Work area management method, work area management system, and work area management program

Abstract

To simply and accurately estimate an actual working area by considering the possibility that a non-planting area is present in a working area.SOLUTION: A working area management method includes: detecting a range of a ridge (93) on which a work device (2), which performs work while moving in a firm field (9), performs work while moving linearly, on the basis of position information acquired by the work device at each of a plurality of points in time (S02); estimating a range of a non-planting area (94) which is present in a region between two ridges and in which a crop as a target of work is not planted on the basis of a ridge length which is a length of the ridge in an extending direction of the ridge and an inter-ridge distance which is a distance between two adjacent ridges, when the inter-ridge distance is longer than a predetermined threshold (S03); estimating a range of an actual working area obtained by excluding the non-planting area from a working area in which the work device has performed work in the firm field (S05); and outputting information indicative of the range of the actual working area to the outside (S06).SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a work area management method, a work area management system, and a work area management program, which can be suitably used, for example, to manage the range of a work area in a farm field where agricultural work has been carried out. [Background technology]

[0002] Patent Document 1 (JP 2022-030855 A) discloses a work management system that acquires multiple pieces of position information during a work period for a work machine that moves around a field while working, calculates the work area where the work machine performed work by performing convex hull processing on the multiple positions represented by each of the multiple pieces of position information, and evaluates the harvest condition of the field based on the work area.

[0003] Patent Document 1 is advantageous in that it allows for relatively easy detection of the work area where a work machine has performed work based on automatically acquired position information. However, the work area detected in this manner may include non-planted areas that do not directly contribute to the field's yield. Non-planted areas include, for example, pest control ridges that are provided as paths for work machines to pass through when performing pest control work using boom sprayers or the like in the actual work area where crops are planted. Therefore, when evaluating the harvest condition of a field, an evaluation should be made based on the yield per unit area of ​​the actual work area excluding the non-planted area. However, using the yield per unit area of ​​the work area including the non-planted area may result in an underestimated evaluation. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-030855 Summary of the Invention [Problem to be solved by the invention]

[0005] In view of the above circumstances, one of the objects of the present disclosure is to provide a work area management method, a work area management system, and a work area management program that can easily and accurately estimate the actual work area by taking into account the possibility that an unplanted area may exist in the work area. Other objects and novel features will become apparent from the description of this specification and the accompanying drawings. [Means for solving the problem]

[0006] The following describes the means for solving the problems using the numbers and symbols used in the description of the invention. These numbers and symbols are added in parentheses for reference purposes to show an example of the correspondence between the claims and the description of the invention. Therefore, the claims should not be interpreted as being limited by the parenthetical descriptions.

[0007] According to one embodiment, the work area management method includes detecting (S02) the extent of a ridge (93) along which the work implement (2) performs work while moving linearly, based on position information acquired at each of a plurality of times from the work implement (2) performing work while moving within the field (9). The work area management method further includes, when the furrow distance, which is the distance between two adjacent ridges (93), is longer than a predetermined threshold, estimating (S03) the extent of a non-planting area (94) existing in the area between the two ridges (93), where the crop to be worked is not to be planted, based on the furrow length, which is the length of the ridges (93) in the direction in which the ridges (93) extend, and the furrow distance. The work area management method further includes estimating (S05) the extent of an actual work area from the work area in the field (9) where the work implement (2) performed work, excluding the non-planting area (94), and outputting information representing the extent of the actual work area to the outside (S06).

[0008] According to one embodiment, the work area management system (1) includes a ridge detection unit (522), a non-planting area estimation unit (523), an actual work area estimation unit (524), and an output unit (526). The ridge detection unit (522) detects the extent of a ridge (93) along which the work implement (2) moves linearly to perform work, based on position information acquired at each of a plurality of times from the work implement (2) performing work while moving within the field (9). When the furrow distance, which is the distance between two adjacent ridges (93), is longer than a predetermined threshold, the non-planting area estimation unit (523) estimates the extent of a non-planting area (94) between the two ridges (93), in which the target crop is not to be planted, based on the ridge length, which is the length of the ridges (93) in the direction in which the ridges (93) extend, and the furrow distance. The actual work area estimation unit (524) estimates the range of the actual work area by excluding the non-planting area (94) from the work area in the field (9) where the work implement (2) has worked. The output unit (526) outputs information indicating the range of the actual work area to the outside.

[0009] According to one embodiment, the work area management program is a program for causing a computing device to execute a predetermined process. This process includes detecting (S02) the extent of a ridge (93) along which the work implement (2) moves linearly to perform work, based on position information acquired at each of a plurality of times from the work implement (2) as it moves within the field (9). This process further includes estimating (S03) the extent of a non-planting area (94) between the two adjacent ridges (93), in which the target crop is not to be planted, based on the ridge length, which is the length of the ridges (93) in the direction in which the ridges (93) extend, and the ridge distance, when the ridge distance, which is the distance between two adjacent ridges (93), is longer than a predetermined threshold. This process further includes estimating the extent of the actual work area (S05) from the work area in the field (9) where the work implement (2) performed work, excluding the non-planting area (94), and outputting information representing the extent of the actual work area to the outside (S06). [Effects of the Invention]

[0010] According to one embodiment, the actual work area can be estimated easily and accurately by taking into consideration the possibility that a non-planted area may exist in the work area. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a work area management system according to an embodiment. [Figure 2] FIG. 2 is a block circuit diagram showing an example of the configuration of a working area management device according to an embodiment. [Figure 3] FIG. 3 is a flowchart showing an example of processing in a work area management method according to an embodiment. [Figure 4] FIG. 4 is a diagram showing an example of the relationship between the field, ridges, work area, non-planting area, and actual work area according to one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS With reference to the accompanying drawings, embodiments for implementing a work area management method, a work area management system, and a work area management program according to the present disclosure will be described below.

[0013] (Embodiment) As shown in FIG. 1, a work area management system 1 according to one embodiment includes an on-board terminal 3 mounted on a work device 2, and a work area management device 5 capable of receiving position information from the on-board terminal 3 via a network 4.

[0014] The work implement 2 includes work vehicles such as tractors and combine harvesters that perform agricultural work while moving around the field 9. The work implement 2 may also include a drone that performs agricultural work while flying above the field 9.

[0015] The onboard terminal 3 acquires position information indicating the position of the work device 2 at multiple times by measuring the positions of multiple points passed by the work device 2 as it moves and works within the field 9 using a Global Navigation Satellite System (GNSS) or the like. The points at which the position of the work device 2 is measured are called measurement points. The GNSS antenna and the onboard terminal 3 may be separate or integrated, but in either case, both are mounted on the work device 2. Strictly speaking, the position of the measurement point is the position of the GNSS antenna of the onboard terminal 3, but when the GNSS antenna is integrated with or connected by wire to the onboard terminal 3 and is fixed to the work device 2, the position of the measurement point essentially represents the position of the work device 2. The onboard terminal 3 transmits the acquired position information to the work area management device 5 via the network 4.

[0016] Based on the received position information, the work area management device 5 manages work information related to the work area where work has been performed by the work device 2. The management of work information includes processes such as acquiring, storing, and outputting information that indicates, for example, the range and area of ​​the work area, the number of crop stalks planted in the work area and / or the yield of crops harvested in the work area, the number of stalks and / or the yield per unit area in the work area, etc.

[0017] As shown in Fig. 2, the work area management device 5 according to one embodiment may be configured as a so-called computer. In the example of Fig. 2, the work area management device 5 includes a bus 51, a computing device 52, a storage device 53, a communication device 54, and an input / output device 55. The bus 51 is configured to connect the computing device 52, the storage device 53, the communication device 54, and the input / output device 55 so that they can communicate with each other.

[0018] The calculation device 52 includes a position information acquisition unit 521, a ridge detection unit 522, a non-planting area estimation unit 523, an actual work area estimation unit 524, an evaluation unit 525, and an output unit 526. The storage device 53 includes a program storage unit 531 and a database 532. The program storage unit 531 stores a work area management program. The database 532 stores the position information of the work device 2 acquired from the on-board terminal 3, field information indicating the position and range of the field 9, and the like.

[0019] The arithmetic device 52 reads and executes the work area management program to realize the functions of a position information acquisition unit 521, ridge detection unit 522, non-planting area estimation unit 523, actual work area estimation unit 524, evaluation unit 525, and output unit 526. The position information acquisition unit 521, ridge detection unit 522, non-planting area estimation unit 523, actual work area estimation unit 524, evaluation unit 525, and output unit 526 are virtual function blocks that execute processes realized by the arithmetic device 52 and the storage device 53 working together. The position information acquisition unit 521 acquires position information of the work device 2 transmitted from the on-board terminal 3. The ridge detection unit 522 detects, as ridges, the area of ​​the field 9 where the work device 2 has worked while moving linearly. The non-planting area estimation unit 523 estimates, as a non-planting area, the area of ​​the work area where the work device 2 has worked and where no crops have been planted. The actual work area estimation unit 524 estimates the area of ​​the work area where the work device 2 has worked on crops as the actual work area. The evaluation unit 525 evaluates the production volume per unit area of ​​the actual work area, which is the work area excluding the non-planting area, as the production volume per unit area of ​​the work area. The output unit 526 outputs information indicating the area of ​​the work area, information indicating the area of ​​the non-planting area, information indicating the area of ​​the actual work area, information indicating the evaluation of the work area, etc. to the outside. More specific processing of these functional blocks will be described later.

[0020] The work area management program may be read from an external recording medium 530 and stored in the program storage unit 531. The recording medium 530 may be a non-transitory and tangible medium.

[0021] The communication device 54 communicates with external devices including the on-board terminal 3 by wireless communication and / or wired communication via the network 4. The work area management program may be received from the outside via the communication device 54 and stored in the program storage unit 531.

[0022] The input / output device 55 outputs information to the user and accepts operations input by the user. As an example, the input / output device 55 includes a display device that outputs images, a keyboard and / or a mouse that accepts input, etc.

[0023] An example of the processing of a work area management method according to one embodiment will be described with reference to the flowchart in Figure 3. The processing of the work area management method may be started when the work area management device 5 is started. At this time, the processing of the work area management method is realized by the arithmetic unit 52 of the work area management device 5 executing a work area management program.

[0024] 3 starts, step S01 is executed. In step S01, the position information acquisition unit 521 of the working area management device 5 acquires the position information of the working device 2 transmitted from the on-board terminal 3.

[0025] More specifically, first, the on-board terminal 3 mounted on the maintenance apparatus 2 generates position information and transmits it to the work area management device 5. The position information is generated by the on-board terminal 3 by associating positioning information obtained by measuring the position of the maintenance apparatus 2 at multiple times with time information indicating the measurement times at which the position was measured. Measurement of the position of the maintenance apparatus 2 may be performed periodically at a predetermined sampling period. The measurement times may include multiple times included in the driving period from when the maintenance apparatus 2 is turned on to when it is turned off.

[0026] The position information may further include identification information for identifying the task apparatus 2 and status information indicating the task status of the task apparatus 2 at the time of measurement. The status information indicates, for example, whether the task apparatus 2 is in a key-on state or a key-off state. The status information may further indicate whether the task of the task apparatus 2 is being performed or is suspended.

[0027] When the on-board terminal 3 transmits the location information, the location information acquisition unit 521 controls the communication device 54 to receive and acquire the location information, and stores the acquired location information in the database 532.

[0028] At this point, the position information acquisition unit 521 may automatically detect the work area of ​​the field 9 where the work device 2 has performed work, for example by calculating the convex hull of the multiple positioning points included in the position information. However, as will be described later, the work area detected in this manner may include non-planted areas where no crops have been planted. Evaluating the crop production per unit area in the work area without considering the existence of non-planted areas may lead to an erroneous evaluation of the field 9. Therefore, in one embodiment, in order to accurately evaluate the production amount of the work area, the extent of the non-planted areas is automatically estimated in subsequent processing, taking advantage of the fact that the work device 2 does not perform work in non-planted areas.

[0029] Step S02 is executed after step S01 in Fig. 3. In step S02, the ridge detection unit 522 of the work area management device 5 detects the range of the ridges in the field 9.

[0030] More specifically, the ridge detection unit 522 detects, based on the position information, the range in which the work device 2 has worked while moving linearly as a ridge.

[0031] As an example, the ridge detection unit 522 calculates a vector from the first-measured positioning point to the last-measured positioning point, which are included in the position information and whose positions are measured at two consecutive measurement times, as a vehicle speed vector representing the vehicle speed of the working implement 2 at one of these two positioning points. Of the positioning points included in the position information, the ridge detection unit 522 extracts a set of positioning points whose angle between the direction of the corresponding vehicle speed vector and a predetermined direction is smaller than a predetermined threshold and whose measurement times are consecutive, and detects these as a set of positioning points included in the same ridge. Of the multiple positions included in the same ridge, the ridge detection unit 522 calculates the distance from the first-measured positioning point to the last-measured positioning point as the length of the corresponding ridge.

[0032] The ridge detection unit 522 may similarly detect a set of multiple positioning points included in each of the ranges of multiple ridges. The ridge detection unit 522 may also similarly calculate the length of each of the multiple ridges.

[0033] In the example of FIG. 4 , first, a work implement 2, such as a planter that performs work to plant crops while measuring its position, is turned on and begins moving from a start point 81 located at the edge of the field 9. The work begins at one end 82A of a first ridge 93A, and continues working while moving along a first work path 84A that is approximately parallel to the longitudinal direction of the first ridge 93A. The work implement 2 then stops working when it reaches the other end 83A of the first ridge 93A. The work implement 2 then turns along a first turning path 85A and moves to one end 82B of a second ridge 93B adjacent to the first ridge 93A. Next, the work implement 2 resumes work at end 82B, and continues working while moving along a second work path 84B that is approximately parallel to the longitudinal direction of the second ridge 93B. The work implement 2 stops working when it reaches the other end 83B of the second ridge 93B. Furthermore, the work device 2 performs similar work on the third ridge 93C and the fourth ridge 93D, and then performs work on the fifth ridge 93E on the other side of the non-planting area 94 while moving along the movement path 86, and then moves to an end point 87 located at the edge of the field 9, where it finishes its work. Here, for convenience, the area of ​​the field 9 where the first ridges 93A to the fourth ridges 93D are located is referred to as the first planting area 92A. Similarly, the area of ​​the field 9 where the fifth ridge 93E is located is referred to as the second planting area 92B. At this time, the non-planting area 94 of the field 9, where no crops are planted other than the headland 91 located on the periphery of the field 9, is located between the first planting area 92A and the second planting area 92B. Hereinafter, when there is no need to distinguish between the planting areas 92A and 92B, they will be collectively referred to as the planting area 92.

[0034] As an example, the non-planting area 94 may be a pest control ridge. The pest control ridge is part of a plurality of ridges 93 provided in the planting area 92 other than the headland 91 of the field 9, and is an area used as a passageway for a pest control machine or the like serving as an operation apparatus 2 different from the operation apparatus 2 that performed positioning as described above when performing pest control work on the remaining ridges 93. In the example of FIG. 4 , the pest control machine moves along the non-planting area 94 used as a pest control ridge, spraying a pest control agent onto a first planting area 92A and a second planting area 92B from boom sprayers extending to the left and right in the direction of travel of the operation apparatus 2.

[0035] In such a case, the ridge detection unit 522 extracts, from the position information, positioning points within the range from end 82A or the positioning point whose position was measured immediately after end 82A to end 83A or the positioning point whose position was measured immediately before end 83A, as a set of positioning points within the range of the first ridge 93A, and stores these in the database 532. Similarly, the ridge detection unit 522 extracts, from the position information, positioning points within the range from end 82B or the positioning point whose position was measured immediately after end 82B to end 83B or the positioning point whose position was measured immediately before end 83B, as a set of positioning points within the range of the second ridge 93B, and stores these in the database 532.

[0036] Hereinafter, when there is no need to distinguish between ridges 93A, 93B, etc., they will be collectively referred to as ridges 93. Similarly, when there is no need to distinguish between work paths 84A, 84B, etc., they will be collectively referred to as work path 84.

[0037] Step S03 is executed after step S02 in Fig. 3. In step S03, the non-planting area estimation unit 523 of the work area management device 5 estimates the extent of the non-planting area 94 in the field 9.

[0038] More specifically, the non-planting area estimation unit 523 first calculates the distance between two work paths 84 corresponding to two adjacent ridges 93 among the multiple ridges 93 detected in step S02 as the furrow distance, which represents the distance between these two ridges 93, based on the position information. Here, the non-planting area estimation unit 523 calculates the furrow distance for each pair of adjacent ridges 93 among the multiple detected ridges 93. The non-planting area estimation unit 523 then calculates a statistical value of the multiple calculated furrow distances. The statistical value may be, for example, the average or median. However, the furrow distance in this case represents the distance from the center of a ridge 93 in the width direction to the center of the ridge 93 adjacent to this ridge 93 in the width direction. This statistical value is used as a threshold for judgment, which will be described later. A preset constant, such as a recommended furrow distance, may be used as this threshold.

[0039] The non-planting area estimation unit 523 estimates that a non-planting area 94, which is an area where no crops are planted, exists between two ridges 93 corresponding to a row-to-row distance that is longer than a threshold value, such as a statistical value or a recommended row-to-row distance, among the multiple row-to-row distances. Conversely, the non-planting area estimation unit 523 estimates that a non-planting area 94 does not exist between two ridges 93 corresponding to a row-to-row distance that is shorter than the threshold value, among the multiple row-to-row distances. However, the threshold used for this estimation may be the row-to-row distance statistical value or the recommended row-to-row distance itself, as described above, or may be a value obtained by adding an appropriate value to the row-to-row distance statistical value or the recommended row-to-row distance, or a value obtained by multiplying the row-to-row distance statistical value or the recommended row-to-row distance by an appropriate coefficient.

[0040] In the example of Figure 4, a non-planted area 94 exists between the fourth ridge 93D and the fifth ridge 93E. In such a case, the furrow distance between the fourth ridge 93D and the fifth ridge 93E is longer than the average value of the furrow distance between ridges 93A and 93B, the furrow distance between ridges 93B and 93C, the furrow distance between ridges 93C and 93D, and the furrow distance between ridges 93D and 93E, while the other furrow distances are shorter than the average value. In this way, the non-planted area estimation unit 523 detects the presence of a non-planted area 94 between the fourth ridge 93D and the fifth ridge 93E.

[0041] The non-planting area estimation unit 523 further estimates the extent of the non-planting area 94 based on the furrow distance between the fourth ridge 93D and the fifth ridge 93E and the lengths of the multiple ridges 93 calculated in step S02 of Figure 3. Here, the width of the non-planting area 94 may be calculated as the difference between the furrow distance between the fourth ridge 93D and the fifth ridge 93E minus the average furrow distance between pairs of ridges 93 that do not have a non-planting area 94 between them. In the example of Figure 4, the average furrow distance between pairs of ridges 93 that do not have a non-planting area 94 between them is the average furrow distance between the first ridge 93A to the fourth ridge 93D. These inter-row distances may be calculated by extracting, from the inter-row distances calculated for each pair of adjacent ridges 93, those that are smaller than the threshold used to detect the non-planted area 94, and then calculating the average of the extracted inter-row distances. The length of the non-planted area 94 may also be calculated as the average length of the ridges 93. The extent of the non-planted area 94 is estimated as a rectangle having the width and length of the non-planted area 94 calculated as described above.

[0042] Step S04 is executed after step S03 in Fig. 3. In step S04, the actual work area estimation unit 524 of the work area management device 5 estimates the range of the actual work area in the field 9.

[0043] More specifically, the actual work area estimation unit 524 estimates the range of the actual work area by excluding the range of the non-planting area 94 estimated in step S03 from the work area calculated based on the position information, and calculates the area of ​​the plate for the estimated actual work area. The work area may be calculated by the position information acquisition unit 521 in step S01 as described above, or may be calculated by the actual work area estimation unit 524 in step S04. In either case, the convex hull of the multiple positions included in the position information may be calculated, and the range obtained by extending this convex hull outward by a distance half the width of the ridge 93 may be calculated as the work area.

[0044] In the example of FIG. 4, the work area is calculated as an automatically recognized work area 71. The automatically recognized work area 71 is a range obtained by extending outward a convex hull of the positioning points not included in headland 91, which is not the work target, outward by a distance half the width of ridge 93, out of multiple positioning points included in work path 84 that passes through ridges 93A-93E and turning path 85 and movement path 86 that pass through headland 91 and move between ridges 93A-93E, the positions of which were measured by the work device 2 while moving from start point 81 to end point 87. In the example of FIG. 4, the remaining range, excluding non-planting area 94 from the automatically recognized work area 71, is estimated as the range of the actual work area.

[0045] Step S05 is executed after step S04 in Fig. 3. In step S05, the evaluation unit 525 of the work area management device 5 evaluates the production volume per unit area of ​​the actual work area as the production volume of the work area in the field 9. Here, as described above, the production volume includes the number of crop stalks planted in the actual work area, the yield of the crop harvested in the actual work area, etc.

[0046] More specifically, the evaluation unit 525 acquires information representing the production volume of the ridges 93 and calculates the production volume per unit area of ​​the actual work area. The information representing the production volume may be stored, for example, in the database 532 of the work area management device 5. The evaluation unit 525 stores the production volume per unit area of ​​the actual work area in the database 532 as an evaluation related to the production volume of the work area.

[0047] Step S06 is executed after step S05 in Fig. 3. In step S06, the output unit 526 of the work area management device 5 outputs to the outside information indicating the range of the actual work area, the production volume per unit area of ​​the actual work area, an evaluation of the production volume of the work area, etc.

[0048] More specifically, the output unit 526 controls the communication device 54 to output information indicating the area of ​​the actual work area, the production volume per unit area of ​​the actual work area, etc. to the outside via the network 4. The output unit 526 may control the input / output device 55 to output this information to the outside as an image or sound.

[0049] After step S06 in FIG. 3, the process of the flowchart in FIG. 3 ends.

[0050] As described above, according to one embodiment, the present disclosure can easily and accurately estimate the actual work area by considering the possibility that the work area may contain non-planted areas 94. As a result, the production volume per unit area of ​​the work area can be easily and accurately evaluated.

[0051] (Variation) In the example shown in Figure 4, a configuration has been described in which the working device 2 moves from one ridge 93 to an adjacent ridge 93. As a variation of this configuration, the working device 2 may perform so-called row skipping, in which, after one ridge 93, it moves to a ridge 93 other than the adjacent ridge 93. As an example of row skipping, the working device 2 may perform work by moving from ridge 93A to ridge 93C, ridge 93E, ridge 93D, and ridge 93B shown in Figure 4 in this order.

[0052] The invention made by the inventor has been specifically described above based on the embodiments, but it goes without saying that the present invention is not limited to the embodiments and can be modified in various ways without departing from the spirit of the invention. Furthermore, the features described in the embodiments can be freely combined within the scope of technical compatibility.

[0053] (Addendum) The work area management method, work area management system, and work area management program described in each embodiment can be described as follows.

[0054] A work area management method according to a first aspect includes: Detecting the range of the ridge on which the work device performs work while moving in a linear manner based on position information acquired at each of a plurality of times of the work device performing work while moving within the field; When the furrow distance, which is the distance between two adjacent furrows, is longer than a predetermined threshold, estimating the area of ​​a non-planted region existing between the two furrows, in which the crop that is the subject of the work is not to be planted, based on the furrow length, which is the length of the furrows in the direction in which the furrows extend, and the furrow distance; Estimating the area of ​​an actual work area in the field, excluding the non-planting area, from the work area in which the work device performed the work; outputting information representing the area of ​​the actual work area to the outside; Includes:

[0055] A work area management method according to a second aspect is the work area management method according to the first aspect, The control ridges provided between the ridges and used as passages when carrying out control work are detected as the non-planted areas. Further includes:

[0056] A work area management method according to a third aspect is the work area management method according to the first or second aspect, The threshold value is a value obtained by adding a predetermined value to a statistical value of the plurality of inter-row distances or a value obtained by multiplying the statistical value by a predetermined coefficient.

[0057] A work area management method according to a fourth aspect is a work area management method according to any one of the first to third aspects, Evaluating the production volume per unit area of ​​the working area based on the area of ​​the actual working area. Further includes:

[0058] A work area management system according to a fifth aspect includes: a ridge detection unit that detects the range of a ridge along which a work device performs work while moving in a farm field, based on position information acquired at each of a plurality of times from the work device; and a non-planting area estimation unit that, when the furrow distance, which is the distance between two adjacent furrows, is longer than a predetermined threshold, estimates the area of ​​a non-planting area that exists in the area between the two furrows and in which the crop that is the target of the work is not planted, based on the furrow length, which is the length of the furrows in the direction in which the furrows extend, and the furrow distance; an actual work area estimation unit that estimates the area of ​​an actual work area in the field, excluding the non-planting area, from the work area in which the work device performed the work; an output unit that outputs information representing the area of ​​the actual work area to the outside; Equipped with.

[0059] A work area management program according to a sixth aspect is a program for causing a computing device to execute a predetermined process, The process comprises: Detecting the range of the ridge on which the work device performs work while moving in a linear manner based on position information acquired at each of a plurality of times of the work device performing work while moving within the field; When the furrow distance, which is the distance between two adjacent furrows, is longer than a predetermined threshold, estimating the area of ​​a non-planted region existing between the two furrows, in which the crop that is the subject of the work is not to be planted, based on the furrow length, which is the length of the furrows in the direction in which the furrows extend, and the furrow distance; Estimating the area of ​​an actual work area in the field, excluding the non-planting area, from the work area in which the work device performed the work; outputting information representing the area of ​​the actual work area to the outside; Includes: [Explanation of symbols]

[0060] 1. Work Area Management System 2. Work equipment 3. Devices equipped with the device 4 Network 5 Work area management device 51 Bus 52 Arithmetic unit 521 Location information acquisition unit 522 Ridge detection unit 523 Non-planted area estimation section 524 Actual Working Area Estimation Unit 525 Evaluation Department 526 Output section 53 Storage device 530 Recording Media 531 Program Memory Unit 532 databases 54 Communication equipment 55 Input / Output Devices 71 Automatic recognition work area 81 Starting point 82A, 82B end 83A, 83B end 84A, 84B Work route 85A Turning Path 86 Movement Route 87 End Point 9. Field 91 Headland 92A, 92B planting area 93A, 93B, 93C, 93D Furrows 94 Non-planted area

Claims

1. A work area management device detects the range of a ridge on which a work device performs work while moving in a linear manner, based on position information acquired at each of a plurality of times from the work device that performs work while moving within a field; When the furrow distance, which is the distance between two adjacent furrows, is longer than a predetermined threshold, the work area management device estimates the range of a non-planting area existing in the area between the two furrows, in which the crop that is the subject of the work is not to be planted, based on the furrow length, which is the length of the furrow in the direction in which the furrow extends, and the furrow distance; the work area management device estimates the range of an actual work area, excluding the non-planting area, from the work area in the field where the work device performed the work; the work area management device outputs information indicating the range of the actual work area to the outside; Contains How to manage your work area.

2. 2. The work area management method according to claim 1, The work area management device detects, as the non-planting area, pest control ridges that are provided between the ridges and that are used as passageways when performing pest control work. Also includes How to manage your work area.

3. 3. The work area management method according to claim 1, further comprising: The threshold value is a value obtained by adding a predetermined value to a statistical value of the plurality of inter-row distances or a value obtained by multiplying the statistical value by a predetermined coefficient. How to manage your work area.

4. 2. The work area management method according to claim 1, The work area management device evaluates the production volume per unit area of ​​the work area based on the area of ​​the actual work area. Also includes How to manage your work area.

5. a ridge detection unit that detects the range of a ridge along which a work device performs work while moving in a farm field, based on position information acquired at each of a plurality of times from the work device; and a non-planting area estimation unit that, when the furrow distance, which is the distance between two adjacent furrows, is longer than a predetermined threshold, estimates the range of a non-planting area that exists in the area between the two furrows and in which the crop that is the target of the work is not planted, based on the furrow length, which is the length of the furrow in the direction in which the furrow extends, and the furrow distance; an actual work area estimation unit that estimates the range of an actual work area within the field, excluding the non-planting area, from the work area in which the work device performed the work; an output unit that outputs information representing the range of the actual work area to the outside; Equipped with Work area management system.

6. A work area management program for causing a computing device to execute a predetermined process, The process comprises: Detecting the range of the ridge on which the work device performs work while moving in a linear manner based on position information acquired at each of a plurality of times of the work device performing work while moving within the field; When the furrow distance, which is the distance between two adjacent furrows, is longer than a predetermined threshold, estimating the range of a non-planting area existing in the area between the two furrows, in which the crop that is the subject of the work is not to be planted, based on the furrow length, which is the length of the furrow in the direction in which the furrow extends, and the furrow distance; Estimating the range of an actual work area, excluding the non-planting area, from the work area in the field where the work device performed the work; outputting information representing the range of the actual work area to the outside; Contains Workspace management program.

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