Workload information correction method, workload information correction system, and workload information correction program

Abstract

To calculate workload in a work area accurately while automatically detecting the work area of a work device which performs work on a predetermined target in a farm field.SOLUTION: A workload information correction method includes: acquiring position information of multiple measurement points (81, 82, 83) through which a work device (2) passed through while working in a farm field (9) and workload information indicating workload obtained by measuring a target of the work (S1); calculating positions and ranges of work areas (71, 72) in which the work device worked, calculating, as work-area total workload, the sum of the workloads in effective measurement points (81) included in each of the work areas, out of the measurement points, and calculating the sum of the workloads in the farm field, as field total workload (S2); and correcting the work-area total workload for each work area, when a difference between the sum of the work-area total workloads and the field total workload exceeds a predetermined threshold, on the basis of the workloads in ineffective measurement points (82, 83) located outside the work areas, out of the measurement points (S4).SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a work amount information correction method, a work amount information correction system, and a work amount information correction program, and can be suitably used for a process of correcting work amount information representing the work amount obtained by measuring the target of work performed in a field, for example.

Background Art

[0002] Patent Document 1 (Japanese Unexamined Patent Application Publication No. 2022-30855) discloses a work management system. According to this work management system, when a work machine such as a harvester executes work such as harvesting crops while moving within a field, position information of a plurality of positions where the work machine has moved is acquired, and a work area in the field where the work machine has executed work can be calculated based on the position information. Further, work information such as the amount of crops harvested at these plurality of positions can be acquired, and the yield of the work area can be calculated.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In Patent Document 1, it is assumed that work such as harvesting work is being executed when the work machine moves within the field. However, in reality, there may be cases where the work machine does not execute work when it moves within the field. Generally, the speed at which the work machine moves within the field differs depending on whether work is being executed or not. Therefore, if the moving speed range during work and the moving speed range when no work is being performed are set in advance, based on the moving speed for each measurement point of the work machine, it is possible to detect the work area in the field where the work machine has executed work while moving.

[0005] On the other hand, due to factors such as the distribution of crop growth in the field and differences in the work capabilities of the operators of the machinery, the movement speed of the machinery may deviate from the pre-set range of movement speeds during operation. In such cases, the positioning point where the work was performed may not be detected as part of the work area. Furthermore, if the positioning point where harvesting was performed is not detected as part of the work area, a problem may occur where the yield at that positioning point is not included in the total yield of the work area.

[0006] In view of the above circumstances, one of the objectives of this disclosure is to provide a method for correcting work volume information, a system for correcting work volume information, and a program for correcting work volume information for accurately calculating the amount of work in a work area while automatically detecting the work area of ​​a work device that performs work on a predetermined target in a field. Other issues and novel features will become apparent from the description herein and the accompanying drawings. [Means for solving the problem]

[0007] The means for solving the problem are described below using the numbers and symbols used in the embodiments for carrying out the invention. These numbers and symbols are added in parentheses for reference to show an example of the correspondence between the claims and the embodiments for carrying out the invention. Therefore, the claims should not be interpreted restrictively because of the parenthetical statements.

[0008] According to one embodiment, the work volume information correction method includes acquiring position information, which measures the position of the work device (2) at each of the multiple positioning points (81, 82, 83) that the work device (2) has passed through while performing work on a predetermined object in the field (9), and work volume information, which represents the amount of work measured on the object (S1). The work volume information correction method further includes calculating the position and range of each work area (71, 72) demarcated by the start and end of the work volume work, based on the position information (S2). The work volume information correction method further includes calculating the sum of the work volumes at the effective positioning points (81) included in each work area (71, 72) from among the multiple positioning points (81, 82, 83), as the total work volume for each work area (71, 72), based on the work volume information (S2). The work volume information correction method further includes calculating the sum of the work volumes as the total field work volume, based on the work volume information (S2). The work volume information correction method further includes correcting the total work volume for each work area (71, 72) based on the work volume at invalid positioning points (82, 83) located outside the work area (71, 72) among multiple positioning points (81, 82, 83) when the difference between the sum of the total work volume for each work area and the total work volume for the field exceeds a predetermined threshold (S4). The work volume information correction method further includes outputting information representing the corrected total work volume for each work area to an external source (S5).

[0009] According to one embodiment, the work volume information correction system (1) comprises an acquisition unit (521), a correction unit (522), and an output unit (523). The acquisition unit (521) acquires position information, which measures the position of the work device (2) at each of the multiple positioning points (81, 82, 83) that the work device (2) passes through while performing work on a predetermined object in the field (9), and work volume information, which represents the amount of work measured on the object. The acquisition unit (521) further calculates the position and range of each work area (71, 72) demarcated by the start and end of the work, based on the position information. The acquisition unit (521) further calculates the sum of the work volumes at the effective positioning points (81) included in each work area (71, 72) from among the multiple positioning points (81, 82, 83), as the total work volume for each work area (71, 72), based on the work volume information. The acquisition unit (521) further calculates the sum of the work amounts based on the work amount information as the total field work amount. The correction unit (522) corrects the total work amount for each work area (71, 72) based on the work amount at invalid positioning points (82, 83) that are outside the work areas (71, 72) among the multiple positioning points (81, 82, 83). The output unit (523) outputs information representing the corrected total work amount for each work area to the outside.

[0010] According to one embodiment, the work volume information modification program is a work volume information modification program that is executed by a calculation unit (52) to realize a predetermined process, which includes acquiring position information (S1) of the work device (2) at each of a plurality of positioning points (81, 82, 83) that the work device (2) has passed through while performing work on a predetermined object in the field (9), and work volume information (S2) representing the amount of work measured on the object. This process further includes calculating the position and range of each work area (71, 72) demarcated by the start and end of the work based on the position information (S2). This process further includes calculating the sum of the amounts of work at the effective positioning points (81) included in each work area (71, 72) from among the plurality of positioning points (81, 82, 83) as the total work area for each work area (71, 72) based on the work volume information (S2). This process further includes calculating the sum of the work amounts as the total field work amount based on the work amount information (S2). This process further includes correcting the total work amount for each work area (71, 72) based on the work amount at invalid positioning points (82, 83) that are outside the work areas (71, 72) among a plurality of positioning points (81, 82, 83) when the difference between the sum of the total work amounts for each work area and the total field work amount exceeds a predetermined threshold (S4). This process further includes outputting information representing the corrected total work amount for each work area to the outside (S5). [Effects of the Invention]

[0011] According to one embodiment, the work area of ​​the work device performing the work can be automatically detected, and the amount of work in the work area can be calculated with high accuracy. [Brief explanation of the drawing]

[0012] [Figure 1] Figure 1 is a diagram showing one example configuration of a workload information correction system according to one embodiment. [Figure 2] Figure 2 is a block circuit diagram showing one example configuration of a work volume information correction device according to one embodiment. [Figure 3]Figure 3 is a flowchart illustrating an example of the processing for a method of correcting workload information according to one embodiment. [Figure 4] Figure 4 is a diagram illustrating the work area and positioning points before the work amount information is corrected using a work amount information correction method according to one embodiment. [Figure 5] Figure 5 is a diagram illustrating a process in which the workload of a determination positioning point is added to the total workload of an appropriate work area in a workload information correction method according to one embodiment. [Figure 6] Figure 6 illustrates the process of adding a determination positioning point to an appropriate work area using a work volume information correction method according to one embodiment. [Figure 7] Figure 7 is a diagram illustrating a process that focuses on a set of determination positioning points in a work volume information correction method according to one embodiment. [Modes for carrying out the invention]

[0013] Referring to the attached drawings, the forms for implementing the work volume information modification method, work volume information modification system, and work volume information modification program according to this disclosure are described below.

[0014] (First Embodiment) As shown in Figure 1, the workload information correction system 1 according to one embodiment includes a workload information correction device 5. The workload information correction system 1 may further include an onboard terminal 3 and / or an external terminal 6.

[0015] The mounted terminal 3 is mounted on the work device 2. The work device 2 includes a tractor that tows harvesters and sprayers for pest control while moving on the ground in the field 9, a combine harvester which is a machine specifically for harvesting, a vegetable harvester, and a sprayer which is a machine specifically for pest control. The work device 2 may further include a drone which performs agricultural work while flying above the field 9. The following description will focus on the case in which the work device 2 performs crop harvesting work in the field 9, but this is merely an example, and this embodiment is not limited to this example.

[0016] The external terminal 6 may include a smartphone, a tablet terminal, or the like having a communication function, a display function, and an input function.

[0017] The workload information correction device 5, the on-vehicle terminal 3, and the external terminal 6 transmit and receive various information through wireless communication and / or wired communication via the network 4. As an example, when the work device 2 is working while moving within the farm field 9, the on-vehicle terminal 3 transmits work information including position information of a plurality of points passed through, measured by GNSS (Global Navigation Satellite System), etc., to the workload information correction device 5 via the network 4. The points where the position is measured in this way are also called measurement points. The work information may further include the workload obtained by measuring the object on which the work device 2 has worked for each measurement point. As an example, the object is a crop, the work is a harvesting work for harvesting the crop, and the workload is the yield obtained by weighing the harvested crop. The workload information correction device 5 records the received work information. The recorded work information may include the position information and workload information of the in-work measurement points passed through while the work device 2 is working in the farm field 9, and the position information and workload information of the measurement points passed through while the work device 2 is moving without working in the farm field 9. The external terminal 6 receives the information transmitted by the workload information correction device 5 and outputs the information so that the user operating the external terminal 6 can confirm it visually or the like.

[0018] As shown in FIG. 2, the workload information correction device 5 according to an embodiment may be configured as a so-called computer. In the example of FIG. 2, the workload information correction device 5 includes a bus 51, an arithmetic unit 52, a storage device 53, a communication device 54, and an input / output device 55. The bus 51 may be configured to realize communication among the arithmetic unit 52, the storage device 53, the communication device 54, and the input / output device 55.

[0019] The arithmetic unit 52 includes an acquisition unit 521, a correction unit 522, and an output unit 523. The storage device 53 includes a program storage unit 531. The program storage unit 531 stores a workload information correction program.

[0020] The arithmetic unit 52 realizes the functions of the acquisition unit 521, the correction unit 522, and the output unit 523 by executing a workload information correction program. Each of the acquisition unit 521, the correction unit 522, and the output unit 523 is a virtual functional block that executes a process realized by the cooperation of the arithmetic unit 52 and the storage device 53. The acquisition unit 521 receives work information from the mounted terminal 3, and acquires position information and yield information as the workload at each measurement point where the work device 2 has passed within the field 9. Further, the acquisition unit 521 calculates the position and range of the work area in the field 9 where the work device 2 has performed work based on the position information. Further, the acquisition unit 521 calculates, for each work area, the total yield of the crops harvested by the work device 2 as the total workload based on the yield information as the workload. Further, the acquisition unit 521 calculates the total field yield of the crops harvested by the work device 2 in the field 9 as the total field workload based on the yield information as the workload. When the difference between the sum of the total harvest amounts of the work areas in the field 9 as the total workload of the work areas and the total field harvest amount as the total field workload exceeds a predetermined threshold, the correction unit 522 corrects the total harvest amount information as the total workload information of each work area. The output unit 523 outputs the total harvest amount information of each work area as the total workload information. More specific processing of these functional blocks will be described later.

[0021] The workload information correction 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.

[0022] The communication device 54 communicates with external devices including the mounted terminal 3 and the external terminal 6 by wireless communication and / or wired communication via the network 4.

[0023] The input / output device 55 outputs information to the user and receives operations input by the user. As an example, the input / output device 55 includes a display device that outputs an image, a keyboard that receives input, and / or a mouse, etc.

[0024] For example, the external terminal 6 may also be configured as a computer comprising a processing unit, a storage device, a communication device, and an input / output device. The input / output device may include a touch panel that integrates a display device for outputting images and a touchpad for receiving input via touch operation.

[0025] Referring to the flowchart in Figure 3, an example of the processing of the workload information correction method according to one embodiment will be described. The processing of the workload information correction method may start when the workload information correction device 5 is started. At this time, the processing of the workload information correction method is realized when the calculation unit 52 of the workload information correction device 5 executes the workload information correction program.

[0026] When the processing of the flowchart in Figure 3 begins, step S1 is executed. In step S1, the acquisition unit 521 in Figure 2 acquires work information transmitted from the mounted terminal 3 in Figure 1. Here, the work information includes location information and yield information as work amount information.

[0027] Position information is obtained by automatically measuring the position of the work device 2 at each of several points it passes through while performing crop harvesting work in the field 9. Hereafter, the points where the position of the work device 2 is measured will be referred to as positioning points. Position measurements may be performed at predetermined intervals, for example, every minute. As an example, the position information includes information representing a combination of the latitude, longitude, and altitude of each positioning point and the positioning time at which the position was measured.

[0028] Yield information, as work volume information, is obtained by a yield sensor mounted on the work device 2, which automatically measures the yield of crops harvested by the work device 2 at each positioning point. For example, the yield information at a positioning point of interest represents the yield of crops harvested while moving from the previous positioning point (the point where the position was measured immediately before) to the current positioning point.

[0029] After step S1 in Figure 3, step S2 is executed. In step S2, the acquisition unit 521 calculates the total amount of work in the work area, which is the sum of the work area included in the field 9 and the amount of work measured on the objects that the work device 2 worked on in the work area, and the total amount of work in the field, which is the sum of the work measured on the objects that the work device 2 worked on in the field 9, based on the location information and amount of work information included in the work information. For example, the total amount of work in the work area is the sum of the yields measured on the crops harvested in the work area, and the total amount of work in the field is the sum of the yields measured on the crops harvested in the field.

[0030] The work area is the range within field 9 that the work device 2 moves through from the start to the end of the harvesting operation. If the harvesting of crops in field 9 is interrupted midway, multiple work areas, demarcated by the start and end of the harvesting operation, may exist within a single field 9. As an example, as shown in Figure 4, work areas 71 and 72 are calculated as the convex and concave hulls of multiple positioning points 81 that the work device 2 passes through while performing the crop harvesting operation. In the example in Figure 4, positioning points 82 and 83 also exist outside of work areas 71 and 72.

[0031] Furthermore, the period during which the work device 2 performed harvesting work may be detected based on the movement speed of the work device 2. Generally, the movement speed of the work device 2 while performing harvesting work in the field 9 is slower than the movement speed of the work device 2 while moving in the field 9 without performing harvesting work. By appropriately setting the working speed range, which includes the movement speed of the work device 2 while performing harvesting work in the field 9, based on prior measured values, it can be estimated that the work device 2 is performing harvesting work when its movement speed falls within the working speed range. Furthermore, the movement speed of the work device 2 may be calculated for each positioning point based on the distance between two consecutive positioning points and the time interval between positioning, or it may be obtained as measured vehicle speed information of the actual vehicle speed of the work device 2.

[0032] The total yield in the work area, as the total amount of work in the work area, is the sum of the crop yields harvested at each of the multiple positioning points 81 included in the work areas 71 and 72 of interest.

[0033] The total field yield, as the total field work volume, is the sum of the crop yields harvested at each of the multiple positioning points 81, 82, and 83 located within field 9 of interest.

[0034] Here, the total yield of field 9, which is the total amount of work done in the field we are focusing on, may not match the sum of the total yields of the work areas 71 and 72 included in field 9. This is because, among the positioning points 81, 82, and 83 included in field 9, there may be positioning points 82 and 83 that have yields but are not included in any of the work areas 71 and 72 included in field 9. Such a situation can occur, for example, when the movement speed of the work machine deviates from the predetermined working speed range during harvesting due to the distribution of crop growth in field 9 or differences in the work abilities specific to the workers operating the work machine. For convenience, positioning points 82 and 83 included in field 9 that are not included in any of the work areas 71 and 72 included in field 9 will be called invalid positioning points 82 and 83. Of the invalid positioning points 82 and 83, the invalid positioning point 82 that has a yield as a work amount is referred to as the target positioning point 82 for convenience. A positioning point 81 that is determined to be included in the work area 71 and 72 based on the movement speed of the work device 2 and that has a yield as a work amount is referred to as an effective positioning point 81.

[0035] After step S2 in Figure 3, step S3 is executed. In step S3, the correction unit 522 in Figure 2 determines whether the difference between the sum of the total work amounts for each work area 71 and 72 and the total work amount for the field exceeds a predetermined threshold. If the result of the determination is that the difference between the sum of the total work amounts for each work area 71 and 72 and the total work amount for the field exceeds the predetermined threshold (Yes), the process proceeds to step S4. Conversely, if the difference between the sum of the total work amounts for each work area 71 and 72 and the total work amount for the field does not exceed the predetermined threshold (No), the process proceeds to step S5. The threshold used here may be appropriately set to match the allowable error as the difference between the sum of the total work amounts for each work area 71 and 72 and the total work amount for the field.

[0036] In step S4 of Figure 3, the modification unit 522 of Figure 2 modifies the total work volume information for each of the work areas 71 and 72. The total work volume information is information that represents the total amount of work. The modification unit 522 adds the work volume of each target positioning point 82 included in the field 9 to the total work volume of the work area 71 or 72 that is closest to the target positioning point 82 among the work areas 71 and 72 included in the field 9.

[0037] In the example in Figure 5, since work area 71 is closer to the target positioning point 82A than work area 71 and 72 included in field 9, the correction unit 522 in Figure 2 adds the yield as work volume at the target positioning point 82A in Figure 5 to the total yield of work area 71, which is the total work volume. Similarly, since work area 72 is closer to the target positioning point 82B in Figure 5 than work area 71 and 72 included in field 9, the correction unit 522 in Figure 2 adds the yield as work volume at the target positioning point 82B in Figure 5 to the total yield of work area 72, which is the total work volume. After step S4 in Figure 3, step S5 is executed.

[0038] In step S5 of Figure 3, the output unit 523 of Figure 2 outputs total work volume information for each of the work areas 71 and 72. More specifically, the output unit 523 outputs total work volume information representing the total work volume for field 9 and total work volume information representing the total work volume for work areas 71 and 72 by controlling the communication device 54 and transmitting it to the external terminal 6 of Figure 1. The external terminal 6 outputs the received total work volume information by displaying it so that the user can see it.

[0039] After step S5 in Figure 3, the process in the flowchart in Figure 3 is completed.

[0040] As described above, according to this embodiment, the amount of work in the work areas 71 and 72 can be accurately calculated by automatically detecting the work areas 71 and 72 where the work device 2 performs work based on its movement speed, and appropriately adding the amount of work of the target positioning point 82 that was not included in the work areas 71 and 72 due to exceptional movement speeds or other reasons.

[0041] (Variation: Application to tasks other than harvesting) In the embodiment described above, the configuration of the work device 2 in Figure 1 when harvesting crops in a field 9 was explained. As a modification of this configuration, if the work device 2 in Figure 1 is a tractor that tows a sprayer for pest control, or a sprayer as a dedicated pest control machine, the work device 2 may also perform pesticide spraying. In this case, the object of work performed by the work device 2 is pesticide, the work performed by the work device 2 is pest control work by spraying pesticide, and the amount of work is the increase or decrease in pesticide amount measured by the amount of pesticide consumed or remaining in the tank sprayed by the work device. Therefore, by replacing the yield in the above explanation with the increase or decrease in pesticide amount, the effect is obtained that the increase or decrease in pesticide amount in the work areas 71 and 72 can be corrected and calculated accurately, similar to when correcting the yield. As a further modification, the work device 2 may also perform fertilizer application work. In these cases, the object of work performed by the work device 2 is fertilizer, the work performed by the work device 2 is fertilization work, and the amount of work is the amount of fertilizer applied by the work device 2, which is measured. Therefore, by replacing the yield in the above explanation with the amount of fertilizer applied, the amount of fertilizer applied in the work areas 71 and 72 can be corrected and calculated accurately, similar to how the yield is corrected.

[0042] (Variation: Another method of determination) In the embodiment described above, a configuration was described in which, in step S3 of Figure 3, it is determined whether the difference between the sum of the total work amounts of each work area 71 and 72 and the total work amount of the field exceeds a predetermined threshold, and based on the result, it is decided whether or not to execute step S4 to correct the total work amount information of the work areas 71 and 72. As a modification of this configuration, it is also possible to determine whether or not the ratio between the sum of the total work amounts of each work area 71 and 72 and the total work amount of the field exceeds a predetermined threshold, and based on the result, it is decided whether or not to execute step S4 to correct the total work amount information of the work areas 71 and 72. As a further modification, it is also possible to determine whether or not the total number of target positioning points 82 exceeds a predetermined threshold, and based on the result, it is decided whether or not to execute step S4 to correct the total work amount information of the work areas 71 and 72.

[0043] (Example: When the total workload information for the work area must be corrected) In the embodiment described above, a configuration was explained in which, in step S3 of Figure 3, it is determined whether the difference between the sum of the total work amounts of each work area 71 and 72 and the total work amount of the field exceeds a predetermined threshold, and based on the result, it is decided whether or not to execute step S4, which modifies the total work amount information of the work areas 71 and 72. As a modification of this configuration, the threshold may be set to zero, thereby ensuring that step S4, which will be described below, is executed. In this case, step S3 may be omitted.

[0044] (Variation: When outputting total workload information using a workload information correction device) In the embodiment described above, a configuration was described in which, in step S5 of Figure 3, the total information output by the output unit 523 of Figure 2 is displayed and output by the external terminal 6 of Figure 1. As a variation of this configuration, the total amount of work information output by the output unit 523 of Figure 2 may be displayed and output by the input / output device 55.

[0045] (Second embodiment) The configuration of the workload information correction system 1 and the workload information correction device 5 according to this embodiment is the same as in the first embodiment shown in Figures 1 and 2, respectively. The configuration of the workload information correction method and the processing of the workload information correction program according to this embodiment can be obtained by making the following changes to the flowchart shown in Figure 3.

[0046] In the first embodiment described above, in step S4 of Figure 3, the amount of work for each target positioning point 82 included in the field 9 is added to the total amount of work for the work area 71 and 72 closest to the target positioning point 82 among the work areas 71 and 72 included in the field 9. At this time, the target positioning point 82 remains outside the work area 71 and 72, and the range of the work areas 71 and 72 does not change.

[0047] In this embodiment, in step S4 of Figure 3, each target positioning point 82 included in the field 9 is added to the work area 71 or 72 included in the field 9 that is closest to the target positioning point 82. As a result, as shown in Figure 6, the total work volume of the modified work areas 71A and 72A is modified to increase by the amount of work volume of the added target positioning point 82, and the range of the work areas 71A and 72A is also modified.

[0048] As described above, according to this embodiment, the work device 2 automatically detects the work areas 71 and 72 where harvesting is performed based on the movement speed, and by adding the target positioning point 82 that was not included in the work areas 71 and 72 due to exceptional movement speed or other reasons to the appropriate work areas 71 and 72, the amount of work and range in the corrected work areas 71A and 72A can be calculated with high accuracy.

[0049] (Third embodiment) The configuration of the workload information correction system 1 and the workload information correction device 5 according to this embodiment is the same as in the first and second embodiments shown in Figures 1 and 2, respectively. The configuration of the workload information correction method and the processing of the workload information correction program according to this embodiment can be obtained by making the following changes to the flowchart shown in Figure 3.

[0050] In this embodiment, in step S3 of Figure 3, attention is paid to the total number of target positioning points 82 with work available among the invalid positioning points 82 and 83. If the total number of target positioning points 82 exceeds a predetermined threshold (Yes), the process proceeds to step S4. Conversely, if the total number of target positioning points 82 does not exceed a predetermined threshold (No), the process proceeds to step S5.

[0051] In this embodiment, in step S4 of Figure 3, the modification unit 522 of Figure 2 appropriately expands the working speed range so that at least a portion of the target positioning point 82 is included in either of the working areas 71 and 72 as an effective positioning point 81. Subsequently, under the control of the modification unit 522, the acquisition unit 521 performs the same processing as in step S2 of Figure 3. More specifically, the acquisition unit 521 performs the extraction of effective positioning points 81, the calculation of the positions and ranges of the working areas 71 and 72, and the calculation of the total working area for working areas 71 and 72 again, based on the working speed range expanded by the modification unit 522. As a result, the range and total working area information for working areas 71 and 72 are modified.

[0052] As described above, according to this embodiment, by appropriately expanding the working speed range used when the work device 2 automatically detects the work areas 71 and 72 based on the movement speed, target positioning points 82 that were not included in the work areas 71 and 72 due to exceptional movement speeds or other reasons under the judgment conditions before the expansion are added to the appropriate work areas 71 and 72. As a result, the amount of work and range in the modified work areas 71A and 72A shown in Figure 6 can be calculated with high accuracy.

[0053] (Variation: Another method of determination) In the embodiment described above, a configuration was described in which, in step S3 of Figure 3, it is determined whether the total number of target positioning points 82 exceeds a predetermined threshold, and based on that result, it is determined whether or not to execute step S4. As a modification of this configuration, as shown in Figure 7, it is also possible to determine whether or not the amount of work in the set 73 of target positioning points 82 exceeds a predetermined threshold, and based on that result, it is determined whether or not to execute step S4. For example, when the work device 2 performs harvesting work on crops, the amount of work in the set 73 may be the total yield outside the work area, which is the sum of the crops harvested in the set 73.

[0054] Although the invention made by the inventor has been specifically described above based on each embodiment, it goes without saying that the present invention is not limited to each embodiment and can be modified in various ways without departing from its essence. Furthermore, the features described in each embodiment can be freely combined within a range that does not contradict the technical aspects.

[0055] (Note) The work volume information modification method, work volume information modification system, and work volume information modification program described in each embodiment can be described as follows:

[0056] The method for correcting workload information relating to the first aspect is: The process involves obtaining positional information, which measures the position of the work device at each of the multiple positioning points that the work device passes through while performing work on a predetermined target within the field, and work volume information, which represents the amount of work measured on the target. Based on the aforementioned location information, the location and range of each work area demarcated by the start and end of the work are calculated, Based on the aforementioned workload information, the sum of the workloads at the effective positioning points included in each of the aforementioned work areas among the multiple positioning points is calculated as the total workload for each of the aforementioned work areas. Based on the aforementioned work volume information, the sum of the aforementioned work volumes is calculated as the total work volume for the field. When the difference between the sum of the total work volume for each of the aforementioned work areas and the total work volume for the field exceeds a predetermined threshold, the total work volume for each work area is corrected based on the work volume at an invalid positioning point located outside the work area among the plurality of positioning points. Outputting information representing the total amount of work in the modified work area to an external source, Includes.

[0057] The method for correcting workload information according to the second embodiment is the method for correcting workload information according to the first embodiment, The aforementioned modifications are, The amount of work at each of the invalid positioning points is added to the total amount of work in the work area closest to each of the invalid positioning points. Includes.

[0058] The method for correcting workload information according to the third embodiment is the method for correcting workload information according to the first embodiment, The aforementioned modifications are, Of the invalid positioning points, each of the invalid positioning points whose workload exceeds a predetermined threshold is added to the work area closest to each of the invalid positioning points. The work volume of the invalid positioning point is added to the total work volume of the work area to which the invalid positioning point has been added, Includes.

[0059] The method for correcting workload information according to the fourth embodiment is a method for correcting workload information according to the second or third embodiment, The boundary of the work area is the convex or concave hull of the positioning points that the work device passed through among the plurality of positioning points from the start to the end of the work. Of the aforementioned work areas, the work area with the shortest distance from the invalid positioning point to the boundary is selected as the work area closest to the invalid positioning point. It also includes.

[0060] The fifth method for modifying workload information is a method for modifying workload information according to the second or third method, Of the aforementioned work areas, the work area that includes the effective positioning point whose position was measured at the second positioning time closest to the first positioning time when the position was measured at the invalid positioning point is selected as the work area closest to the invalid positioning point. It also includes.

[0061] The work volume information modification method relating to the sixth aspect is a work volume information modification method relating to any of the first to fifth aspects, To obtain the above means, Based on the positioning time information included in the position information, which represents the positioning time at which the position of the positioning point was measured, the speed at which the work device moved between two consecutive positioning points is calculated. Includes, The range that includes the movement speed when the work device performs the work is set as the working speed range. It further includes, Calculating the position and range of the work area is: Among the plurality of positioning points, the positioning point where the amount of work exists and where the movement speed falls within the working speed range is extracted as the effective positioning point. Includes, The aforementioned modifications are, The operating speed range is extended so that at least a portion of the invalid positioning points where the amount of work exists are extracted as valid positioning points. Based on the expanded operating speed range, the extraction of effective positioning points, the calculation of the position and range of the work area, and the calculation of the total work volume of the work area are performed again. Includes.

[0062] The work volume information modification method relating to the seventh aspect is a work volume information modification method relating to any of the first to sixth aspects, The subject mentioned above is a crop, The aforementioned operation is a harvesting operation to harvest the crop, The amount of work mentioned above is the yield obtained by weighing the crop harvested by the work device.

[0063] The method for correcting workload information according to the eighth aspect is a method for correcting workload information according to any of the first to sixth aspects, The subject mentioned above is a pesticide. The aforementioned work is a pest control operation involving the application of the aforementioned pesticide. The aforementioned work volume is the increase or decrease in pesticide amount, which is the amount of pesticide sprayed by the work device or the amount remaining in the tank, as measured.

[0064] The method for correcting workload information according to the ninth aspect is a method for correcting workload information according to any of the first to sixth aspects, The subject mentioned above is fertilizer, The aforementioned operation is a fertilization operation in which the fertilizer is spread. The amount of work is the amount of fertilizer applied by measuring the amount of fertilizer spread by the work device.

[0065] The workload information correction system according to the tenth embodiment is: The system acquires positional information, which measures the position of the work device at each of the multiple positioning points that the work device passes through while performing work on a predetermined target in the field, and work amount information, which represents the amount of work measured on the target. Based on the aforementioned location information, the respective locations and ranges of the work areas demarcated by the start and end of the work are calculated. Based on the aforementioned workload information, the sum of the workloads at the effective positioning points included in each of the aforementioned work areas among the plurality of positioning points is calculated as the total workload for each of the aforementioned work areas. Based on the aforementioned work volume information, an acquisition unit calculates the sum of the aforementioned work volumes as the total field work volume, When the difference between the sum of the total work amounts for each of the aforementioned work areas and the total work amount for the field exceeds a predetermined threshold, a correction unit corrects the total work amount for each work area based on the work amount at an invalid positioning point located outside the work area among the plurality of positioning points, An output unit that outputs information representing the total amount of work in the modified work area to the outside, It is equipped with.

[0066] The workload information correction program relating to the 11th aspect is: A work volume information modification program for achieving predetermined processing by having a computing device execute it, The aforementioned process is, The process involves obtaining positional information, which measures the position of the work device at each of the multiple positioning points that the work device passes through while performing work on a predetermined target within the field, and work volume information, which represents the amount of work measured on the target. Based on the aforementioned location information, the location and range of each work area demarcated by the start and end of the work are calculated, Based on the aforementioned workload information, the sum of the workloads at the effective positioning points included in each of the aforementioned work areas among the multiple positioning points is calculated as the total workload for each of the aforementioned work areas. Based on the aforementioned work volume information, the sum of the aforementioned work volumes is calculated as the total work volume for the field. When the difference between the sum of the total work volume for each of the aforementioned work areas and the total work volume for the field exceeds a predetermined threshold, the total work volume for each work area is corrected based on the work area at an invalid positioning point outside the work area among the plurality of positioning points. Outputting information representing the total work area of ​​the modified work area to an external source, Includes. [Explanation of Symbols]

[0067] 1. Work Area Information Correction System 2. Working equipment 3. Devices equipped with this device 4 Network 5 Work area information correction device 51 Bus 52 Arithmetic unit 521 Acquisition Department 522 Correction section 523 Output section 53 Storage device 530 Recording media 531 Program Storage Unit 54 Communication equipment 55 Input / Output Devices 6. External terminals 71, 71A, 72, 72A working area 73 Set of target positioning points 81 Effective positioning points (positioning points) 82, 82A, 82B Target positioning points (positioning points, invalid positioning points) 83 Invalid positioning points (positioning points) 9 Fields

Claims

1. The method involves obtaining position information including a combination of the position of a plurality of positioning points, where the position of the work device was measured at each of several points the work device passed through while performing work on a predetermined object in the field, and the positioning time at which the position was measured, and work amount information representing the amount of work performed, which is the result of measuring the object while moving from the previous positioning point where the position was measured one position before each of the plurality of positioning points to each of the aforementioned positioning points, Based on the position information, the position and range of each work area demarcated by the start and end of the work are calculated as the convex or concave hull of the plurality of positioning points that the work device has passed through from the start to the end. Based on the aforementioned workload information, the sum of the workloads at the effective positioning points included in each of the aforementioned work areas among the multiple positioning points is calculated as the total workload for each of the aforementioned work areas. Based on the aforementioned work volume information, the sum of the aforementioned work volumes is calculated as the total work volume for the field. When the difference between the sum of the total work volume for each of the aforementioned work areas and the total work volume for the field exceeds a predetermined threshold, the total work volume for each work area is corrected based on the work volume and position at an invalid positioning point outside the work area among the plurality of positioning points, and the movement speed of the work device at each of the plurality of positioning points. Outputting information representing the total amount of work in the modified work area to an external source, including How to modify work amount information.

2. In the method for correcting workload information according to claim 1, The aforementioned modifications are, The amount of work at each of the invalid positioning points is added to the total amount of work in the work area closest to each of the invalid positioning points. including How to modify work amount information.

3. In the method for correcting workload information according to claim 1, The aforementioned modifications are, Of the invalid positioning points, each of the invalid positioning points whose workload exceeds a predetermined threshold is added to the work area closest to each of the invalid positioning points. The work volume of the invalid positioning point is added to the total work volume of the work area to which the invalid positioning point has been added, including How to modify work amount information.

4. In the method for correcting workload information according to claim 2 or 3, The boundary of the work area is the convex or concave hull of the positioning point that the work device passed through among the plurality of positioning points from the start to the end of the work. Of the aforementioned work areas, the work area with the shortest distance from the invalid positioning point to the boundary is selected as the work area closest to the invalid positioning point. Includes How to modify work amount information.

5. In the method for correcting workload information according to claim 2 or 3, Of the aforementioned work areas, the work area that includes the effective positioning point whose position was measured at the second positioning time closest to the first positioning time when the position was measured at the invalid positioning point is selected as the work area closest to the invalid positioning point. Includes How to modify work amount information.

6. In the method for correcting workload information according to claim 1, To obtain the above means, Based on the positioning time represented by the position information, the movement speed of the work device between two consecutive positioning points is calculated. Includes, The range that includes the movement speed when the work device performs the work is set as the working speed range. It further includes, Calculating the position and range of the work area is: Among the plurality of positioning points, the positioning point where the amount of work exists and where the movement speed falls within the working speed range is extracted as the effective positioning point. Includes, The aforementioned modifications are, The operating speed range is extended so that at least a portion of the invalid positioning points where the amount of work exists are extracted as valid positioning points. Based on the expanded operating speed range, the extraction of effective positioning points, the calculation of the position and range of the work area, and the calculation of the total work volume of the work area are performed again. including How to modify work amount information.

7. In the method for correcting workload information according to claim 1, The subject mentioned above is a crop, The aforementioned operation is a harvesting operation to harvest the crop, The amount of work is the yield obtained by weighing the crop harvested by the work device. How to modify work amount information.

8. In the method for correcting workload information according to claim 1, The subject mentioned above is a pesticide. The aforementioned work is a pest control operation involving the application of the aforementioned pesticide. The aforementioned work amount is the increase or decrease in pesticide amount measured by the amount of pesticide sprayed by the work device or the amount remaining in the tank. How to modify work amount information.

9. In the method for correcting workload information according to claim 1, The subject mentioned above is fertilizer, The aforementioned operation is a fertilization operation in which the fertilizer is spread. The amount of work is the amount of fertilizer applied, which is the amount of fertilizer that was measured and spread by the work device. How to modify work amount information.

10. The system acquires position information including a combination of the position of a plurality of positioning points and the positioning time at which the position of the work device was measured at each of the plurality of points that the work device passed through while performing work on a predetermined target in the field, and work amount information representing the amount of work performed on the target as a result of measuring the target while moving from the previous positioning point that measured the position one position before each of the plurality of positioning points to each of the aforementioned positioning points. Based on the position information, the respective positions and ranges of the work areas demarcated at the start and end of the work are calculated as the convex or concave hull of the plurality of positioning points that the work device has passed through from the start to the end. Based on the aforementioned workload information, the sum of the workloads at the effective positioning points included in each of the aforementioned work areas among the plurality of positioning points is calculated as the total workload for each of the aforementioned work areas. Based on the aforementioned work volume information, an acquisition unit calculates the sum of the aforementioned work volumes as the total field work volume, When the difference between the sum of the total work amounts for each of the work areas and the total work amount for the field exceeds a predetermined threshold, a correction unit corrects the total work amount for each work area based on the work amount and position at an invalid positioning point outside the work area among the plurality of positioning points, and the movement speed of the work device at each of the plurality of positioning points. An output unit that outputs information representing the total amount of work in the modified work area to the outside, Equipped with Workload information correction system.

11. A work volume information modification program for achieving predetermined processing by having a computing device execute it, The aforementioned process is, The method involves obtaining position information including a combination of the position of a plurality of positioning points, where the position of the work device was measured at each of several points the work device passed through while performing work on a predetermined object in the field, and the positioning time at which the position was measured, and work amount information representing the amount of work performed, which is the result of measuring the object while moving from the previous positioning point where the position was measured one position before each of the plurality of positioning points to each of the aforementioned positioning points, Based on the position information, the position and range of each work area demarcated by the start and end of the work are calculated as the convex or concave hull of the plurality of positioning points that the work device has passed through from the start to the end. Based on the aforementioned workload information, the sum of the workloads at the effective positioning points included in each of the aforementioned work areas among the multiple positioning points is calculated as the total workload for each of the aforementioned work areas. Based on the aforementioned work volume information, the sum of the aforementioned work volumes is calculated as the total work volume for the field. When the difference between the sum of the total work volume for each of the aforementioned work areas and the total work volume for the field exceeds a predetermined threshold, the total work volume for each work area is corrected based on the work volume and position at an invalid positioning point outside the work area among the plurality of positioning points, and the movement speed of the work device at each of the plurality of positioning points. Outputting information representing the total amount of work in the modified work area to an external source, including Workload information correction program.

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