Method for supporting furrow arrangement, system for supporting furrow arrangement, and program for supporting furrow arrangement

Abstract

To propose a direction of ridges to a field so as to increase crop yield according to the shape of the field.SOLUTION: A ridge placement support method comprises: a step (S03) of generating basic ridge pattern information representing a basic ridge pattern including the positional relation, shape and dimension of a plurality of ridges (93) that satisfies a desired ridge arrangement condition regarding the plurality of ridges (93) arranged in a field (9); a step (S04) of determining a combination of a rotation angle (θ) of the basic ridge pattern and the positional relation with respect to the field (9) as a ridge setting candidate, based on field information representing the shape and dimension of the field (9) and the basic ridge pattern information; a step (S05) of calculating an expected crop cultivation index when a desired crop is cultivated in the field (9) according to the ridge setting candidate; and a step of (S06) of outputting cultivation index information representing the cultivation index to the outside.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a furrow arrangement support method, a furrow arrangement support system, and a furrow arrangement support program, and can be suitably used, for example, for determining the positions of a plurality of furrows in a field.

Background Art

[0002] Patent Document 1 (Japanese Patent No. 5821970) discloses a calculation method for extracting a section along a linear furrow formed in a field from the movement locus of an agricultural machine that has moved in the field and calculating the distance of this section. It is also described that the yield of agricultural crops is determined based on the distance calculated in this way.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] On the other hand, Patent Document 1 describes that the direction of the furrows is often determined corresponding to the field, and all the fields depicted in the respective drawings of Patent Document 1 are rectangular. From the viewpoint of increasing the yield of agricultural crops, it is obvious that when the field is rectangular, it is preferable to make the direction of the furrows parallel to any side of this rectangle. However, in reality, there are also quite a few fields having irregular shapes other than rectangular. In such cases, it is not easy to determine the direction of the furrows with respect to the field so as to increase the crop yield.

[0005] In view of the above circumstances, one of the objectives of this disclosure is to provide a furrowing support method, a furrowing support system, and a furrowing support program that propose the direction of furrows in a field in order to increase crop yield according to the shape of the field. Other issues and novel features will become apparent from the description herein and the accompanying drawings. [Means for solving the problem]

[0006] 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.

[0007] According to one embodiment, the furrow arrangement support method includes generating basic furrow pattern information (S03) that represents a basic furrow pattern including the positional relationship, shape, and dimensions of a plurality of furrows (93) that satisfy desired furrow arrangement conditions for a plurality of furrows (93) to be arranged in a field (9). The furrow arrangement support method further includes determining a combination of rotation angle (θ) and positional relationship of the basic furrow pattern to the field (9) as a furrow setting candidate (S04) based on field information representing the shape and dimensions of the field (9) and the basic furrow pattern information. The furrow arrangement support method further includes calculating a crop cultivation index that is expected when a desired crop is cultivated in the field (9) according to the furrow setting candidate (S05), and outputting cultivation index information representing the cultivation index to the outside (S06).

[0008] According to one embodiment, the furrow arrangement support system (1) comprises a basic furrow pattern generation unit (522), a furrow setting candidate determination unit (523), and a cultivation indicator calculation unit (524). The basic furrow pattern generation unit (522) generates basic furrow pattern information representing a basic furrow pattern including the positional relationship, shape, and dimensions of a plurality of furrows (93) that satisfy desired furrow arrangement conditions for a plurality of furrows (93) to be placed in a field (9). The furrow setting candidate determination unit (523) determines a combination of rotation angle and positional relationship of the basic furrow pattern with respect to the field (9) as a furrow setting candidate, based on field information representing the shape and dimensions of the field (9) and the basic furrow pattern information. The cultivation indicator calculation unit (524) calculates the expected cultivation indicators for the crop when the desired crop is cultivated in the field (9) according to the proposed furrow setting, and outputs cultivation indicator information representing the cultivation indicators to the outside.

[0009] According to one embodiment, the furrow arrangement support program is used to perform predetermined processing by having a computing device execute it. This processing includes generating basic furrow pattern information (S03) that represents a basic furrow pattern including the positional relationship, shape, and dimensions of a plurality of furrows (93) that satisfy desired furrow arrangement conditions for a plurality of furrows (93) to be placed in a field (9). This processing further includes determining a combination of rotation angle (θ) and positional relationship of the basic furrow pattern for the field (9) as a furrow setting candidate (S04) based on field information representing the shape and dimensions of the field (9) and the basic furrow pattern information. This processing further includes calculating the expected crop cultivation index when a desired crop is cultivated in the field (9) according to the furrow setting candidate (S05), and outputting cultivation index information representing the cultivation index to the outside (S06). [Effects of the Invention]

[0010] According to one embodiment, it is possible to propose a direction for the ridges in the field that increases the crop yield according to the shape of the field. [Brief explanation of the drawing]

[0011] [Figure 1]Figure 1 shows an example configuration of a furrow arrangement support system according to one embodiment. [Figure 2] Figure 2 is a block circuit diagram showing one example configuration of a furrow arrangement support device according to one embodiment. [Figure 3] Figure 3 is a flowchart showing an example of the processing of a furrow arrangement support method according to one embodiment. [Figure 4A] Figure 4A is a diagram illustrating the parameters included in the furrow arrangement conditions according to one embodiment. [Figure 4B] Figure 4B is a diagram illustrating a basic furrow pattern according to one embodiment. [Figure 5A] Figure 5A is a diagram illustrating an example of a method for determining a candidate furrow setting according to one embodiment. [Figure 5B] Figure 5B is a diagram illustrating an example of a method for determining a candidate furrow setting according to one embodiment. [Figure 5C] Figure 5C illustrates an example of a method for determining a candidate furrow setting according to one embodiment. [Figure 5D] Figure 5D is a diagram illustrating an example of a method for determining ridge setting candidates according to one embodiment. [Figure 6] Figure 6 shows an example of a work path according to one embodiment. [Figure 7A] Figure 7A is a diagram illustrating an example of a method for determining a candidate furrow setting according to one embodiment. [Figure 7B] Figure 7B is a diagram illustrating an example of a method for determining ridge setting candidates according to one embodiment. [Figure 7C] Figure 7C is a diagram illustrating an example of a method for determining ridge setting candidates according to one embodiment. [Figure 7D] Figure 7D illustrates an example of a method for determining ridge setting candidates according to one embodiment. [Modes for carrying out the invention]

[0012] Referring to the attached drawings, embodiments for implementing the ridge arrangement support method, ridge arrangement support system, and ridge arrangement support program according to the present disclosure will be described below.

[0013] (First Embodiment) As shown in FIG. 1, a ridge arrangement support system 1 according to an embodiment includes a ridge arrangement support device 5 and an external terminal 6. As an example, the external terminal 6 may include a smartphone, a tablet terminal, or the like.

[0014] The ridge arrangement support system 1 may further include a control device 3. The control device 3 controls the operation of a working device 2 that performs operations such as farming work while autonomously moving within the field 9. The working device 2 includes working vehicles such as a tractor that pulls a ridging machine that forms ridges in the field 9 while moving on the ground, a dedicated ridging work vehicle, and a seedling transplanter that plants seedlings in the formed ridges. These working vehicles may perform autonomous driving by mounting a positioning device using GNSS (Global Navigation Satellite System). The working device 2 may further include a drone that performs farming work while flying above the field 9.

[0015] The ridge arrangement support device 5, the external terminal 6, and the control device 3 transmit and receive various information through wireless communication and / or wired communication via the network 4. As an example, the external terminal 6 transmits information representing parameters input by the user to the ridge arrangement support device 5 via the network 4. Further, the ridge arrangement support device 5 transmits information representing a diagram showing the field 9 and the planned ridge formation positions superimposed according to the parameters input by the user to the external terminal 6 via the network 4. Furthermore, the ridge arrangement support device 5 may transmit path data for forming ridges while the working device 2 moves autonomously under the control of the control device 3 to the control device 3 via the network 4.

[0016] As shown in Figure 2, the furrow arrangement support device 5 according to one embodiment may be configured as a so-called computer. In the example in Figure 2, the furrow arrangement support 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 is configured to connect the arithmetic unit 52, the storage device 53, the communication device 54, and the input / output device 55 so that they can communicate with each other.

[0017] The calculation unit 52 includes an acquisition unit 521, a basic furrow pattern generation unit 522, a furrow setting candidate determination unit 523, a cultivation indicator calculation unit 524, and a path data generation unit 525. The storage device 53 includes a program storage unit 531 and a database 532. The program storage unit 531 stores a furrow arrangement support program. The database 532 stores field information representing the shape and dimensions of the field 9.

[0018] The arithmetic unit 52 reads and executes the furrow arrangement support program to realize the functions of the acquisition unit 521, the basic furrow pattern generation unit 522, the furrow setting candidate determination unit 523, the cultivation indicator calculation unit 524, and the path data generation unit 525. Each of the acquisition unit 521, the basic furrow pattern generation unit 522, the furrow setting candidate determination unit 523, the cultivation indicator calculation unit 524, and the path data generation unit 525 is a virtual functional block that executes processing realized by the cooperation of the arithmetic unit 52 and the storage device 53. The acquisition unit 521 acquires various parameters that represent the furrow arrangement conditions for generating a basic furrow pattern. The basic furrow pattern generation unit 522 generates basic furrow pattern information that represents a basic furrow pattern based on the furrow arrangement conditions. The ridge setting candidate determination unit 523 determines a combination of rotation angle and positional relationship of the basic ridge pattern to field 9 as a ridge setting candidate, based on field information and basic ridge pattern information. The cultivation index calculation unit 524 calculates the expected cultivation index for the crop if the desired crop is cultivated in field 9 according to the ridge setting candidate. The path data generation unit 525 generates path data representing the work path that the autonomously operating work device 2 will move along along the ridges to perform work for cultivating crops in field 9, based on the ridge setting candidate. More specific processing of these functional blocks will be described later.

[0019] The furrow arrangement support 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.

[0020] The communication device 54 communicates with external devices, including the external terminal 6 and / or the control device 3, via wireless communication and / or wired communication over the network 4.

[0021] The input / output device 55 outputs information to the user and accepts user input. For example, the input / output device 55 includes a display device that outputs images, a keyboard and / or mouse that accept input.

[0022] Referring to the flowchart in Figure 3, an example of the processing of the furrow arrangement support method according to one embodiment will be described. The processing of the furrow arrangement support method may start when the furrow arrangement support device 5 is started. At this time, the processing of the furrow arrangement support method is realized when the calculation unit 52 of the furrow arrangement support device 5 executes the furrow arrangement support program.

[0023] When the flowchart in Figure 3 starts, step S01 is executed. In step S01, the acquisition unit 521 of the furrow arrangement support device 5 acquires field information from the database 532. As described above, the field information represents the location, shape, and range of field 9.

[0024] After step S01 in Figure 3, step S02 is executed. In step S02, the acquisition unit 521 of the furrow arrangement support device 5 acquires the furrow arrangement conditions. The furrow arrangement conditions represent the conditions that must be met when arranging furrows in the field 9.

[0025] Referring to Figure 4A, the parameters included in the furrow arrangement conditions will be explained. The field 9 is divided into a headland 91 located on its periphery and a work area 92 located inside the headland 91. The headland 91 is the area extending a certain distance inward from the outer perimeter of the field 9, and this distance is called the headland width 911. The headland 91 is mainly the area for the movement of the work equipment 2, and crop cultivation does not have to be carried out in the headland 91. Multiple furrows 93 are arranged in the work area 92. Each furrow 93 is straight and arranged parallel to each other. A passage 94 is provided between two adjacent furrows 93. The width of the furrow 93 is called the furrow width 931. The furrow width 931 is uniform along the longitudinal direction of the furrow 93. The width of the passage 94 is called the passage width 941. The passage width 941 is uniform along the longitudinal direction of the passage 94. In each furrow 93, a plant 95 of the crop is planted parallel to its longitudinal direction. The distance between two adjacent plants 95 planted in the same furrow 93 is called the plant spacing 951. The plant spacing 951 is uniform along the longitudinal direction of the furrow 93.

[0026] Here, the headland width 911, the ridge width 931, the aisle width 941, and the plant spacing 951 are parameters included in the ridge arrangement conditions. The specific values ​​of these parameters may be predetermined according to the desired crop to be cultivated in the field 9, or they may be stored in the database 532 of the ridge arrangement support device 5. In this case, the acquisition unit 521 acquires the ridge arrangement conditions by reading them from the database 532.

[0027] After step S02 in Figure 3, step S03 is executed. In step S03, the basic ridge pattern generation unit 522 of the ridge arrangement support device 5 generates basic ridge pattern information representing the basic ridge pattern based on field information and ridge arrangement conditions. The basic ridge pattern represents a set of ridges 93 and pathways 94 configured to satisfy the ridge arrangement conditions.

[0028] Referring to Figure 4B, the basic furrow pattern will be explained. The basic furrow pattern includes multiple furrows 93, each formed in a straight line and arranged parallel to one another, and one passage 94 placed between two adjacent furrows 93. The basic furrow pattern information represents the positional relationship, shape, and dimensions of these multiple furrows 93. Each furrow 93 included in the basic furrow pattern may have an infinite length in the longitudinal direction of the furrow 93. The longitudinal direction of the furrow 93 is called the Y-axis direction. In addition, multiple furrows 93 included in the basic furrow pattern may be arranged infinitely in a horizontal direction perpendicular to the longitudinal direction of the furrows 93. The horizontal direction perpendicular to the longitudinal direction of the furrows 93 is called the X-axis direction. In practice, the part of the basic furrow pattern outside the work area 92 does not contribute to crop cultivation and is therefore unnecessary, so it can be omitted in the data. Note that in the examples of Figures 4A and 4B, multiple plants 95 placed on the same furrow 93 are also arranged in the Y-axis direction.

[0029] The X-axis and Y-axis directions described above are defined based on the basic furrow pattern. On the other hand, the I-axis and J-axis directions are defined based on field 9. In the examples of Figures 4A and 4B, the shape of field 9 is rectangular, and the I-axis and J-axis directions are defined as directions parallel to one of the sides of this rectangle. In the example of Figure 4A, the I-axis and X-axis directions coincide, and the J-axis and Y-axis directions coincide. On the other hand, in the example of Figure 4B, the X-axis and Y-axis directions are rotated by an angle θ counterclockwise when viewed from above, relative to the I-axis and J-axis directions, respectively. This angle θ is called the rotation angle θ of the basic furrow pattern based on field 9.

[0030] When field 9 and the basic furrow pattern are superimposed, the total number of furrows 93 included in the basic furrow pattern that are placed inside the work area 92 changes according to the rotation angle θ. The total number of furrows 93 inside the work area 92 is called the number of furrows. In the example in Figure 4A, the number of furrows is 8. In the example in Figure 4B, the number of furrows is 10.

[0031] Similarly, when the field 9 and the basic furrow pattern are superimposed, the total number of plants 95 included in the basic furrow pattern that are placed inside the work area 92 changes according to the rotation angle θ. The total number of plants 95 inside the work area 92 is called the number of plants. In the example in Figure 4B, for distinction, the plants 95 included in the basic furrow pattern that are placed inside the work area 92 are shown as black circles, and the other plants 95 are shown as white circles. In the example in Figure 4A, the number of plants is 64. In the example in Figure 4B, the number of plants is 54.

[0032] Furthermore, when superimposing the field 9 with the basic ridge pattern, the positional relationship of the basic ridge pattern to the field 9 may be determined such that the boundary line of the basic ridge pattern touches one of the corners of the work area 92. In the example in Figure 4B, the basic ridge pattern is positioned such that, of the two vertices in the -I-axis direction of the rectangular work area 92, the boundary line in the -X-axis direction of one of the ridges 93 included in the basic ridge pattern touches one vertex, and the end of one of the ridges 93 in the Y-axis direction touches the other vertex.

[0033] After step S03 in Figure 3, step S04 is executed. In step S04, the ridge setting candidate determination unit 523 of the ridge arrangement support device 5 determines ridge setting candidates based on field information and the basic ridge pattern. The ridge setting candidates are represented as a combination of the rotation angle θ and the positional relationship of the basic ridge pattern with respect to the field 9.

[0034] Referring to Figures 5A, 5B, 5C, and 5D, an example of a method for determining ridge setting candidates will be described. In Figures 5A to 5D, the field 9 is the same and the ridge arrangement conditions are the same, but the rotation angle θ is different in each case, and therefore the ridge setting candidates are also different in each case. The shape of the field 9 in Figures 5A to 5D is a hexagon, and the angle between the sides of this hexagon and the I-axis direction is zero degrees, 90 degrees, or 135 degrees. The ridge setting candidate determination unit 523 may obtain these angle values, for example, from field information. Based on these angles, the ridge setting candidate determination unit 523 may select a rotation angle θ such that the longitudinal direction of the ridge 93 is parallel or perpendicular to any side of the field 9. In the example of Figure 5A, the rotation angle θ is zero degrees. In the example of Figure 5B, the rotation angle θ is 45 degrees. In the example of Figure 5C, the rotation angle θ is 90 degrees. In the example shown in Figure 5D, the rotation angle θ is 135 degrees.

[0035] The ridge setting candidate determination unit 523 determines the positional relationship of the basic ridge pattern to the field 9 based on the selected rotation angle θ. As an example, as explained with reference to Figure 4B, the ridge setting candidate determination unit 523 may determine the positional relationship of the basic ridge pattern to the field 9 such that the boundary line of the basic ridge pattern touches one of the corners of the work area 92. The ridge setting candidate determination unit 523 determines the ridge setting candidates by determining the rotation angle θ and the positional relationship of the basic ridge pattern to the field 9.

[0036] After step S04 in Figure 3, step S05 is executed. In step S05, the cultivation indicator calculation unit 524 of the furrow arrangement support device 5 calculates a cultivation indicator based on the furrow setting candidate. The cultivation indicator includes the number of plants and the number of furrows.

[0037] In the example in Figure 5A, the number of plants is 51 and the number of rows is 5. Here, the number of plants is the total number of plants 95 that are entirely inside the work area 92, such as plant 95A, but plants 95B and others that are only partially inside the work area 92 are not included in the number of plants. Similarly, in the example in Figure 5B, the number of plants is 52 and the number of rows is 6. Here, plant 95C is included in the number of plants, but plants 95D, 95E, etc. are not included. Also, in the example in Figure 5C, the number of plants is 53 and the number of rows is 8. Here, plants 95F and 95G are included in the number of plants, but plants 95H, 95I, etc. are not included. Furthermore, in the example in Figure 5D, the number of plants is 55 and the number of rows is 8. Here, plant 95J is included in the number of plants, but plants 95K, 95L, etc. are not included.

[0038] After step S05 in Figure 3, step S06 is executed. In step S06, the cultivation indicator calculation unit 524 of the furrow arrangement support device 5 outputs cultivation indicator information in order to propose furrow setting candidates and cultivation indicators to the user. The cultivation indicator information represents the cultivation indicator and the furrow setting candidates.

[0039] More specifically, the cultivation indicator calculation unit 524 controls the communication device 54 to transmit cultivation indicator information to the external terminal 6. Upon receiving the cultivation indicator information, the external terminal 6 displays a diagram representing the positional relationship between the field 9 and the furrows 93, along with the values ​​of various parameters, on its screen. The diagram representing the positional relationship may, for example, include the field 9, the headland 91, the work area 92, the furrows 93, and the plants 95, as shown in Figure 5A. The various parameters whose values ​​are displayed may include the rotation angle θ, the number of plants, and the number of furrows. As a result, the user can efficiently grasp the number of plants and furrows corresponding to the rotation angle θ, and the positional relationship of the furrows 93 to the field 9, by looking at the display on the external terminal 6.

[0040] After step S06 in Figure 3, step S07 is executed. In step S07, the cultivation indicator calculation unit 524 of the furrow arrangement support device 5 determines whether or not the proposed cultivation indicator information displayed in step S06 has been accepted.

[0041] More specifically, in step S06, if the user accepts the diagram showing the positional relationship between the field 9 and the furrows 93, along with the values ​​of various parameters, displayed on the external terminal 6, the user operates the external terminal 6 to send an acceptance signal to the furrow arrangement support device 5, indicating acceptance of the proposal. When the cultivation indicator calculation unit 524 of the furrow arrangement support device 5 receives the acceptance signal, it determines that the proposed cultivation indicator information has been accepted, and the process proceeds to step S08 in Figure 3.

[0042] Conversely, if the user does not accept the diagram showing the positional relationship between the field 9 and the furrow 93, and the values ​​of various parameters displayed on the external terminal 6 in step S06 (No), the user may operate the external terminal 6 to change the value of the rotation angle θ. At this time, the user may store and read previously proposed cultivation indicator information in the storage device of the external terminal 6 so that the cultivation indicator information before the change in the value of the rotation angle θ can be compared with the cultivation indicator information after the change. The external terminal 6 transmits a change signal representing the changed value of the rotation angle θ to the furrow arrangement support device 5. When the cultivation indicator calculation unit 524 of the furrow arrangement support device 5 receives the change signal, it determines that the proposed cultivation indicator information was not accepted, and the process returns to step S04 in Figure 3.

[0043] In step S04, the furrow setting candidate determination unit 523 determines a new furrow setting candidate based on the value of the rotation angle θ represented by the change signal. Steps S04 to S07 are then repeated until the proposed cultivation indicator information is accepted.

[0044] As an example, by changing the rotation angle θ of the positional relationship shown in Figure 5A, the positional relationships shown in Figures 5B, 5C, and 5D can be obtained. Compared to the example in Figure 5A, in the example in Figure 5B, when the rotation angle θ is 45 degrees, the number of plants increases to 52, and the number of rows also increases to 6. Similarly, in the example in Figure 5C, when the rotation angle θ is 90 degrees, the number of plants increases to 53, and the number of rows also increases to 8. Furthermore, in the example in Figure 5D, when the rotation angle θ is 135 degrees, the number of plants increases to 55, but the total number of rows 93 containing 95 effective plants remains at 8. Thus, changing the rotation angle θ can change the number of plants and rows. Generally, increasing the number of plants increases the yield, but increasing the number of rows increases the number of turns required between rows 93, increasing the workload of cultivation and decreasing work efficiency. Users may choose a suitable rotation angle θ by deciding whether to increase the number of plants, decrease the number of rows to reduce the number of turns, or strike a balance between the two.

[0045] In step S07 of Figure 3, after obtaining "Yes" as the result of the determination, in step S08, the path data generation unit 525 of the furrow arrangement support device 5 calculates a work path based on the furrow setting candidates included in the work indicator information for which the proposal was accepted. This work path is the path that the autonomously operating work device 2 takes to move in the field 9 to perform furrowing work, as described above.

[0046] The work path is generated so that the work device 2 automatically moves in a straight line and accurately forms the ridges 93 in a straight line. More specifically, the path data generation unit 525 automatically generates a work path so that the work device 2 travels through multiple straight paths once each, traverses each straight path from one end to the other, and passes through the headland 91 when moving from one straight path for forming one ridge 93 to another. Here, the work device 2 may be a tractor that tows a ridging implement or a dedicated ridging vehicle, as described above. Also, as described above, the work device 2 may be equipped with a GNSS positioning device and perform autonomous driving.

[0047] For example, if the user accepts the furrow setting candidate shown in Figure 5B in step S07 of Figure 3, the path data generation unit 525 may generate a work path 96 as shown in Figure 6. In the example in Figure 6, the path data generation unit 525 generates a work path 96 for the work device 2 to perform the desired work while moving sequentially along furrows 93A to 93G from the starting point 961 to the ending point 962. The work path 96 generated by the path data generation unit 525 includes a turning path for the work device 2 to move from a straight path for forming a furrow 93 to a straight path for forming the next furrow 93. The path data generation unit 525 places the turning path within the headland 91.

[0048] After step S08 in Figure 3, step S09 is executed. In step S09, the path data generation unit 525 of the furrow arrangement support device 5 outputs path data representing the work path 96 generated in step S08.

[0049] More specifically, the path data generation unit 525 generates path data for the autonomously operating work device 2 to perform furrowing work while moving along the work path 96, and stores this path data in the storage device 53 of the furrowing support device 5.

[0050] The process shown in the flowchart of Figure 3 ends after step S09. The control device 3 reads path data from the storage device 53 when the work device 2 performs ridging work in the field 9, and controls the work device 2 based on the path data.

[0051] As described above, the furrow arrangement support method, furrow arrangement support system 1, and furrow arrangement support program according to one embodiment propose the direction of the furrows 93 relative to the field 9 in order to increase the crop yield according to the shape of the field 9. Furthermore, the furrow arrangement support method, furrow arrangement support system 1, and furrow arrangement support program according to one embodiment generate and output path data for the autonomously operating work device 2 to perform furrowing work while moving along a straight path arranged in the proposed direction.

[0052] Furthermore, after the formation of ridges 93 in the field 9, various operations may be carried out by another work device 2, moving along the ridges 93 using the work path 96 that was used to form the ridges 93. Here, various operations include planting seedlings, fertilizing, pest control, and harvesting. The other work device 2 may include a seedling transplanter, a fertilizer spreader, a pest control machine, a harvester, or a tractor that tows appropriate work machinery.

[0053] (modified version) In the above embodiment, the configuration described is one in which the cultivation indicator calculation unit 524 in Figure 2 outputs cultivation indicator information to the outside in step S06 of Figure 3. As a modification of this configuration, in step S06, the cultivation indicator calculation unit 524 may output work efficiency information. The work efficiency information represents the efficiency of the work performed by the work device 2 in the field 9, and includes, for example, the number of turns. The number of turns represents the number of times the work device 2, which works while moving along multiple ridges 93 in the field 9, turns without performing any work when moving between these multiple ridges 93. The number of turns is, for example, one less than the total number of ridges 93. If the number of turns is reduced, the amount of time the work device 2 is not working is reduced, and the work efficiency is increased. The user may appropriately select a desired rotation angle θ based on the work efficiency information such as the number of turns.

[0054] (Second embodiment) In the first embodiment described above, a configuration was described in which, when multiple ridges 93 extending in the Y-axis direction are arranged in the X-axis direction perpendicular to the Y-axis direction, the plants 95 are also arranged in the X-axis direction. In this embodiment, as a modification of this configuration, in step S04 of Figure 3, when the ridge setting candidate determination unit 523 of the ridge arrangement support device 5 determines a ridge setting candidate, it is possible to increase the total number of plants 95 arranged inside the work area 92 by shifting some of the ridges 93 in their longitudinal direction.

[0055] The furrow configuration candidate shown in Figure 7A is obtained by shifting furrow 93E in its longitudinal direction (for example, in the -Y axis direction) from the furrow configuration candidate shown in Figure 5A. Here, in the example of Figure 5A, only a portion of plant 95B was inside the work area 92, but in the example of Figure 7A, the entire plant is inside the work area 92. As a result, the number of plants increased from 51 in Figure 5A to 52 in Figure 7A. Note that all other configurations in Figure 5A and Figure 7A are the same.

[0056] Similarly, the furrow configuration candidate shown in Figure 7B is obtained by shifting furrows 93C and 93E in their longitudinal direction (for example, in the -Y axis direction) from the furrow configuration candidate shown in Figure 5B. Here, in the example of Figure 5B, only a portion of plants 95D and 95E were inside the work area 92, but in the example of Figure 7B, the entire plants are inside the work area 92. As a result, the number of plants, which was 52 in Figure 5B, has increased to 54 in Figure 7B. Note that all other configurations in Figure 5B and Figure 7B are the same.

[0057] Furthermore, the furrow configuration candidates shown in Figure 7C are obtained by shifting furrows 93A and 93C in the longitudinal direction from the furrow configuration candidates shown in Figure 5C. Here, in the example of Figure 5C, only a portion of plants 95H and 95I were inside the work area 92, but in the example of Figure 7C, the entire plants are inside the work area 92. On the other hand, in the example of Figure 5C, the entire plants 95F and 95G were inside the work area 92, but in the example of Figure 7C, a portion of them is outside the work area 92. As a result, the number of plants, which was 53 in Figure 5B, remains 53 in Figure 7C. Note that all other configurations in Figure 5C and Figure 7C are the same.

[0058] Furthermore, the furrow configuration candidates shown in Figure 7D are obtained by shifting furrows 93A and 93J in the longitudinal direction from the furrow configuration candidates shown in Figure 5D. Here, in the example of Figure 5D, only a portion of plants 95K and 95L were inside the work area 92, but in the example of Figure 7D, the entire plants are inside the work area 92. As a result, the number of plants, which was 55 in Figure 5D, has increased to 57 in Figure 7D. Note that all other configurations in Figure 5D and Figure 7D are the same.

[0059] Thus, compared to the first embodiment, by shifting some of the ridges 93 by an appropriate distance in the longitudinal direction, it may be possible to increase the total number of plants 95 placed inside the work area 92. In other words, by doing so, it may be possible to increase the yield of crops in the field 9. Here, the distance by which the ridges 93 are shifted is shorter than the distance between plants 951. As a specific example of this process, the ridge setting candidate determination unit 523 may, for each ridge 93 overlapping the work area 92, shift the ridge 93 in the longitudinal direction by a distance of a fraction of the distance between plants 951 until an increase in the number of plants is detected, and repeat this process until the total distance shifted reaches the distance between plants 951.

[0060] The invention made by the inventor has been described in detail based on embodiments above, but it goes without saying that the present invention is not limited to these embodiments and can be modified in various ways without departing from its essence. Furthermore, the features described in the embodiments can be freely combined within a range that does not contradict the technical aspects.

[0061] (Note) The furrow arrangement support method, furrow arrangement support system, and furrow arrangement support program described in each embodiment can be described as follows.

[0062] The first embodiment of the furrow arrangement support method is: To generate basic furrow pattern information that represents a basic furrow pattern including the positional relationship, shape, and dimensions of multiple furrows that satisfy desired furrow arrangement conditions for multiple furrows to be placed in a field, Based on the field information representing the shape and dimensions of the field and the basic ridge pattern information, a combination of rotation angle and positional relationship of the basic ridge pattern to the field is determined as a candidate for ridge setting. To calculate the expected cultivation indicator for the crop when the desired crop is cultivated in the field according to the proposed furrow setting, Outputting cultivation indicator information representing the aforementioned cultivation indicators to an external source. Includes.

[0063] The second embodiment of the furrow arrangement support method is the first embodiment of the furrow arrangement support method, The aforementioned furrow arrangement conditions are: The width of each of the aforementioned multiple ridges is the ridge width, The distance between the multiple rows arranged parallel to each other is called the furrow space, The distance to be maintained between multiple plants placed in each of the aforementioned multiple rows is the plant spacing. Includes.

[0064] The third embodiment of the furrow arrangement support method is a furrow arrangement support method according to the first or second embodiment, The aforementioned cultivation indicators are, The total number of the multiple furrows when arranged in the field according to the aforementioned furrow setting candidates, The total number of plants of the crop when planted in the multiple ridges according to the aforementioned ridge setting candidates and It includes at least one of the following.

[0065] The fourth embodiment of the furrow arrangement support method is a furrow arrangement support method relating to any one of the first to third embodiments, Outputting work efficiency information, which represents work efficiency, to an external source. It further includes, The aforementioned work efficiency information is The number of turns represents the number of times a working device, which moves along the multiple rows within the field while performing work, turns without performing any work while moving between the multiple rows. Includes.

[0066] The fifth aspect of the furrow arrangement support method is a furrow arrangement support method relating to any one of the first to fourth aspects, The above decision is, To prepare multiple of the above combinations, To select one of the aforementioned combinations as the candidate for the furrow setting. Includes.

[0067] The sixth embodiment of the furrow arrangement support method is a furrow arrangement support method relating to any one of the first to fifth embodiments, The above decision is, In the combination of rotation angles and positional relationships of the basic furrow pattern, the position of each of the multiple furrows is adjusted in the longitudinal direction of each of the multiple furrows so that the total number of crop plants that can be planted in each of the multiple furrows increases. Includes.

[0068] The seventh embodiment of the furrow arrangement support method is a furrow arrangement support method relating to any one of the first to sixth embodiments, An autonomously operating work device generates path data representing a work path that moves along the multiple furrows in order to perform work for cultivating the crop in the field, based on the furrow setting candidates. Outputting the aforementioned path data to an external source It also includes.

[0069] The ridge arrangement support system according to the eighth aspect is: A basic furrow pattern generation unit generates basic furrow pattern information that represents a basic furrow pattern including the positional relationship, shape, and dimensions of multiple furrows that satisfy desired furrow arrangement conditions for multiple furrows to be placed in a field, and A ridge setting candidate determination unit determines a combination of rotation angle and positional relationship of the ridge pattern to the field as a ridge setting candidate, based on field information representing the shape and dimensions of the field and the basic ridge pattern information. A cultivation indicator calculation unit calculates the expected cultivation indicator for the crop when the desired crop is cultivated in the field according to the candidate furrow setting, and outputs cultivation indicator information representing the cultivation indicator to the outside. It is equipped with.

[0070] The ninth aspect of the furrow arrangement support program is a furrow arrangement support program that enables predetermined processing by being executed by a computing device, The aforementioned process is, To generate basic furrow pattern information that represents a basic furrow pattern including the positional relationship, shape, and dimensions of multiple furrows that satisfy desired furrow arrangement conditions for multiple furrows to be placed in a field, Based on the field information representing the shape and dimensions of the field and the basic ridge pattern information, a combination of rotation angle and positional relationship of the ridge pattern to the field is determined as a candidate for ridge setting. To calculate the expected cultivation indicator for the crop when the desired crop is cultivated in the field according to the proposed furrow setting, Outputting cultivation indicator information representing the aforementioned cultivation indicators to an external source. Includes. [Explanation of Symbols]

[0071] 1. Furrow Placement Support System 2. Working equipment 3. Control device 4 Network 5 Ridge placement support device 51 Bus 52 Arithmetic unit 521 Acquisition Department 522 Basic furrow pattern generation unit 523 Ridge setting candidate determination section 524 Cultivation Index Calculation Department 525 Path Data Generation Unit 53 Storage device 530 Recording media 531 Program Storage Unit 532 Databases 54 Communication equipment 55 Input / Output Devices 6. External terminals 9 Fields 91 Headland 911 Headland width 92 Work area 93, 93A~93J ridge 931 Ridge width 94 aisle 941 Passage width 95, 95A~95L stock 951 spacing between plants 96 Work Route 961 Starting point 962 Final Destination I, J, X, Y direction

Claims

1. A furrow arrangement support device generates basic furrow pattern information that includes the positional relationship, shape, and dimensions of a plurality of furrows that satisfy desired furrow arrangement conditions for a plurality of furrows to be arranged in a field, The aforementioned furrow arrangement support device determines a combination of rotation angle and positional relationship of the basic furrow pattern relative to the field as a candidate furrow setting, based on field information representing the shape and dimensions of the field and the basic furrow pattern information. The furrow arrangement support device calculates the expected cultivation indicator for the crop when the desired crop is cultivated in the field according to the candidate furrow arrangement, The aforementioned furrow arrangement support device outputs cultivation indicator information representing the cultivation indicator to an external source. including Ridge placement support method.

2. In the ridge arrangement support method described in claim 1, The aforementioned furrow arrangement conditions are: The width of each of the aforementioned multiple ridges is the ridge width, The width of the passage is the distance to be secured between the multiple rows that are arranged parallel to each other, The distance to be maintained between multiple plants placed in each of the aforementioned multiple rows is called the plant spacing. including Ridge placement support method.

3. In the ridge arrangement support method according to claim 1 or 2, The aforementioned cultivation indicators are, The total number of the multiple furrows when arranged in the field according to the aforementioned furrow setting candidates, The total number of plants of the crop when planted in the multiple ridges according to the aforementioned ridge setting candidate, including at least one of these. Ridge placement support method.

4. In the ridge arrangement support method described in claim 1, The aforementioned furrow arrangement support device outputs work efficiency information representing work efficiency to an external source. It further includes, The aforementioned work efficiency information is The number of turns represents the number of times a working device, which moves along the multiple rows within the field while performing work, turns without performing any work while moving between the multiple rows. including Ridge placement support method.

5. In the ridge arrangement support method described in claim 1, The above decision is, The aforementioned furrow arrangement support device provides multiple such combinations, The furrow arrangement support device determines one of the plurality of combinations as the furrow setting candidate. including Ridge placement support method.

6. In the ridge arrangement support method described in claim 1, The above decision is, The furrow arrangement support device adjusts the position of each of the multiple furrows in the longitudinal direction of each of the multiple furrows so that the total number of crop plants that can be planted in each of the multiple furrows increases in the combination of rotation angles and positional relationships of the basic furrow pattern. including Ridge placement support method.

7. In the ridge arrangement support method described in claim 1, The furrow arrangement support device generates path data representing a work path along the plurality of furrows, based on the furrow setting candidates, for an autonomously operating work device to perform work for cultivating the crop in the field. The aforementioned furrow arrangement support device outputs the path data to the outside. Includes Ridge placement support method.

8. A basic furrow pattern generation unit generates basic furrow pattern information that represents a basic furrow pattern including the positional relationship, shape, and dimensions of multiple furrows that satisfy desired furrow arrangement conditions for multiple furrows to be placed in a field, and A ridge setting candidate determination unit determines a combination of rotation angle and positional relationship of the basic ridge pattern to the field as a ridge setting candidate, based on field information representing the shape and dimensions of the field and the basic ridge pattern information. A cultivation indicator calculation unit calculates the expected cultivation indicator for the crop when the desired crop is cultivated in the field according to the candidate furrow setting, and outputs cultivation indicator information representing the cultivation indicator to the outside. Equipped with Furrowing arrangement support system.

9. A furrow arrangement support program for achieving predetermined processing by having a computing device execute it, The aforementioned process is, To generate basic furrow pattern information that represents a basic furrow pattern including the positional relationship, shape, and dimensions of multiple furrows that satisfy desired furrow arrangement conditions for multiple furrows to be placed in a field, Based on the field information representing the shape and dimensions of the field and the basic ridge pattern information, a combination of rotation angle and positional relationship of the basic ridge pattern to the field is determined as a candidate for ridge setting. To calculate the expected cultivation indicator for the crop when the desired crop is cultivated in the field according to the proposed furrow setting, Outputting cultivation indicator information representing the aforementioned cultivation indicators to an external source. including A program to support furrow placement.

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