Field management methods, field management systems, and field management programs

Abstract

To automatically detect that a single farm field is individually used as a plurality of areas to present subdivision of lot.SOLUTION: A farm field management method includes detecting movement loci (81, 82, 83, 84, 85) where a work device (2) that works while moving in a registered farm field (9) registered as one farm field has moved, on the basis of position information indicating positions at a plurality of points in time for the work device (S02), determining whether or not there is a possibility that the registered farm field is individually used as a plurality of work areas (91, 92) on the basis of the movement loci (S04), and if there is the possibility, presenting, as a candidate of subdivision of lot from the registered farm filed to a plurality of farm fields (9A, 9B) including a plurality of work areas, a subdivision line (90) for dividing the registered farm field into the plurality of farm fields (S06).SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a field management method, a field management system, and a field management program, and can be suitably used, for example, for the management of a field where agricultural work is performed.

Background Art

[0002] There is a technology for managing the location and range of a field, as well as the records and schedules of agricultural work performed in that field, on a server. Generally, when dividing a single field into a plurality of cultivation areas and cultivating different crops in each cultivation area, or when cultivating the same crop with different cultivation schedules by shifting the planting time in each cultivation area, etc., it is preferable to divide the field into these plurality of cultivation areas and manage each cultivation area individually. Here, the process of dividing a field that has been managed separately until now into a plurality of fields on management data is called splitting.

[0003]

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] ​For a user to operate the agricultural information processing device described in Patent Document 1 to determine the position of the division lines, the user must have a clear understanding of the actual area of ​​each cultivation region after division. However, measuring the area of ​​each cultivation region in the field beforehand is a cumbersome process.

[0006] In view of the above circumstances, one of the objectives of this disclosure is to provide a field management method, a field management system, and a field management program for automatically detecting when a single field may be used as multiple separate areas and for suggesting subdivision. Other challenges 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 field management method includes detecting the movement trajectory (81, 82, 83, 84, 85) of a work device (2) that moves and performs work within a field (9) registered as a single field (9), based on position information representing the position of the work device (2) at multiple times (S02). The field management method further includes determining, based on the movement trajectory, whether or not the registered field (9) may be used individually as multiple work areas (91, 92) (S04), and if this is possible, presenting a subdivision line (90) for dividing the registered field (9) into multiple fields (9A, 9B), each containing one of the multiple work areas (91, 92), as a candidate for subdivision (S06).

[0009] According to one embodiment, the field management system comprises a detection unit (522), a determination unit (523), and a presentation unit (524). The detection unit (522) detects the movement trajectory (81, 82, 83, 84, 85) of a work device (2) that moves and performs work within a registered field (9) which is registered as a single field (9), based on the position information of the work device (2) at multiple times. The determination unit (523) determines, based on the movement trajectory, whether or not the registered field (9) may be used individually as multiple work areas (91, 92). If this possibility exists, the presentation unit (524) presents a subdivision line (90) for dividing the registered field (9) into multiple fields (9A, 9B), each containing one of the multiple work areas (91, 92), as a candidate for subdivision from the registered field (9).

[0010] According to one embodiment, the field management program is used to perform predetermined processing by having a computing device (52) execute it. This processing includes detecting the movement trajectory (81, 82, 83, 84, 85) of a work device (2) that moves while performing work within a field (9) registered as a single field (9), based on position information representing the position of the work device (2) at multiple times (S02). This processing further includes determining, based on the movement trajectory, whether or not the registered field (9) may be used individually as multiple work areas (91, 92) (S04), and if this is possible, presenting a subdivision line (90) for dividing the registered field (9) into multiple fields (9A, 9B), each containing one of the multiple work areas (91, 92), as a candidate for subdivision (S06). [Effects of the Invention]

[0011] According to one embodiment, if a single field may be used individually as multiple areas, this can be automatically detected and a subdivision can be suggested. [Brief explanation of the drawing]

[0012] [Figure 1]Figure 1 shows an example configuration of a field management system according to one embodiment. [Figure 2A] Figure 2A shows an example of a configuration for a reciprocating movement trajectory according to one embodiment. [Figure 2B] Figure 2B shows another example of a reciprocating movement trajectory according to one embodiment. [Figure 2C] Figure 2C shows an example of a spiral-shaped movement trajectory according to one embodiment. [Figure 2D] Figure 2D shows an example of a configuration of a composite movement trajectory according to one embodiment. [Figure 3] Figure 3 is a block circuit diagram showing one example configuration of a field management device according to one embodiment. [Figure 4] Figure 4 is a flowchart showing one example of the configuration of a field management method according to one embodiment. [Figure 5] Figure 5 is a diagram illustrating the proposed subdivision conditions according to one embodiment. [Figure 6] Figure 6 shows an example of a proposed land subdivision display according to one embodiment. [Figure 7] Figure 7 is a diagram illustrating the proposed subdivision conditions according to one embodiment. [Figure 8] Figure 8 is a diagram illustrating the proposed subdivision conditions according to one embodiment. [Modes for carrying out the invention]

[0013] In a farming system for managing fields, users register and manage each field under their jurisdiction. For each registered field, the farming system records field data representing its location and boundaries, as well as work data representing records of past farming activities and plans for future activities.

[0014] When dividing a single field into multiple work areas and growing different crops in each work area or growing the same crop in each work area according to different cultivation schedules, it is preferable to register and manage each work area as an individual field in the farming system. This is because operations are managed for each registered field based on the field data recorded in the farming system. Also, if the range recorded in the field data for the field targeted for the planned operation differs from the range of the work area where the actual operation is to be performed, the accuracy of the data provided by the farming system to the user may decrease.

[0015] However, the process of dividing the field data of the fields registered in the farming system into multiple work areas according to actual operations is troublesome for the user and may impose a non-negligible burden. Therefore, in the present disclosure, when it is possible that a single field is being used separately as multiple areas based on the position information of a work device that performs operations while moving within the field at multiple times, a field management method, a field management system, and a field management program that can automatically detect this and present the division to the user are proposed.

[0016] The embodiments for implementing the field management method, the field management system, and the field management program according to the present disclosure will be described below with reference to the accompanying drawings.

[0017] (First Embodiment) As shown in FIG. 1, a field management system 1 according to an embodiment includes a mounted terminal 3 mounted on a work device 2, a field management device 5, and an external terminal 6. As an example, the external terminal 6 may include a smartphone, a tablet terminal, or the like.

[0018] The work device 2 includes work vehicles such as tractors and combines that perform farming operations while moving on the ground in the field 9. The work device 2 may further include a drone or the like that performs farming operations while flying above the field 9.

[0019] The onboard terminal 3, the field management device 5, and the external terminal 6 transmit and receive various information via wireless and / or wired communication over the network 4. For example, the onboard terminal 3 transmits position information, measured by GNSS (Global Navigation Satellite System) or similar, of multiple points passed through when the work device 2 moves and works within the field 9, to the field management device 5 via the network 4. Based on the received position information, the field management device 5 determines whether the field 9 is being used individually as multiple work areas. Furthermore, if the field management device 5 determines that the field 9 may be being used individually as multiple work areas, it presents subdivision lines as subdivision candidates, dividing the field 9 into multiple fields, each containing one of these work areas. The external terminal 6 may display and output the subdivision candidates so that the user can visually confirm them.

[0020] When the work device 2 moves within the field 9, there are multiple patterns of movement trajectories. A movement trajectory pattern refers to the type of shape of the movement trajectory, and examples include reciprocating and spiral types. In one embodiment, when multiple work areas are detected within a single field 9 that have been worked on with different movement trajectory patterns, it is determined that the field 9 may be being used individually as multiple work areas.

[0021] In the example shown in Figure 2A, the movement trajectory 80A includes multiple linear work trajectories 801A and multiple curved turning trajectories 802A. The work device 2 performs work along the multiple work trajectories 801A that extend in a direction substantially parallel to a predetermined X-axis direction over almost the entire work area 91. When the work device 2 moves from one work trajectory 801A to another, it interrupts its work and moves while turning along the curved turning trajectory 802A. Such a movement trajectory 80A is referred to here as a reciprocating movement trajectory 80A. In the example shown in Figure 2A, the direction in which the work trajectory 801A extends is substantially parallel to the longitudinal direction of the field 9, but as shown in the example shown in Figure 2B, the work trajectory 801B of the reciprocating movement trajectory 80B may be parallel to the Y-axis direction other than the longitudinal direction of the field 9. In one embodiment, among two reciprocating movement trajectories 80A and 80B existing within the same field 9, if the directions in which the work trajectories 801A and 801B extend are different from those of the turning trajectories 802A and 802B, these two reciprocating movement trajectories 80A and 80B are treated as having different patterns. Alternatively, if the angle of the direction in which the two work trajectories 801A and 801B extend is greater than a predetermined reference angle, it may be determined that the directions in which the work trajectories 801A and 801B extend are different.

[0022] In the example shown in Figure 2C, the work device 2 performs work by moving from the outside to the inside, circling along the periphery of the work area 91, covering almost the entire area of ​​the work area 91. This type of movement trajectory 80C is referred to here as a spiral-type movement trajectory 80C. In one embodiment, the reciprocating movement trajectories 80A and 80B and the spiral-type movement trajectory 80C are treated as having different patterns. A movement trajectory in which the work device 2 moves from the inside to the outside while circling is also treated as a spiral type. However, a spiral-type movement trajectory moving from the outside to the inside and a spiral-type movement trajectory moving from the inside to the outside may be treated as having different patterns. Furthermore, a spiral-type movement trajectory that circles clockwise and a spiral-type movement trajectory that circles counterclockwise may be treated as having different patterns.

[0023] Furthermore, as shown in Figure 2D, the outer portion of the work area 91 may be worked on along a spiral-shaped movement trajectory 80D, and the remaining inner portion may be worked on along a reciprocating movement trajectory 80E. Such movement trajectories are referred to here as composite movement trajectories. However, within a composite movement trajectory, the work may be performed first on the outer spiral-shaped movement trajectory 80D, or the direction of travel in Figure 2D may be reversed and the work may be performed first on the inner reciprocating movement trajectory 80E. In the following explanation, since the shape of the work area 91 can be inferred from the outer spiral-shaped movement trajectory 80D, composite movement trajectories will also be treated as a type of spiral-shaped movement trajectory 80C. However, a composite movement trajectory that works on the outside first and a composite movement trajectory that works on the inside first may be treated as having different patterns.

[0024] As shown in Figure 3, the field management device 5 according to one embodiment may be configured as a so-called computer. In the example in Figure 3, the field management 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.

[0025] The computing unit 52 comprises an acquisition unit 521, a detection unit 522, a determination unit 523, and a presentation unit 524. The storage device 53 comprises a field management program storage unit 531 and a database 532. The field management program storage unit 531 stores the field management program. The database 532 stores field data that manages the location and range of field 9, and work data that manages the records and schedules of work to be performed in field 9.

[0026] The arithmetic unit 52 reads and executes the field management program to realize the functions of the acquisition unit 521, detection unit 522, determination unit 523, and presentation unit 524, respectively. Each of the acquisition unit 521, detection unit 522, determination unit 523, and presentation unit 524 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 the position information of the work device 2 transmitted from the mounted terminal 3. The detection unit 522 detects the movement trajectory of the work device 2 based on the position information. The detection unit 522 further detects the work area in the field 9 where the work device 2 performed work, based on the movement trajectory. The determination unit 523 determines whether or not there are multiple independent work areas within the field 9. The presentation unit 524 presents subdivision from the field 9 into the multiple work areas when there are multiple independent work areas within the field 9. More specific processing of these functional blocks will be described later.

[0027] The field management program may be read from an external recording medium 530 and stored in the field management program storage unit 531. The recording medium 530 may be a non-transitory and tangible medium.

[0028] The communication device 54 communicates with external devices, including the onboard terminal 3 and / or external terminal 6, via wireless communication and / or wired communication over the network 4.

[0029] 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.

[0030] Referring to the flowchart in Figure 4, an example of the processing of the field management method according to one embodiment will be described. The processing of the field management method may start when the field management device 5 is started up. At this time, the processing of the field management method is realized when the arithmetic unit 52 of the field management device 5 executes the field management program.

[0031] When the flowchart in Figure 4 starts, step S01 is executed. In step S01, the acquisition unit 521 of the field management device 5 acquires the position information of the work device 2 transmitted from the mounted terminal 3.

[0032] More specifically, first, the work device 2 is turned on and begins working while moving within the field 9. At this time, the onboard terminal 3 mounted on the work device 2 generates position information for the work device 2 by measuring the positions of points that the work device 2 has passed through at multiple time points from when the work device 2 is turned on until when it is turned off, using GNSS (Global Navigation Satellite System) or the like. The points that the work device 2 has passed through and whose positions have been measured are called positioning points. The onboard terminal 3 may periodically measure the position at each positioning point at predetermined time intervals. The position information may include positioning information that measures the position of each positioning point and time information that represents the time the position was measured.

[0033] The location information may also include state information representing the state of the work device 2 at each positioning time. Here, the state information may be associated with the positioning information and the time information. The state of the work device 2 indicates whether the work implements equipped with the work device 2 were performing work on the field 9 or had stopped. Work implements include, for example, a seeding device for sowing seeds, a fertilizing device for fertilizing, and a harvesting device for harvesting. As mentioned above, the reciprocating movement trajectory includes a linear work trajectory in which the work device 2 moves while performing work, and a curved turning trajectory in which the work device 2 moves while interrupting work. The state information of the work device 2 may be generated by the onboard terminal 3 monitoring whether the work implements of the work device 2 are performing work or have stopped working.

[0034] The mounted terminal 3 transmits the generated location information to the field management device 5 via the network 4. The acquisition unit 521 of the field management device 5 receives and acquires the location information. The acquisition unit 521 may store the acquired location information in the storage device 53.

[0035] After step S01, step S02 is executed. In step S02, the detection unit 522 of the field management device 5 detects the movement trajectory of the work device 2 as it moves within the field 9 while performing its work, based on the position information.

[0036] As an example, the detection unit 522 arranges multiple positioning points, each represented by a piece of positioning information included in the location information, in the order of the measurement times represented by the time information corresponding to each piece of positioning information. At this time, the detection unit 522 detects the line obtained by connecting any two adjacent positioning points with measurement times by a straight line (more precisely, a line segment) as the movement trajectory of the work device 2.

[0037] Here, the detection unit 522 may detect two or more movement trajectories based on a series of positional information acquired at once. This can occur, for example, when the same work device 2 performs a first operation in a first work area included in the field 9, and performs a second operation different from the first operation in a second work area included in the same field 9. More specifically, this can occur when different crops are cultivated in the first and second work areas within the same field 9.

[0038] For example, if a first movement trajectory is detected based on a portion of a series of position information acquired from the same work device 2, and a second movement trajectory is detected based on another portion of the same position information, and these first and second movement trajectories do not overlap with each other, and the patterns of these first and second movement trajectories are different from each other, the detection unit 522 detects these first and second movement trajectories as separate movement trajectories. Here, the fact that the two movement trajectories do not overlap with each other means that the two movement trajectories do not intersect with each other, and there are no overlapping portions between them.

[0039] When the work trajectory of the first movement trajectory and the work trajectory of the second movement trajectory do not overlap with each other, it is determined that the first movement trajectory and the second movement trajectory are independent of each other. For example, when the same work device 2 performs multiple different tasks consecutively in multiple work areas included in the same field 9, the work device 2 may move between work areas or the worker may take a break while the work is interrupted between the completion of the first task in the first work area and the start of the second task in the second work area. From this perspective, the detection unit 522 may detect multiple movement trajectories from a series of position information by extracting position points in which the work state is interrupted from among multiple position points included in the series of position information. In other words, by detecting a work interruption period in which the work state was continuously interrupted for a predetermined length or longer among the positioning times corresponding to the extracted positioning points, it is possible to distinguish and detect a first movement trajectory in which the work device 2 moved and performed work during the period before the work interruption period and a second movement trajectory in which the work device 2 moved and performed work during the period after the work interruption period.

[0040] After step S02 in Figure 4, step S03 is executed. In step S03, the detection unit 522 of the field management device 5 detects the pattern of the movement trajectory. As mentioned above, the pattern of the movement trajectory represents the type of shape in the movement trajectory.

[0041] More specifically, the detection unit 522 detects whether the movement trajectory is reciprocating or spiral. For example, the detection unit 522 may use image processing or AI (Artificial Intelligence) to detect the pattern of the movement trajectory. A linear portion may be extracted from the movement trajectory, and if the extracted linear trajectories extend substantially parallel to a predetermined first direction, and are arranged so that they increase toward a second direction substantially perpendicular to this first direction as time progresses, the movement trajectory may be determined to be reciprocating. Alternatively, if the multiple linear trajectories are arranged in a circular pattern, the movement trajectory may be determined to be spiral.

[0042] In this embodiment, we will describe the case where both of the movement trajectory patterns detected in step S02 of Figure 4 are reciprocating, and these two patterns are different. The case where both patterns are reciprocating and identical will be described as a second embodiment. Furthermore, the case where at least one of the movement trajectory patterns is spiral will be described as a third embodiment.

[0043] For convenience, the direction in which the work trajectories 801A and 801B, which are included in the reciprocating movement trajectories 80A and 80B, extend is referred to as the reciprocating direction.

[0044] In the example in Figure 5, the working device 2 first performs a first operation in the field 9 while moving along the first movement trajectory 81 from the starting point 811 to the ending point 812, and then performs a second operation while moving along the second movement trajectory 82 from the starting point 821 to the ending point 822. The first movement trajectory 81 and the second movement trajectory 82 do not overlap. Furthermore, the reciprocating direction of the first movement trajectory 81 is in the X-axis direction, and the reciprocating direction of the second movement trajectory 82 is in the Y-axis direction. The angle between the X-axis direction and the Y-axis direction is large enough to distinguish the reciprocating directions of the two movement trajectories 81 and 82. From these results, the patterns of the first movement trajectory 81 and the second movement trajectory 82 shown in the example in Figure 5 are different from each other.

[0045] After step S03 in Figure 4, step S04 is executed. In step S04, the determination unit 523 of the field management device 5 determines whether or not the field 9 may be used individually as multiple work areas 91 and 92. Here, the determination unit 523 determines that if the two movement trajectories 81 and 82 do not overlap with each other, it is possible that the two work areas 91 and 92 originating from these two movement trajectories 81 and 82 are being used individually.

[0046] If it is determined that field 9 is not being used individually as multiple work areas 91 and 92 (No), the process in the flowchart of Figure 4 ends. Conversely, if it is determined that field 9 is being used individually as multiple work areas 91 and 92 (Yes), the process proceeds to step S05.

[0047] In step S05 of Figure 4, the detection unit 522 of the field management device 5 detects the work area in the field 9 where the work device 2 performed work along its respective movement trajectories 81 and 82.

[0048] More specifically, the detection unit 522 detects the work area corresponding to each of the movement trajectories 81 and 82 detected in step S02. As an example, in order to better match the work area to the area in which the work device 2 actually performed work, the convex hull of the positioning points included in arbitrary movement trajectories 81 and 82 may be calculated, and the area obtained by extending outward from the outer circumference of the calculated convex hull by a predetermined expansion width corresponding to the work width of the work device 2 may be detected as the work area corresponding to those movement trajectories 81 and 82. Here, the work width is the length of the work range in which the work device 2 performs work on the field 9 at each moment, in the width direction perpendicular to the forward direction in which the work device 2 moves while performing work. The work width may differ for each task performed by the work device 2. The specific numerical value representing the work width for each task performed by the work device 2 may be entered in advance by the user using an external terminal 6, for example, and stored in the database 532 of the field management device 5. The expansion width is the distance in the width direction from the position of the GNSS antenna that measures the position of the work device 2 to the outer circumference of the work range. As an example of the extension width, if the GNSS antenna is positioned in the center of the working device 2 in the width direction, the extension width may be half of the working width. As another example of the extension width, if the GNSS antenna is positioned offset from the center of the working device 2 in the width direction, the extension width may be increased or decreased as appropriate in the width direction.

[0049] In the example in Figure 5, the first work area 91 is detected as the work area corresponding to the first movement trajectory 81. Similarly, the second work area 92 is detected as the work area corresponding to the second movement trajectory 82. In this case, as shown in the example in Figure 5, the two work areas 91 and 92, which correspond to the two independent movement trajectories 81 and 82 respectively, are independent of each other. That is, the first work area 91 and the second work area 92 do not overlap with each other.

[0050] After step S05 in Figure 4, step S06 is performed. In step S06, the display unit 524 of the field management device 5 presents the user with subdivision lines for dividing field 9 into multiple fields, each containing one of the detected independent work areas 91 and 92.

[0051] More specifically, the presentation unit 524 determines the position and shape of the subdivision lines for dividing the field 9 into a plurality of detected work areas 91 and 92, based on the position and range of the field 9 and the position and range of each work area 91 and 92. The information representing the position and shape of the subdivision lines is called subdivision presentation information, which the field management system 1 uses to present the subdivision to the user. The subdivision presentation information may further include field information representing the position and range of the field 9 and information representing the position and range of each work area 91 and 92.

[0052] The subdivision information may be displayed on an external terminal 6 owned by the user. In this case, the display unit 524 controls the communication device 54 and transmits the subdivision information to the external terminal 6 via the network 4. The external terminal 6 receives the subdivision information and outputs it, for example, by displaying it on a screen. Here, the external terminal 6 may display on a map the location and extent of the field 9, the locations and extents of the respective work areas 91 and 92 that will be registered as fields if the subdivision is performed, and the locations of the subdivision lines that divide the field 9 into multiple work areas 91 and 92.

[0053] In the example in Figure 6, two subdivided fields 9A and 9B are registered in place of field 9 when field 9 in Figure 5 is subdivided, and a subdivision line 90 is shown to subdivide field 9 at this time. The first subdivided field 9A is set to include the first work area 91. Similarly, the second subdivided field 9B is set to include the second work area 92. Furthermore, the first subdivided field 9A and the second subdivided field 9B are adjacent to each other by the subdivision line 90. Note that in the example in Figure 6, all of field 9 shown in the example in Figure 5 is included in either the first subdivided field 9A or the second subdivided field 9B.

[0054] Once step S06 in Figure 4 is completed, the flowchart in Figure 4 is finished. The user may then accept, reject, or modify the position and / or shape of the proposed subdivision line 90 by operating the external terminal 6, etc., before accepting it. After that, the field management device 5, the field management system 1, or other system may perform the subdivision process.

[0055] As described above, according to one embodiment of the field management method, field management system 1, and field management program, if a single field 9 may be being used individually as multiple areas, this can be automatically detected and a subdivision proposal can be presented.

[0056] (modified version) In the first embodiment described above, the configuration in which the field management device 5 is configured as a computer was explained. As a variation of this configuration, the field management device 5 may be configured as part of a larger server, such as an agricultural management system.

[0057] (modified version) In the first embodiment described above, a configuration was described in which the field data and work data of field 9 are stored in the database 532. As a variation of this configuration, some or all of the field data and work data of field 9 may be stored in a database outside the field management device 5. In this case, the field management device 5 may access the external database via the network 4 to read and / or write data.

[0058] (modified version) In the first embodiment described above, the configuration for detecting the movement trajectory pattern using image processing or AI in step S03 of Figure 4 was explained. As a variation of this configuration, the movement trajectory pattern may be calculated based on the movement vectors at each of the multiple positioning points included in the location information. In this case, the round-trip direction of a reciprocating movement trajectory is detected based on the distribution of movement vector directions at each of the multiple positioning points included in this movement trajectory. More specifically, when the work device 2 moves along a linear work trajectory among the reciprocating movement trajectories, the distribution of the movement vector directions of the work device 2 is concentrated in a first direction parallel to this work trajectory or in the opposite direction to this first direction. Conversely, when the work device 2 moves along a curved turning trajectory among the reciprocating movement trajectories, the distribution of the movement vector directions of the work device 2 is not concentrated in any particular direction. Generally, in the case of a reciprocating movement trajectory, the direction in which the distribution of movement vector directions at each positioning point is most frequent coincides with the round-trip direction. More specifically, a portion of a series of positional information is extracted, and when the direction of the movement vector of the movement trajectory detected based on the extracted portion of positional information is concentrated in a first direction range that includes a predetermined first direction and a second direction range that includes the opposite direction of the first direction, it is detected that this movement trajectory is a reciprocating movement trajectory, and that its reciprocating direction is the first direction and its opposite direction. Note that the first direction range and the second direction range may be ranges that include the first direction and the opposite direction of the first direction, respectively, within the ranges that are divided into predetermined angles in all horizontal directions.

[0059] (Second Embodiment) In the first embodiment described above, the detection unit 522 detected multiple reciprocating movement trajectories 81 and 82 based on position information originating from one work device 2 in step S02 of Figure 4, and then in step S05, detected multiple work areas 91 and 92 based on these multiple movement trajectories 81 and 82. In this embodiment, as a modification of this configuration, a configuration in which multiple movement trajectories are detected based on position information originating from multiple work devices 2 will be described.

[0060] The field management system 1 and field management device 5 according to this embodiment are the same as the field management system 1 and field management device 5 according to the first embodiment shown in Figures 1 and 3.

[0061] The field management method and field management program processing according to this embodiment can be obtained by making the following changes to the field management method and field management program processing according to the first embodiment shown in the flowchart of Figure 4.

[0062] In step S01 of Figure 4, the acquisition unit 521 acquires location information individually from multiple work devices 2. Here, the mounted terminal 3, which is mounted on each of the multiple work devices 2, further associates the identification information that the acquisition unit 521 uses to identify the corresponding work device 2 with the location information of the corresponding work device 2 to generate the location information. The operation in which the mounted terminal 3 mounted on each work device 2 generates the location information of the corresponding work device 2 and transmits it to the field management device 5 is the same as in the first embodiment.

[0063] In step S02 of Figure 4, the detection unit 522 detects a movement trajectory based on each of the multiple location information. At this time, one movement trajectory may be detected from each location information, or multiple movement trajectories may be detected from at least one location information. The process of detecting multiple movement trajectories from one location information may be the same as in the first embodiment. However, as a difference from the first embodiment, when detecting two reciprocating movement trajectories from two location information originating from two different work devices 2, the condition for determining that these two movement trajectories are independent of each other does not necessarily have to include the fact that the reciprocating directions of the two movement trajectories are different.

[0064] The processes in steps S03, S04, S05, and S06 in Figure 4 according to this embodiment are the same as in the first embodiment.

[0065] In the example in Figure 7, the first working device 2 performs the first operation while moving along the first movement trajectory 81 from a starting point 811 to an ending point 812 within the field 9, and the second working device 2, separate from the first working device 2, performs the second operation while moving along the second movement trajectory 83 from a starting point 831 to an ending point 832 within the same field 9. The movement trajectories 81 and 83 are shown. In the example in Figure 7, the first period during which the first working device 2 performs the first operation and the second period during which the second working device 2 performs the second operation may or may not share the same period.

[0066] In the example in Figure 7, as in the case of Figure 5, the first movement trajectory 81 and the second movement trajectory 83 do not overlap with each other. On the other hand, in the example in Figure 7, unlike the case of Figure 5, the reciprocating direction of the first movement trajectory 81 and the reciprocating direction of the second movement trajectory 83 are both parallel to the X-axis direction. Even in such a case, the determination unit 523 may determine that the first work area 91 detected based on the first movement trajectory 81 and the second work area 92 detected based on the second movement trajectory 83 may have been used separately. This is because the first work device 2 that performed the first work while moving along the first movement trajectory 81 and the second work device 2 that performed the second work while moving along the second movement trajectory 83 are different work devices 2.

[0067] As described above, according to one embodiment of the field management method, field management system 1, and field management program, when a single field 9 may be used individually by multiple working devices 2 as multiple areas, this can be automatically detected and a subdivision proposal can be presented.

[0068] (Third embodiment) In the first and second embodiments described above, the detection unit 522 detected multiple reciprocating movement trajectories 81, 82, and 83 that do not overlap with each other based on the movement trajectory in step S02 of Figure 4, and then in step S05, detected multiple work areas 91 and 92 that may have been used individually based on these multiple reciprocating movement trajectories 81, 82, and 83. In this embodiment, as a modification of these configurations, the detection unit 522 detected multiple spiral movement trajectories that do not overlap with each other based on the movement trajectory, and then detected multiple work areas that may have been used individually based on these multiple spiral movement trajectories.

[0069] The field management system 1 and field management device 5 according to this embodiment are the same as the field management system 1 and field management device 5 according to the first embodiment shown in Figures 1 and 3.

[0070] The field management method and field management program processing according to this embodiment can be obtained by making the following changes to the field management method and field management program processing according to the first embodiment shown in the flowchart of Figure 4.

[0071] In step S01 of Figure 4, the acquisition unit 521 acquires location information from one or more working devices 2. If the total number of working devices 2 that worked in the field 9 is one, the acquisition unit 521 acquires a series of location information, as in the first embodiment. If the total number of working devices 2 that worked in the field 9 is multiple, the acquisition unit 521 acquires a series of location information from each of the working devices 2, as in the second embodiment.

[0072] In step S02 of Figure 4, the detection unit 522 detects the movement trajectory based on the position information. If the total number of working devices 2 used in the field 9 is one, the detection unit 522 may detect multiple movement trajectories from a series of position information, as in the first embodiment. If there are multiple working devices 2 used in the field 9, the detection unit 522 may detect one individual movement trajectory from each piece of position information, as in the second embodiment, or it may detect multiple movement trajectories from at least one piece of position information.

[0073] In this embodiment, we will describe the case where at least one of the detected movement trajectories is spiral-shaped. As mentioned above, a spiral-shaped movement trajectory has a shape in which the work device 2 moves from the outside to the inside while circling along the periphery of the field 9 or work area. Also, as mentioned above, complex movement trajectories are treated as spiral-shaped movement trajectories in this embodiment.

[0074] When the work device 2 performs work while moving along a spiral-shaped movement trajectory within a single work area, it may initially begin by circling along the outermost periphery of this work area. In such cases, if multiple non-overlapping movement trajectories are detected within a single field 9, and at least one of these multiple movement trajectories is spiral-shaped, then regardless of the total number of work devices 2 that performed work within the field 9, it is determined that at least the work area corresponding to the spiral-shaped movement trajectory and the work areas corresponding to the other movement trajectories may have been used separately.

[0075] In the example shown in Figure 8, the working device 2 performs a first operation while moving along a first movement trajectory 84 from a starting point 841 to an ending point 842 within the field 9, and then performs a second operation along a second movement trajectory 85 from a starting point 851 to an ending point 852. The movement trajectories 84 and 85 are shown. Here, the working device 2 that performed the first operation and the working device 2 that performed the second operation may be the same working device 2, or they may be two different working devices 2. Furthermore, if two different working devices 2 perform the first operation and the second operation respectively, the first period during which the first working device 2 performed the first operation and the second period during which the second working device 2 performed the second operation may or may not share the same period.

[0076] In the example in Figure 8, as in the case of Figure 5, the first movement trajectory 84 and the second movement trajectory 85 do not overlap with each other. On the other hand, in the example in Figure 8, unlike the case of Figure 5, both the first movement trajectory 84 and the second movement trajectory 85 are spiral-shaped. In such a case, the determination unit 523 determines that the first work area 91 detected based on the first movement trajectory 84 and the second work area 92 detected based on the second movement trajectory 85 may have been used separately. This is because the condition that at least one of the first movement trajectory 84 and the second movement trajectory 85 is spiral-shaped is met.

[0077] As described above, according to one embodiment of the field management method, field management system 1, and field management program, if a single field 9 may have been used individually as multiple areas, and if the work device 2 performs work while moving along spiral-shaped movement trajectories 84, 85 in at least one area, this can be automatically detected and a subdivision can be suggested.

[0078] 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.

[0079] (Note) The field management methods, field management systems, and field management programs described in each embodiment can be described as follows:

[0080] The field management method relating to the first aspect is: Based on position information representing the location of a work device that operates while moving within a registered field, which is registered as a single field, the movement trajectory of the said work device is detected. Based on the aforementioned movement trajectory, it is determined whether or not the registered field may be used individually as multiple work areas, When the above possibility exists, the system will present a subdivision line for dividing the registered field into multiple fields, each containing one of the multiple work areas, as a candidate for subdivision from the registered field into multiple fields. Includes.

[0081] The field management method relating to the second aspect is: A field management method relating to the first aspect, To detect patterns representing the type of shape in the aforementioned movement trajectory. It further includes, The above determination means that To determine whether or not the above possibility exists based on the pattern of the movement trajectory. Includes.

[0082] The field management method relating to the third aspect is: A field management method relating to the first or second aspect, Among the registered fields, the work area where the work device performed the work along the movement trajectory is detected. It further includes, The above presentation means that Calculate the position of the subdivision line based on the aforementioned multiple work areas. Includes.

[0083] The field management method relating to the fourth aspect is: A field management method relating to any one of the first to third embodiments, To acquire the position information originating from one of the aforementioned work devices. It further includes, The aforementioned location information includes first location information during the first work period and second location information during a second work period different from the first work period. Detecting the aforementioned movement trajectory means Based on the first position information, the first movement trajectory of the work device during the first work period is detected, Based on the second position information, the second movement trajectory of the work device during the second work period is detected. Includes.

[0084] The field management method relating to the fifth aspect is: A field management method relating to the fourth aspect, Detecting the first movement trajectory means When the first pattern representing the shape type in the first movement trajectory is of the reciprocating type, the first reciprocating direction is detected in which the first work trajectory, in which the work device moves linearly while performing the work, extends within the first movement trajectory. When the second pattern representing the shape type in the second movement trajectory is a reciprocating type, the second reciprocating direction is detected in which the second work trajectory, in which the work device moves linearly while performing the work, extends within the second movement trajectory. It further includes, The above determination means that The possibility is determined to exist when the first and second patterns are of the reciprocating type, the first movement trajectory and the second movement trajectory do not overlap with each other, and the angle between the first reciprocating direction and the second reciprocating direction is greater than a predetermined reference angle. Includes.

[0085] The field management method relating to the sixth aspect is: A field management method relating to any one of the first to third embodiments, To acquire first position information originating from the first work device, To acquire second position information originating from a second work device different from the first work device, and Includes, Detecting the aforementioned movement trajectory means Based on the first position information, a first movement trajectory is detected, Based on the second position information, a second movement trajectory is detected. Includes, The above determination means that To determine whether the above possibility exists based on the first movement trajectory and the second movement trajectory. Includes.

[0086] The field management method relating to the seventh aspect is: A field management method relating to the sixth aspect, The above determination means that When the first movement trajectory and the second movement trajectory do not overlap with each other, the possibility is determined to exist. Includes.

[0087] The field management method relating to the eighth aspect is: A field management method relating to the fourth or sixth aspect, The above determination means that The possibility is determined to exist when at least one of the first movement trajectory and the second movement trajectory is spiral-shaped. Includes.

[0088] The field management system according to the ninth aspect is: A detection unit detects the movement trajectory of a work device that moves and performs work within a registered field, which is registered as a single field, based on the position information of the work device at multiple times. A determination unit that determines whether the registered field may be used individually as multiple work areas based on the aforementioned movement trajectory, When the aforementioned possibility exists, the presenting unit presents subdivision lines for dividing the registered field into multiple fields, each containing one of the multiple work areas, as candidates for subdividing the registered field into multiple fields. It is equipped with.

[0089] The field management program relating to the tenth aspect is: A field management program for achieving predetermined processing by having a computing device execute it, The aforementioned process is, Based on the positional information of a work device that operates while moving within a registered field, which is registered as a single field, the movement trajectory of the said work device is detected. Based on the aforementioned movement trajectory, it is determined whether or not the registered field may be used individually as multiple work areas, When the above possibility exists, the system will present a subdivision line for dividing the registered field into multiple fields, each containing one of the multiple work areas, as a candidate for subdivision from the registered field into multiple fields. Includes. [Explanation of Symbols]

[0090] 1. Field Management System 2. Working equipment 3. Devices equipped with this device 4 Network 5. Field Management Equipment 51 Bus 52 Arithmetic unit 521 Acquisition Department 522 Detection Unit 523 Judgment section 524 Presentation section 53 Storage device 530 Recording media 531 Field Management Program Memory Unit 532 Databases 54 Communication equipment 55 Input / Output Devices 6. External terminals 80A, 80B movement trajectory (reciprocating type) 80C Movement trajectory (spiral type) 80D Movement Trajectory (Composite Type) 801A, 801B work trajectory 802A, 802B turning trajectory 81, 82, 83, 84, 85 Movement trajectory 811, 821, 831, 841, 851 Starting point 812, 822, 832, 842, 852 Terminal 9. Fields (Registered Fields) Fields 9A and 9B (candidates) 90 division lines 91, 92 work area

Claims

1. The detection unit of the field management device detects the movement trajectory of a work device that moves and performs work within a registered field, which is registered as a single field, based on position information representing the position of the work device at multiple times, The determination unit of the field management device determines, based on the shape of the movement trajectory, whether or not the registered field may be used individually as multiple work areas, When the field management device's display unit has such a possibility, it displays a subdivision line for dividing the registered field into multiple fields, each containing one of the multiple work areas, as a candidate for subdividing the registered field into multiple fields. including Field management methods.

2. In the field management method described in claim 1, To detect a pattern representing the type of shape in the aforementioned movement trajectory. It further includes, The above determination means that To determine whether or not the above possibility exists based on the pattern of the movement trajectory. including Field management methods.

3. In the field management method according to claim 1 or 2, Among the registered fields, the work area where the work device performed the work along the movement trajectory is detected. It further includes, The above presentation means that The position and shape of the subdivision line are calculated based on the aforementioned multiple work areas. including Field management methods.

4. In the field management method described in claim 1, To acquire the position information originating from one of the aforementioned work devices. It further includes, The aforementioned location information includes first location information during the first work period and second location information during a second work period different from the first work period. Detecting the aforementioned movement trajectory means Based on the first position information, the first movement trajectory of the work device during the first work period is detected, This includes detecting a second movement trajectory of the work device during the second work period based on the second position information. Field management methods.

5. In the field management method described in claim 4, Detecting the first movement trajectory means When the first pattern representing the type of shape in the first movement trajectory is a reciprocating type, the first reciprocating direction is detected in which the first work trajectory, in which the work device moves linearly while performing the work, extends within the first movement trajectory. When the second pattern representing the type of shape in the second movement trajectory is a reciprocating type, the second reciprocating direction is detected in which the second work trajectory, in which the work device moves linearly while performing the work, extends within the second movement trajectory. It further includes, The above determination means that The possibility is determined to exist when the first and second patterns are of the reciprocating type, the first movement trajectory and the second movement trajectory do not overlap with each other, and the angle between the first reciprocating direction and the second reciprocating direction is greater than a predetermined reference angle. including Field management methods.

6. In the field management method described in claim 1, To acquire first position information originating from the first work device, To acquire second position information originating from a second work device different from the first work device, and Includes, Detecting the aforementioned movement trajectory means Based on the first position information, a first movement trajectory is detected, Based on the second position information, a second movement trajectory is detected. Includes, The above determination means that To determine whether the above possibility exists based on the first movement trajectory and the second movement trajectory. including Field management methods.

7. In the field management method described in claim 6, The above determination means that When the first movement trajectory and the second movement trajectory do not overlap with each other, the possibility is determined to exist. including Field management methods.

8. In the field management method according to claim 4 or 6, The above determination means that The possibility is determined to exist when at least one of the first movement trajectory and the second movement trajectory is spiral-shaped. including Field management methods.

9. A detection unit detects the movement trajectory of a work device that moves and performs work within a registered field, which is registered as a single field, based on the position information of the work device at multiple times, A determination unit that determines whether or not the registered field may be used individually as multiple work areas based on the shape of the movement trajectory, When the aforementioned possibility exists, the presenting unit presents subdivision lines for dividing the registered field into multiple fields, each containing one of the multiple work areas, as candidates for subdividing the registered field into multiple fields. Equipped with Field management system.

10. A field management program for achieving predetermined processing by having a computing device execute it, The aforementioned process is, Based on the positional information of a work device that operates while moving within a registered field, which is registered as a single field, the movement trajectory of the work device is detected. Based on the shape of the aforementioned movement trajectory, it is determined whether or not the registered field may be used individually as multiple work areas, When the above possibility exists, the system will present a subdivision line for dividing the registered field into multiple fields, each containing one of the multiple work areas, as a candidate for subdivision from the registered field into multiple fields. including Field management program.

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