the work content. The date and time information is, for example, information on the date and time when the position information was acquired by the position information acquisition unit 110. The position information may also be the position (work position) where the work part (work motion unit 130) performed work on the crop. In this case, depending on the installation position of the position information acquisition unit 110, there may be a discrepancy between the position information acquired by the position information acquisition unit 110 and the work position. Therefore, the work information generation unit 156 acquires the work position based on the positional relationship between the installation position of the position information acquisition unit 110 and the position where the agricultural machine 100 performed work on the crop.

[0035] FIG. 3 is a diagram for explaining the acquisition of a work position. The example of FIG. 3 shows a plan view (XY plan view) of the agricultural machine 100 as seen from above. The agricultural machine 100 is provided with two arm units ARM1 and ARM2, and a work part (work motion unit 130) is provided at the tip of each arm unit. For example, when the work information generation unit 156 acquires position information (latitude, longitude) of the agricultural machine 100 main body to which the position information acquisition unit 110 is attached, the work information generation unit 156 acquires position information (route, latitude) of positions PT1 and PT2 as the work position based on the difference (amount of change) in the X-axis and Y-axis (e.g., latitude, longitude) directions from position PT0 in the acquired position information to positions PT1 and PT2 of the work motion unit 130 at the tip of the arm units ARM1 and ARM2. Note that the difference may be determined in advance for each shape or type of agricultural machine 100, or may be determined for each type of work, for example. In addition, although the example in Figure 3 shows a two-dimensional plane of latitude and longitude, the positions (latitude, longitude, height) of positions PT1 and PT2 in the height direction (Z-axis direction) may also be similarly obtained as work positions based on the difference.

[0036] The output control unit 158 ​​transmits the information generated by the work information generation unit 156 from the communication device 152 to the management server 300 via the network NW, and causes the input / output unit 120 to output images and sounds indicating the information received from the management server 300 by the communication device 152. The output control unit 158 ​​may also store various types of information acquired by the agricultural machine 100 in the storage unit 160, read out the information stored in the storage unit 160, and perform other processes.

[0037] [Worker support equipment] 4 is a configuration diagram of the worker support device 200. The worker support device 200 includes, for example, a communication unit 210, a position information acquisition unit 220, a work operation unit 230, a work determination unit 240, a work information generation unit 250, an output unit 260, an information provision unit 270, an output control unit 280, and a storage unit 290. The work operation unit 230, the work determination unit 240, the work information generation unit 250, the information provision unit 270, and the output control unit 280 are realized by, for example, a hardware processor such as a CPU executing a program (software). Furthermore, some or all of these components may be realized by hardware (including circuitry) such as an LSI, ASIC, FPGA, or GPU, or may be realized by a combination of software and hardware. The program may be stored in advance in a storage device such as an HDD or flash memory (a storage device with a non-transitory storage medium), or may be stored in a removable storage medium (a non-transitory storage medium) such as a DVD or CD-ROM, and installed in a storage device (for example, the storage unit 290) of the worker support device 200 by inserting the storage medium into a drive device or the like. Also, the work motion unit 230 and the output unit 260 may be provided separately from the main body of the worker support device 200, and may transmit and receive information to and from the main body via wired or wireless communication.

[0038] The storage unit 290 may be realized by the various storage devices described above, or by EEPROM, ROM, RAM, etc. The storage unit 290 may also be a portable storage medium, such as an SD card or USB memory. The storage unit 290 stores information acquired by the position information acquisition unit 220 and information output by the work motion unit 230, the work determination unit 240, the work information generation unit 250, and the information provision unit 270. The storage unit 290 may also store information acquired from the management server 300. For example, if the storage unit 290 is a portable storage medium, the worker support device 200 and the management server 300 can each store information in the portable storage medium and carry the stored portable storage medium, thereby enabling the worker support device 200 and the management server 300 to acquire each other's information without going through the network NW.

[0039] The communication unit 210 communicates with the management server 300 and other external devices via the network NW. The position information acquisition unit 220 is provided in a stable position, such as the lower back of the worker P. The position information acquisition unit 220 is, for example, an RTK-GNSS receiver. The position information acquisition unit 220 measures the position (e.g., latitude, longitude, and altitude) of the worker P. The position information acquisition unit 220 may acquire the position information only from a GPS device or a base station. The position information acquisition unit 220 may acquire the position information at a predetermined period, or may acquire the position information when the work operation unit 230 detects a predetermined operation. The position information acquisition unit 220 may be attached to the part of the worker P where the worker P works on the crops (e.g., the hand).

[0040] The work motion unit 230 acquires work motions performed by the worker P when planting crops, spraying pesticides on the crops, harvesting the crops, etc. The work motion unit 230 is provided, for example, on the hand of the worker P. For example, the work motion unit 230 includes a motion sensor such as an acceleration sensor, an angular velocity sensor (gyro sensor), or a geomagnetic sensor, and acquires the speed and direction of the hand of the worker P from information detected by the motion sensor. The work motion unit 230 may be, for example, in the form of a glove worn on the hand of the worker P, or in the form of a watch worn on the wrist.

[0041] The work determination unit 240 determines the work content performed by the worker P based on the movement content performed by the work movement unit 230. For example, based on the movement content of the work part acquired by the work movement unit 230 and a predetermined movement pattern for each work content, it determines whether the movement performed by the work movement unit 230 is planting work, pesticide spraying work, harvesting work, etc.

[0042] The work information generation unit 250 generates work information by associating the position information output by the position information acquisition unit 220 with the work content determined by the work determination unit 240. The work information may include date and time information associated with the position information and the work content. The date and time information is, for example, information on the date and time when the position information was acquired by the position information acquisition unit 220. The position information may also be the position (work position) where the work part (work motion unit 230) performed work on the crop. In this case, depending on the attachment position of the position information acquisition unit 220, a discrepancy may occur between the position information acquired by the position information acquisition unit 220 and the work position. Therefore, the work information generation unit 250 acquires the work position based on the positional relationship between the attachment position of the position information acquisition unit 220 and the attachment position of the work motion unit 230 (the position where work on the crop was performed). In this case, the difference in attachment position may be a fixed value or may be adjusted based on the work content.

[0043] The output unit 260 includes, for example, a display unit 262 and an audio output unit 264. The display unit 262 is, for example, an HMD (Head Mounted Display). The display unit 262 is an AR (Augmented Reality) device that displays additional information by superimposing it on the real space that the worker P sees. The display unit 262 may also be a VR (Virtual Reality) device that displays virtual reality. The display unit 262 may also be, for example, a glasses-type display worn by the worker P. The display unit 262 displays information obtained from the management server 300. The audio output unit 264 may also be, for example, a wristwatch-type device equipped with a speaker worn on the wrist, or a headphone-type speaker device. The audio output unit 264 outputs the information obtained from the management server 300 as audio. The display unit 262 and the audio output unit 264 may be provided integrally. The output unit 260 may be either a display unit 262 or an audio output unit 264 .

[0044] The information providing unit 270 provides information acquired from the management server 300. For example, the information providing unit 270 provides information on the growth status of the crops, the results of growth prediction, information on the location of the crops that will be suitable for harvesting, and the like to the worker P by causing the output unit 260 to output the information as images (still images or videos) or audio. The information providing unit 270 may also provide other work instructions related to the crops (for example, when instructing the worker P to spray pesticides, information on the pesticides to be sprayed, information on the spraying location, etc.).

[0045] The output control unit 280 transmits the work information generated by the work information generation unit 250 to the management server 300 via the network NW. Furthermore, under the control of the information provision unit 270, the output control unit 280 causes the output unit 260 to output information acquired from the management server 300 as images or audio. The output control unit 280 may also store various information acquired by the worker support device 200 in the storage unit 290, read out information stored in the storage unit 290, and perform other processes.

[0046] [Administration Server] FIG. 5 is a configuration diagram of the management server 300. The management server 300 shown in FIG. 5 includes, for example, a communication unit 310, an acquisition unit 320, an output unit 330, a management unit 340, an information provision unit 350, an output control unit 360, and a storage unit 370. The acquisition unit 320, the management unit 340, the information provision unit 350, and the output control unit 360 are realized by, for example, a hardware processor such as a CPU executing a program (software). Furthermore, some or all of these components may be realized by hardware (including circuitry) such as an LSI, ASIC, FPGA, or GPU, or may be realized by a combination of software and hardware. The program may be stored in advance in a storage device such as an HDD or flash memory (a storage device having a non-transitory storage medium), or may be stored in a removable storage medium (a non-transitory storage medium) such as a DVD or CD-ROM, and installed in the storage device of the management server 300 by inserting the storage medium into a drive or the like.

[0047] The storage unit 370 may be realized by the various storage devices described above, or an EEPROM, a ROM, a RAM, or the like. The storage unit 370 may also be a portable storage medium such as an SD card or a USB memory. The storage unit 370 stores, for example, individual management information 372, growth prediction information 374, programs, and various other information. Details of the individual management information 372 and the growth prediction information 374 will be described later. The storage unit 370 may also store information to be provided to the agricultural machine 100 or the worker support device 200 via a portable storage medium, or information acquired from the agricultural machine 100 or the worker support device 200. For example, if the storage unit 370 is a portable storage medium, the management server 300, the agricultural machine 100, and the worker support device 200 can each store information in a portable storage medium and carry the stored portable storage medium, thereby enabling them to acquire information from each other without going through the network NW.

[0048] The communication unit 310 communicates with the flying object FO, the agricultural machine 100, the worker support device 200, and other external devices via the network NW.

[0049] The acquisition unit 320 acquires images, position information, and date and time information captured by the flying object FO. The acquisition unit 320 also acquires work information (position information, work content, date and time information) from either or both of the agricultural machine 100 and the worker support device 200.

[0050] The output unit 330 outputs information to a server administrator or the like. The output unit 330 includes, for example, a display unit that displays images and an audio output unit that outputs audio. The display unit includes, for example, a display device such as an LCD (Liquid Crystal Display) or an organic EL (Electro Luminescence) display. The display unit displays images of the information output by the management unit 340 and the information providing unit 350. The audio output unit is, for example, a speaker. The audio output unit outputs, for example, audio corresponding to the information displayed on the display unit. The output unit 330 may also have an integrated input / output configuration, such as a touch panel.

[0051] The management unit 340 includes, for example, an individual management unit 342 and a growth prediction unit 344. The individual management unit 342 analyzes, for example, images captured by the flying object FO acquired by the acquisition unit 320, identifies and recognizes each individual crop included in the image, and associates the recognized individual position, the position information of the flying object when the image was captured, and the size of the crop (flower bud) obtained from the image with individual information about the crop (for example, identification information for each plant), and registers this in individual management information 372 of the storage unit 370. Furthermore, the individual management unit 342 associates the work information acquired by the acquisition unit 320 with individual information about the crop (for example, identification information for each plant), and registers this in individual management information 372 of the storage unit 370.

[0052] 6 is a diagram showing an example of the contents of the individual management information 372. In the individual management information 372, for example, an individual ID, which is an example of identification information (individual information) that individually identifies a crop, is associated with location information, planting date and time information, planting density, pesticide spraying date and time information, amount of solar radiation, temperature, harvest date and time information, etc. The individual management information 372 may also include, for each individual ID, information on the size of the crop (flower bud) obtained from the analysis results of the image captured by the flying object FO.

[0053] The individual ID may include information indicating the type of crop. The location information is, for example, the work location (work location based on the location information) included in the work information, and more specifically, the location information (latitude (x), longitude (y), altitude (z)) included in the work information when the work content is planting work. The planting date and time information is, for example, information indicating the date (yyyy / mm / dd) and time (hh:mm:ss) when the work content corresponds to planting. The planting density is the planting density of each individual planted, calculated from the location information of each planted individual. The pesticide spraying date and time information is the date and time when pesticide was sprayed on the crop of the individual ID corresponding to the location information when the work content is pesticide spraying. The pesticide spraying date and time information may store date and time information for each spraying along with information on the number of times spraying was performed. The amount of solar radiation and temperature are information regarding the amount of solar radiation and temperature since the planting date. The amount of solar radiation may be the accumulated amount of solar radiation or the average amount of solar radiation. The temperature may be the accumulated temperature or the average temperature. The individual management unit 342 may acquire the information from an external device that manages the temperature and amount of sunlight at each location via the network NW, or may acquire the information from a temperature sensor or the like if the agricultural machine 100 or the worker support device 200 is provided with such a sensor. The harvest date and time information is date and time information included in work information in which the work content is harvesting work.

[0054] For example, when the work involves planting, the individual management unit 342 assigns a new individual ID and adds information. Subsequently, when the work involves pesticide spraying or harvesting, the individual management unit 342 references (compares) the location information in the individual management information 372 based on the location information (work location) included in the work information, and updates the individual ID associated with matching location information. "Matching" may include a predetermined error range, and the closest individual ID may be obtained by an approximate value search. In this case, updating the information refers to, for example, registering pesticide spraying date and time information or harvesting date and time information. Furthermore, when the individual management unit 342 acquires the amount of solar radiation or temperature in a specified area (e.g., a field), it updates the individual ID associated with the location information included in that area. In this case, updating the information refers to registering or updating the amount of solar radiation or temperature in the individual management information 372.

[0055] In many vegetable cultivations, individual IDs are assigned at intervals when location information is acquired (for example, at intervals of less than a predetermined distance or at timings of less than a predetermined time). As a result, when identifying individual crops (for example, by stalk or fruit unit), the individual management unit 342 can manage the location of the crop with an accuracy of less than 20 cm (preferably less than 5 cm) and manage individual work times with an accuracy of less than 1 minute (preferably less than 10 seconds). This makes it possible to make precise harvest predictions for each individual crop, and, for example, even for crops grown adjacent to each other in the same place, it is possible to individually optimize and manage the harvest time, etc.

[0056] Furthermore, the individual management unit 342 may refer to harvest date and time information, group crops harvested within a predetermined time period, and manage them together with shipping information. In this case, the individual management unit 342 manages the IDs associated with the boxes (cases) that store the harvested crops in association with the individual IDs, thereby enabling more accurate management of crops even during distribution of shipped items.

[0057] The growth prediction unit 344 predicts the growth of individual crops based on the information managed by the individual management unit 342. For example, the growth prediction unit 344 predicts the growth of crops using a predetermined growth model. Fig. 7 is a diagram showing an example of a prediction using a growth model. In the example of Fig. 7, broccoli is used as an example of a crop whose growth is predicted, but other crops such as cabbage and lettuce may also be used.

[0058] In the example of the broccoli growth model shown in FIG. 7, the amount of solar radiation (daily accumulated solar radiation) and temperature (daily average temperature) included in the individual management information 372 are input as environmental conditions, and planting density is input as an external input condition. For example, the daily average temperature is used to generate parameters such as solar radiation use efficiency, stem matter ratio of outer leaves, and dry matter ratio of flower buds. Other parameter information may also include the ratio of outer leaf leaf area to fresh weight and dry matter distribution rate of flower buds. In the example of FIG. 7, the growth prediction unit 344 generates a parameter for daily accumulated solar radiation shading based on the planting density and daily accumulated solar radiation from the leaf area as the state of the crop (broccoli), and predicts daily dry matter production based on dry matter production by photosynthesis from the generated daily accumulated solar radiation shading.

[0059] The growth prediction unit 344 also predicts the dry matter amount of the plant from the daily dry matter production amount, and predicts the outer leaf dry matter weight and the flower bud dry matter weight based on the predicted plant dry matter amount and the flower bud dry matter distribution rate. The growth prediction unit 344 also predicts the outer leaf fresh weight by adding the outer leaf dry matter rate to the outer leaf dry matter weight, and predicts the leaf area using the ratio of the outer leaf leaf area / fresh weight for the predicted outer leaf fresh weight. The growth prediction unit 344 also predicts the flower bud fresh weight using the flower bud dry matter rate for the flower bud dry matter weight. The growth prediction unit 344 may also predict the optimum harvest time for the crop using a prediction model. Note that the parameters input into the model are not limited to these and may include various environmental factors such as rainfall, fertilizer, type and frequency of pesticide application, etc.

[0060] By using a growth model such as that shown in Fig. 7, it is possible to predict the growth and optimum harvest time of a crop with high accuracy. Furthermore, in the embodiment, input parameters such as environmental conditions are managed for each individual plant, and this information can be used to perform more accurate growth prediction for each plant. Note that the growth prediction unit 344 may predict the optimum harvest time by inputting parameters into a predetermined prediction function (prediction formula) in addition to the growth model, or may predict the growth and optimum harvest time using other known growth prediction techniques.

[0061] The growth prediction unit 344 stores information including the prediction results described above in growth prediction information 374 in the storage unit 370. FIG. 8 is a diagram showing an example of the contents of the growth prediction information 374. In the growth prediction information 374, for example, an individual ID is associated with location information, an optimum harvest time, and a plant weight. The optimum harvest time is information regarding the optimum time for harvesting each plant derived from, for example, a growth model, and information regarding the date, time, and period is stored. As for the plant weight, for example, information regarding the dry weight of the plant predicted by the growth prediction unit 344, the dry weight of the flower bud portion, the fresh weight of the flower bud portion, and the size of the flower bud are stored.

[0062] In addition, the growth model may be updated by feedback control, machine learning processing, etc. based on the plant weight actually obtained as a harvest result by the growth prediction unit 344 and the growth prediction result predicted by the growth prediction unit 344.

[0063] The information providing unit 350 provides various types of information related to crops to a server administrator or an operator (including an operator who operates the agricultural machine 100) based on the information managed by the management unit 340. For example, the information providing unit 350 provides information stored in the individual management information 372 or the growth prediction information 374. The information providing unit 350 may also generate a mapped image for each cultivated position and generate the generated image.

[0064] The output control unit 360 causes the output unit 330 to output information managed by the management unit 340 and information (images and audio) generated by the information providing unit 350, or transmits the information to the agricultural machine 100 or the worker support device 200 via the network NW. The output control unit 360 may also control the mode of the information to be output (for example, color, pattern, layout, output content), etc. The output control unit 360 may also store various types of information acquired by the management server 300 in the storage unit 370, or perform processing such as reading out information stored in the storage unit 370.

[0065] FIG. 9 is a diagram illustrating an example of an image provided by the information providing unit 350. The example in FIG. 9 shows an image IM10 containing field plot data. The field plots shown in image IM10 are associated with location information such as latitude and longitude. The information providing unit 350 manages information about each individual plant in the area AR10 where the growth is managed. For example, if a user such as a server administrator selects a small area AR10a included in the area AR10, the information providing unit 350 generates an image IM20 corresponding to the small area AR10a. In image IM20, each plant is managed by its planting location information (latitude and longitude) and planting date and time. For example, each individual plant is represented by one or more dots. By selecting a dot, the user can display the plant ID, the planting location information registered in the individual management information 372, and the optimum harvest time stored in the growth forecast information 374. By providing the location information of the crops in this mapped form, the user can more clearly grasp the location and growth status of each individual plant.

[0066] Fig. 10 is a diagram (part 1) showing an example of an image that provides information based on the prediction results. Image IM30 shown in Fig. 10 displays, for each individual (individual ID), identification information (identification ID), location information, flower bud size, and the number of days until the optimum harvest time as optimum harvest time information. This allows the worker to check the number of days until the optimum harvest time for each individual.

[0067] FIG. 11 is a diagram (part 2) showing an example of an image providing information based on the prediction results. Image IM40 shown in FIG. 11 displays, as optimum harvest time information, the identification information (identification ID) and location information of one or more crops whose optimum harvest times are the same or similar (e.g., within a ±1-day error). Image IM40 may also display the total number of crops (**** units) whose optimum harvest times are a certain month and date among the individual crop management information of the managed crops. Images IM30 and IM40 shown in FIGS. 10 and 11 are generated by the information provider 350 based on the information stored in the growth prediction information 374. This allows the location and number of crops suitable for harvesting to be known, enabling advance planning of work procedures, the number of people involved, and the availability of farm machinery, thereby reducing the workload and improving work efficiency.

[0068] In addition to the images IM30 and IM40, the information providing unit 350 may also acquire the type of crop based on the individual ID, and if there are multiple crops in the field, generate information indicating the optimum harvest time for each crop based on the acquired type, and provide this information to the agricultural machine 100, the worker support device 200, etc. In this case, when a planned harvest date is input by the user, for example, the information providing unit 350 refers to the growth prediction information 374, selects crops that are suitable for harvest on that day, and provides location information for each individual crop. This allows the worker to know which crops can be harvested for each planned harvest date, allowing the worker to perform harvesting work more efficiently.

[0069] Furthermore, in actual harvesting work, etc., when harvesting work is done at night, it is difficult to distinguish between individuals by visual inspection. Therefore, the information providing unit 350 generates information for notifying the worker by image, sound, etc. when the worker is working, and provides the generated information to the agricultural machine 100 and the worker support device 200. As a result, based on the information provided by the management server 300, when the position of the agricultural machine 100 or the worker P approaches the position of crops that are suitable for harvesting (when the distance to the crops is within a predetermined distance), the output control unit 158 ​​of the agricultural machine 100 and the information providing unit 270 of the worker support device 200 output an image, sound, etc. to notify the worker that they are near crops that are suitable for harvesting.

[0070] FIG. 12 is a diagram for explaining notifying the worker P of information about crops suitable for harvest. The example of FIG. 12 shows a state in which broccoli BR1 to BR3 are present as an example of crops in a field F. In this case, the information providing unit 270 acquires harvest prediction information for each individual broccoli BR1 to BR3 from the management server 300, compares the location (e.g., latitude, longitude) of the broccoli determined to be suitable for harvest based on the acquired information with the location (e.g., latitude, longitude) of the worker P, and outputs a sound from the audio output unit 264 when the relative distance is within a predetermined distance. The information providing unit 270 may change the content of the notification depending on the relative distance. In this case, the information providing unit 270 increases the volume or changes the sound to a rhythmic sound as the distance decreases. The information providing unit 270 may also change the content of the notification depending on the number of days until the suitable harvest time for each individual crop. In this case, the information providing unit 270 increases the volume or changes the sound to a more rhythmic tone as the number of days approaches. The information providing unit 270 may also change the volume or type of sound depending on the size of the broccoli florets. This allows the status of each crop distributed within the field to be grasped in more detail.

[0071] Furthermore, the information providing unit 270 may display information indicating that it is the appropriate time to harvest on the display unit 262, instead of (or in addition to) outputting audio. FIG. 13 is a diagram for explaining notification of crops that are appropriate for harvesting by image display. In the example of FIG. 13, when there is a crop that is appropriate for harvesting in the line of sight of the operator P, additional information IN10 and IN20 indicating that it is appropriate for harvesting is displayed superimposed on the actual crop in real space that the operator P sees. In the example of FIG. 13, text information indicating that broccoli BR2 is appropriate for harvesting (e.g., "It's the appropriate time to harvest") is displayed as the additional information IN10, and a frame surrounding the area of ​​the broccoli BR2 (an area within a predetermined range from the center coordinates) is displayed as the additional information IN20. Furthermore, the information providing unit 270 may flash one or both of the additional information IN10 and IN20 or display them in an accent color.

[0072] Furthermore, instead of (or in addition to) providing information about crops that are suitable for harvesting, when a crop is not suitable for harvesting (for example, when the worker P is near broccoli BR1 or BR3), the information providing unit 270 may display information (for example, text information such as "unripe") to clarify that the nearby crop is not suitable for harvesting, or may display the number of days remaining until the suitable harvesting time. In this way, by notifying the worker P of information indicating whether an individual is suitable for harvesting or not, the worker P can more appropriately grasp the growth status of each individual crop in the field.

[0073] Furthermore, when there are multiple crops suitable for harvesting, the information providing unit 270 may generate a route for the worker P to harvest in the shortest distance from the position information of each crop, and provide information about the generated route to the worker. Furthermore, the information providing unit 270 may acquire the current position of the worker P, acquire the position of the crop that is closest to the acquired current position, and notify the worker P of the acquired position of the crop. In this case, the information providing unit 270 may output a voice such as "There are three crops 5 meters ahead," or may display an image on the display unit 262 that notifies the worker of the position and direction.

[0074] In this way, by providing the worker P with information such as the location of crops that are suitable for harvesting through audio and images, the worker's harvesting work can be supported more appropriately and efficiently, thereby improving work efficiency.

[0075] Once the harvesting work is performed, the information providing unit 270 transmits the work details, including the work content, location information, and date and time, to the management server 300. The individual management unit 342 of the management server 300 registers the harvest date and time in the harvest date and time information of the individual management information 372. The management unit 340 then updates the information to be provided and transmits information about the unharvested crops to the worker support device 200. As a result, the information providing unit 270 of the worker support device 200 will no longer issue a notification if the worker P again approaches the location of the harvested individual. Therefore, even if the worker P passes by the same location after harvesting, no notification will be issued by voice, image, or the like, thereby achieving efficient harvesting work.

[0076] When harvesting work is performed by the agricultural machine 100 instead of (or in addition to) being performed by the worker P, the information provider 350 of the management server 300 transmits prediction information and the like to the agricultural machine 100. When the distance between the position information of a crop suitable for harvesting and the position information of the agricultural machine falls within a predetermined distance based on the information received from the management server 300, the output control unit 158 ​​of the agricultural machine 100 outputs audio and displays images as described above using the input / output unit 120. This makes it possible to improve work efficiency even when harvesting work is performed using the agricultural machine 100.

[0077] [Processing Sequence] Fig. 14 is a sequence diagram showing an example of processing executed by the harvest support system 1. Note that, in the example of Fig. 14, processing using the worker support device 200 and the management server 300 is described, but some or all of the processing executed by the worker support device 200 may be executed by the agricultural machine 100.

[0078] 14, the agricultural machine 100 acquires a planting location (step S100), and transmits work information that associates the acquired location information with work content and date and time information to the management server 300 (step S102). The management server 300 acquires planting location information from the received work information (step S104), and registers and manages the crops individually (for each plant) in the storage unit 370 (step S106).

[0079] Next, when a predetermined task such as pesticide spraying is updated, the agricultural machine 100 acquires the updated task content and location information (step S108), and transmits the task information that associates the acquired location information, task content, and date and time information to the management server 300 (step S110).

[0080] Next, the management server 300 receives the work information obtained from the agricultural machine 100, and updates the information on the target crop by referring to the information stored in the storage unit 370 based on the location information (step S112). Note that the processes of S108 to S112 described above are repeatedly executed each time the work content, such as watering work, top dressing work, inter-cultivation work, soil piling work, or further pesticide spraying work, is updated.

[0081] Next, the management server 300 predicts the growth of each individual using a growth model or the like based on the information stored in the storage unit 370 (step S114), and generates output information based on the prediction results (step S116).The management server 300 also transmits the generated output information to the worker support device 200 (step S118).

[0082] Next, the worker support device 200 provides information about the harvest to the worker P based on the received information (step S120), as described above. Next, the worker support device 200 acquires harvesting work and position information (step S122), associates the acquired information with date and time information, and transmits the information to the management server 300 (step S124). The management server 300 receives the information transmitted by the worker support device 200 and updates the individual management information 372 (step S126). Then, the management server 300 transmits information to the worker support device 200 based on the updated information (step S128). The worker support device 200 provides information to the worker P based on the updated information to be provided (step S130). As a result, for example, even if the worker P approaches a location where crops were harvested properly after harvesting, notifications such as audio output and image display will not be issued. Thereafter, the processes of steps S120 to S130 are repeatedly executed until the harvest is completed.

[0083] [Variations] In the harvest support system 1 of the embodiment, part of the configuration of the agricultural machine 100 or the worker support device 200 may be provided in the management server 300, and part of the information of the management server 300 may be provided in the agricultural machine 100 or the worker support device 200. For example, the functions of the work determination units 154 and 240 and the function of the information provision unit 270 may be provided in the management server 300, and the functions of the management unit 340 and the information provision unit 350 may be provided in the agricultural machine 100 or the worker support device 200.

[0084] Furthermore, with regard to the above-mentioned growth prediction unit 344, not only all functions are provided in the management unit 340, but also some functions (for example, the prediction calculation processing (growth model) part) may be provided in an external server. In this case, when performing prediction calculation, the growth prediction unit 344 accesses the external server (for example, connects via an API (Application Programming Interface)), causes the external server to execute processing, and acquires the execution results.

[0085] Furthermore, in the above-described embodiment, information is transmitted and received between the agricultural machine 100, the worker support device 200, and the management server 300 mainly by communication using the network NW. However, information may be acquired from one another using a portable storage medium without using the network NW. In this case, the communication device 152 of the agricultural machine 100, the communication unit 210 of the worker support device 200, and the communication unit 310 of the management server 300 may not all be provided. Furthermore, in the processing sequence shown in FIG. 14 , information is exchanged in the processing of steps S102, S110, S118, S124, and S128 by carrying a portable storage medium storing the information to each device. Furthermore, in the embodiment, some of the processing of steps S102, S110, S118, S124, and S128 may be performed via the network NW, and the rest may be performed via a portable storage medium. For example, in the processes of S124 and S128, information is sent and received via the network NW from the viewpoint of improving work efficiency and real-time work management.

[0086] According to the above-described embodiment, in the crop harvesting support method, the growth of each individual plant is predicted based on the position information of each individual plant in the field and information related to the growth of the crop, and based on the predicted growth results, when the position of an individual plant in the field that is suitable for harvesting and the position of the agricultural machine 100 or the worker are within a predetermined distance, the agricultural machine 100 or the worker is notified, thereby improving work efficiency related to crop harvesting.

[0087] Specifically, according to the above-described embodiment, crop location information and growth prediction technology are combined to determine the location of each crop at the optimum harvest time and notify the worker, thereby improving harvesting workability. Furthermore, according to the embodiment, the optimum harvest time is predicted using growth prediction technology based on the location and work content of each crop, and then a worker is notified when a target device (e.g., a wearable device / agricultural machine) approaches a crop that is at the optimum harvest time. Furthermore, according to the embodiment, by providing information on the optimum harvest time for each crop in a field, for example, when a harvest date is input, crops that are at the optimum harvest time on that day can be selected and the number, etc., can be displayed. Note that crops that can be applied to the embodiment include, for example, those that grow quickly and are large enough to be located using a high-precision positioning system, such as leafy vegetables such as broccoli, cabbage, and lettuce, and fruit vegetables such as pumpkin and watermelon, but are not limited thereto.

[0088] While the present invention has been described above using the embodiments, the present invention is not limited to these embodiments, and various modifications and substitutions can be made without departing from the spirit of the present invention. For example, the above-described embodiments can be used by all producers who cultivate the target crops, from individual producers to large-scale production corporations. [Explanation of symbols]

[0089] 1...Harvest support system, FO...flying object, 100...agricultural machine, 110...position information acquisition unit, 120...input / output unit, 130...work operation unit, 140...travel unit, 150...control device, 152...communication device, 154...work judgment unit, 156...work information generation unit, 158...output control unit, 160, 290, 370...memory unit, 200...worker support device, 210...communication unit, 220...position information acquisition unit, 230...work operation unit, 250...work information generation unit, 260...output unit, 270...information provision unit, 280...output control unit, 300...management server, 310...communication unit, 320...acquisition unit, 330...output unit, 340...management unit, 342...individual management unit, 344...growth prediction unit, 350...information provision unit, 360...output control unit

Claims

1. A computer comprising: predicting the growth of each individual plant based on location information of each individual plant in a field and information related to the growth of the plant; based on the predicted growth results, when the position of an individual crop in the field that is suitable for harvesting and the position of the agricultural machine or the worker are within a predetermined distance, a notification is given to the agricultural machine or the worker; the position information for each individual is position information corresponding to the movement of the agricultural machine or the movement of the worker, The information on the growth of the crop includes details of work performed by the agricultural machine or the worker for each individual crop, The work content is determined by comparing the movement of the agricultural machine or the movement of the worker with a predetermined movement pattern for each work content, The work content includes at least one of planting work, pesticide spraying work, and harvesting work, The movement of the agricultural machine is detected by a motion sensor provided in the agricultural machine, The movement of the worker is detected by a motion sensor provided on the worker. How to help harvest crops.

2. The position information for each individual crop includes position information of an airborne vehicle equipped with a camera that photographs the crop from above the field, or position information based on the movement of the agricultural machine or the worker acquired by a position information acquisition unit attached to the agricultural machine or the worker. The harvesting assistance method according to claim 1 .

3. The computer providing the agricultural machine or the worker with location information of one or more individual crops in the field that are suitable for harvesting; The harvesting support method according to claim 1 or 2.

4. The computer changing the content of the notification to the agricultural machine or the worker depending on the distance between the individual suitable for harvest and the agricultural machine or the worker; The harvesting support method according to any one of claims 1 to 3.

5. The computer changing the content of the notification to the agricultural machine or the worker depending on the number of days until the appropriate harvest time for each individual crop; The harvesting support method according to any one of claims 1 to 4.

6. The computer When a plurality of crops exist in the field, information on the optimum harvest time for each crop is provided. A harvesting support method according to any one of claims 1 to 5.

7. The computer notifying the agricultural machine or the worker of information indicating whether or not an individual of the crops in the field that is present within a predetermined distance from the position of the agricultural machine or the worker is at the optimum time for harvest; A harvesting support method according to any one of claims 1 to 6.

8. The computer After the individual is harvested, no notification is given to the agricultural machine or the worker even if the position of the agricultural machine or the worker is within a predetermined distance from the position of the individual that is suitable for harvesting. A harvesting support method according to any one of claims 1 to 7.

9. the location information acquisition unit acquires the location information at intervals of less than a predetermined distance or at timings of less than a predetermined time, The harvesting assistance method according to claim 2.

10. a growth prediction unit that predicts the growth of each individual crop based on position information of each individual crop in a field and information about the growth of the crop; an information providing unit that provides information to the agricultural machine or the worker when the position of an individual crop in the field that is suitable for harvesting is within a predetermined distance from the position of the agricultural machine or the worker based on the growth results predicted by the growth prediction unit, the position information for each individual is position information corresponding to the movement of the agricultural machine or the movement of the worker, The information on the growth of the crop includes details of work performed by the agricultural machine or the worker for each individual crop, The work content is determined by comparing the movement of the agricultural machine or the movement of the worker with a predetermined movement pattern for each work content, The work content includes at least one of planting work, pesticide spraying work, and harvesting work, The movement of the agricultural machine is detected by a motion sensor provided in the agricultural machine, The movement of the worker is detected by a motion sensor provided on the worker. Harvesting support system.

11. On the computer, predicting the growth of each individual plant based on location information of each individual plant in a field and information related to the growth of the plant; based on the predicted growth results, when the position of an individual of the crops in the field that is suitable for harvesting and the position of the agricultural machine or the worker are within a predetermined distance, a notification is made to the agricultural machine or the worker; the position information for each individual is position information corresponding to the movement of the agricultural machine or the movement of the worker, The information on the growth of the crop includes details of work performed by the agricultural machine or the worker for each individual crop, The work content is determined by comparing the movement of the agricultural machine or the movement of the worker with a predetermined movement pattern for each work content, The work content includes at least one of planting work, pesticide spraying work, and harvesting work, The movement of the agricultural machine is detected by a motion sensor provided in the agricultural machine, The movement of the worker is detected by a motion sensor provided on the worker. program.

Images