Agricultural work support devices, agricultural work support systems, agricultural work support methods, agricultural work support programs

Abstract

This invention provides an agricultural work support device that enables agricultural work to achieve the same effectiveness as VRA (Vibrational Research) agriculture, even with agricultural machinery that lacks an automatic speed control function. The agricultural work support device (1) is equipped with memory and a processor and assists in the movement of a work machine that performs the task of spreading agricultural materials. The agricultural work support device acquires work map information that defines the target amount of work per unit area, acquires current location information based on satellite positioning, and acquires the movement speed of the work machine (mobile machine). The agricultural work support device then acquires the instructed speed of the work machine (mobile machine), which is calculated based on the target amount of work per unit area corresponding to the location information and the amount of agricultural material spread per unit time by the work machine. The agricultural work support device then outputs the work map information, location information, movement speed, and instructed speed to a display screen.

Description

[Technical Field]

[0001] The present invention relates to an agricultural work support apparatus, an agricultural work support system, an agricultural work support method, and an agricultural work support program. [Background Art]

[0002] In recent years, VRA (Variable Rate Application) agriculture, which adjusts the application amount of agricultural materials (e.g., fertilizers) according to the growth status of crops that differs for each field area, has been attracting attention. As such a technique, for example, a technique for performing VRA fertilization by controlling the speed of a mobile machine such as a tractor based on a work map to adjust the application amount of a broadcaster is known (see, for example, Patent Documents 1 and 2).

[0003] Patent Document 1 describes a technique for adjusting an application amount by automatically controlling the traveling speed of a tractor based on map information of crop yield. Patent Document 2 also describes a technique for automatically performing variable fertilization in a map-linked mode and displaying the progress of the work on a map on a monitor. [Prior Art Documents] [Patent Documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2023-150931 [Patent Document 2] Japanese Patent Application Laid-Open No. 2024-137068 [Summary of the Invention] [Problem to be Solved by the Invention]

[0005] Incidentally, the technologies described in Patent Documents 1 and 2 above all presuppose computer-based speed control of mobile machinery (for example, the use of tractors performing farm work while autonomously driving is envisioned), and the cost of agricultural machinery required to build the system was high. In particular, when automatic control was performed using agricultural machinery compatible with the communication standard between agricultural machines (ISOBUS standard), the introduction cost became even higher. Therefore, even with mobile machinery that lacks an automatic speed control function, there was a need for technology that could enable agricultural work that achieves the same effect as VRA agriculture, for example, by assisting the driver's speed control.

[0006] The objective of the present invention is to provide an agricultural work support device, agricultural work support system, agricultural work support method, and agricultural work support program that enable agricultural work that produces the same effect as VRA agriculture, even with agricultural machinery that does not have an automatic speed control function. [Means for solving the problem]

[0007] The aforementioned problem is solved by the agricultural work support device of the present invention, which includes a memory and a processor, and is an agricultural work support device that assists in the movement of a work machine that performs the work of spreading agricultural materials, The aforementioned work machine sprays a fixed amount of the agricultural material per unit time without automatic control of the amount sprayed per unit time, and the agricultural work support device is The system includes: a map acquisition unit that acquires work map information defining a target work volume per unit area; a position acquisition unit that acquires current position information based on satellite positioning; a speed acquisition unit that acquires the movement speed of the work machine or a mobile machine to which the work machine is connected; an instruction speed acquisition unit that acquires the instruction speed of the work machine or the mobile machine calculated based on the target work volume per unit area corresponding to the position information and the amount of agricultural material sprayed per unit time by the work machine; and an output unit that outputs the work map information, the position information, the movement speed, and the instruction speed to a display screen. Furthermore, by assisting in the operation of the movement speed through the display screen, the amount of agricultural work per unit area performed by the work machine can be adjusted. This will resolve the issue.

[0008] With the above configuration, it is possible to provide an agricultural work support device that enables agricultural work that produces the same effect as VRA agriculture, even with mobile machinery that does not have a speed control function. For example, by equipping the mobile machinery with a monitor and outputting work map information, the position information of the mobile machinery (working machine), the movement speed, and the instructed speed to the display screen of the monitor, the operator can operate the mobile machinery at the instructed speed and perform fertilization according to the work map. This makes it possible to perform agricultural work equivalent to VRA fertilization. The same applies to agricultural work support systems.

[0009] Furthermore, the aforementioned problem is addressed by the agricultural work support method of the present invention, which is an agricultural work support method performed by a computer that assists in the movement of a work machine that performs the work of spreading agricultural materials, The aforementioned work machine sprays a fixed amount of the agricultural material per unit time without automatically controlling the amount sprayed per unit time. The computer performs the following processes: acquiring work map information that defines the target amount of work per unit area; acquiring current location information based on satellite positioning; acquiring the movement speed of the work machine or the mobile machine to which the work machine is attached; acquiring the instruction speed of the work machine or the mobile machine, which is calculated based on the target amount of work per unit area corresponding to the location information and the amount of agricultural material sprayed per unit time by the work machine; and outputting the work map information, the location information, the movement speed, and the instruction speed to a display screen. Furthermore, the computer can adjust the amount of agricultural work per unit area performed by the work machine by assisting in the operation of the movement speed through the display screen. This will resolve the issue. Furthermore, the aforementioned problem can be solved by the agricultural work support program of the present invention. A farm work support program to be executed by a computer that assists in the movement of a work machine that performs the work of spreading agricultural materials, wherein the work machine spreads a fixed amount of the agricultural material per unit time without automatic control of the amount spread per unit time, and The computer is instructed to perform the following processes: acquire work map information defining the target amount of work per unit area; acquire current location information based on satellite positioning; acquire the movement speed of the work machine or the mobile machine to which the work machine is attached; acquire the instruction speed of the work machine or the mobile machine, calculated based on the target amount of work per unit area corresponding to the location information and the amount of agricultural material sprayed per unit time by the work machine; and output the work map information, the location information, the movement speed, and the instruction speed to a display screen. The computer is made capable of adjusting the amount of agricultural work per unit area performed by the work machine by assisting in the operation of the movement speed through the display screen. This will resolve the issue. [Effects of the Invention]

[0010] According to the agricultural work support device, agricultural work support system, agricultural work support method, and agricultural work support program of the present invention, it becomes possible to achieve agricultural work that produces the same effect as VRA agriculture, even with agricultural machinery that does not have an automatic speed control function. [Brief explanation of the drawing]

[0011] [Figure 1] This is an overview diagram of the agricultural work support system. [Figure 2] This is a diagram illustrating the functions of an agricultural work support device. [Figure 3] This is an example of a display screen for an agricultural work support device installed on a mobile machine. [Figure 4] This is a modified version of the display screen. [Modes for carrying out the invention]

[0012] The embodiments of the present invention will be described below with reference to Figures 1 to 4. This embodiment relates to an "agricultural work support device (system)" that enables agricultural work that produces effects equivalent to those of VRA agriculture. Furthermore, it concerns "methods of supporting agricultural work" and "programs for supporting agricultural work."

[0013] <Overview of the agricultural work support system> As shown in Figure 1, the agricultural work support system S is a system that assists the movement of "working machinery" used to spread agricultural materials on crops cultivated in a field. It enables agricultural work that produces the same effects as VRA agriculture, even with "working machinery (mobile machinery that tows the working machinery)" that does not have an automatic movement control function. Specifically, the agricultural work support system S is mainly composed of: an agricultural work support device 1 that supports agricultural work including support for movement operations of a work machine (mobile machine); a mobile machine S1 that is equipped with a display screen for displaying information output by the agricultural work support device 1 and moves within a farm field; and a work machine S2 that is connected to the mobile machine S1 and sprays agricultural materials.

[0014] Here, the "worker" refers to an agricultural worker who owns an in-company farm field or contracted farm field, and includes, for example, agricultural corporations and work contractors. In the present embodiment, the worker corresponds to a "work operator" who rides on the mobile machine S1 (e.g., a tractor) and operates the traveling speed of the mobile machine S1 while checking information (work maps, speed information, etc.) output by the agricultural work support device 1. "Crops" are plants cultivated in farm fields for the purpose of harvest, and wheat is assumed as an example herein. The crops are not particularly limited to wheat, and crops such as paddy rice, soybeans, sugarcane, corn, sweet potatoes, etc., may also be employed. Furthermore, "crops" are not limited to agricultural crops, and also include greening plants such as lawn that are cultivated and managed in golf courses, parks, sports stadiums, etc. That is, by appropriately changing the fertilization design (work map) according to the type of crop, optimal variable-rate application (VRA) agriculture for all types of crops can be realized.

[0015] "Agricultural work" includes a series of operations from the cultivation to the harvest of crops, and in the present embodiment, the description is given assuming "fertilization work" of spreading fertilizer as an agricultural material. The agricultural work is not particularly limited to "fertilization work", and may also be agricultural work such as pest control work of spreading agricultural chemicals or herbicides, or seeding work of sowing seeds. Furthermore, "agricultural work" and "agricultural materials" are not limited to work and materials purely in the agricultural field, and also include turf management (green space management work) of spreading fertilizer, agricultural chemicals, top-dressing sand, etc., on lawns of the above-mentioned golf courses, etc., as well as greening materials. That is, the present invention is widely applicable to various types of agricultural work for which it is preferable to optimize the work amount per unit area (such as the input amount of agricultural materials) according to the position in the farm field.

[0016] "Variable Rate Application (VRA) agriculture" refers to a technology such as variable fertilization that adjusts the application amount of agricultural materials (fertilizers, pesticides, etc.) according to the different growth status (or growth prediction) of crops at different locations in a field. By reducing the amount of fertilization in areas where crops are growing well to prevent lodging and applying more fertilizer to poorly grown areas to promote growth, this technology aims to increase the overall yield of the field, homogenize the quality of crops, and reduce the cost of materials.

[0017] "Mobile machine" refers to an agricultural machine that moves within the field to perform agricultural work, for example, a "tractor" that pulls working machines. Mobile machines do not necessarily need to have advanced automatic speed control functions by computers or communication functions compatible with the ISOBUS standard, which is a communication standard between agricultural machines, and this invention can be widely applied to older models or low-cost machines. "Working machine" refers to an agricultural machine connected to a mobile machine that applies agricultural materials while being pulled by the mobile machine, for example, a broadcaster, which is a fertilizer spreader. Working machines do not need to have an external automatic application amount control function based on standards such as ISOBUS, and this invention can also be applied to ordinary machines that maintain a constant opening of the spreading mechanism and spread a constant amount of fertilizer per unit time. Note that the working machine is not limited to those pulled by a mobile machine, and may also be a machine that travels on its own within the field while spreading agricultural materials. For example, a "self-propelled fertilizer spreader" that autonomously travels using a crawler for paddy fields and soft ground, a large self-propelled spreader used in large-scale fields, a small autonomous spreading robot, etc., may be employed.

[0018] Furthermore, the mobile machine and the working machine are not limited to those that travel on the ground. For example, an "unmanned aerial vehicle (drone)" that flies or floats above the field to spread agricultural materials, or an "aerial mobile body" such as a flying agricultural robot that supports agricultural work from the air while spreading materials, may be considered as the mobile machine or the working machine. Even with such aerial mobile machinery, it is possible to achieve the same level of effectiveness as VRA agriculture by having a ground operator (operator) check the instructed speed and the actual movement speed through a handheld display screen (display monitor) and manually adjust the flight speed (movement speed).

[0019] <<Agricultural work support equipment>> As shown in Figures 1 to 3, the agricultural work support device 1 instructs the operator of the mobile machine S1 on the "optimal travel speed" based on "work map information" and "location information," thereby realizing VRA agriculture. The agricultural work support device 1 calculates vegetation indicators from satellite images of an artificial satellite AS, digitizes the growth status of crops in the field, determines the target amount of work per unit area (target amount of fertilizer, etc.) for each location according to the growth status, and creates "work map information (fertilizer map)". Furthermore, the agricultural work support device 1 may acquire and use "work map information" already created in a standard format by an external agricultural work management system, etc., via the network. This allows for the effective utilization of existing work map assets.

[0020] In particular, when the agricultural work support device 1 generates "work map information," the system calculates the optimal travel direction (for example, the longitudinal direction along the long side of the field) based on polygons (outline data) representing the shape of the field, so that the straight-line travel distance of the mobile machine S1, such as a tractor, is as long as possible, and generates a grid for the work map and a travel path.

[0021] The agricultural work support device 1 calculates in real time the "instruction speed" required to achieve the target amount of spraying, based on the "work map information" mentioned above, the "current location information" based on satellite positioning such as GNSS, and the "amount of agricultural material sprayed per unit time" by the work machine S2, and outputs it to the display screen 20. Furthermore, as shown in Figure 3, the display screen 20 shows the "movement route" and "current location information" on the work map, and employs an intuitive and easy-to-understand user interface for the operator. Specifically, a "speed meter" is displayed that allows the operator to visually confirm whether the actual movement speed is within the acceptable range of the "instructed speed" so that they can properly grasp the "movement speed" even in the driver's seat, which is subject to vibration and noise. In addition, the agricultural work support device 1 assists the operator in adjusting the speed without having to constantly look at the display screen 20 by outputting a "notification sound" that is easily audible even in noisy environments when the actual movement speed falls outside the acceptable range.

[0022] With the above configuration, the agricultural work support system S enables VRA agriculture without the need for expensive ISOBUS-compatible automated agricultural machinery. The operator simply adjusts the vehicle speed of the mobile machine S1 according to the instructions on the display screen 20. By introducing this technology, it is possible to increase yields and reduce fertilizer costs while making use of existing inexpensive agricultural machinery assets.

[0023] <Hardware configuration of the agricultural work support system> As shown in Figure 1, the agricultural work support device 1 is composed of a computer equipped with a processor 1a (CPU) that performs data calculation and control processing, a memory 1b (ROM, RAM, and HDD (or SSD)) that stores various data and programs, and a communication unit 1c (communication IF) that sends and receives information data over a network. The agricultural work support device 1 is implemented as a portable smart device, such as a tablet terminal. The information processing performed in the agricultural work support device 1 is carried out by the processor 1a. Memory 1b stores the main program, which performs the functions necessary for a computer, as well as the "agricultural work support program." When this program is executed by the processor 1a, the various functions of the agricultural work support device 1 (map acquisition, speed instruction, screen display, etc.) are performed. The agricultural work support device 1 assigns a "user account" to each user to receive agricultural work support services, and provides agricultural work support services to users who log in through the display screen.

[0024] As shown in Figure 1, the agricultural work support device 1 (tablet terminal) is connected to an artificial satellite AS for communication and acquires the current location information of the mobile machine S1 using a positioning system that utilizes the artificial satellite AS. To acquire the location information, the GNSS module built into the agricultural work support device 1 may be used, or, in order to perform high-precision positioning (e.g., RTK-GNSS positioning), an external GNSS antenna (receiver) mounted on the mobile machine S1 may be connected to the agricultural work support device 1 to obtain the location information.

[0025] Furthermore, the agricultural work support device 1 may be connected to a field sensor FS installed in the field in a communicative manner, as shown in Figure 1. The "field sensor FS" is installed in each field, for example, and includes various sensors that collect meteorological information such as temperature, humidity, precipitation, solar radiation, and wind speed, as well as a camera sensor that observes the growth status and maturity of crops. The agricultural work support device 1 can acquire weather information and agricultural work performance information through field sensors FS for each field. Alternatively, the agricultural work support device 1 may be connected to a weather database and acquire weather information through the weather database. This makes it possible to provide more advanced work support, for example, by outputting a warning on the display screen 20 if the environment is unsuitable for spraying agricultural materials (risk of scattering due to strong winds, etc.) based on weather information such as wind speed that has been acquired.

[0026] As shown in Figure 1, the mobile machine S1 is a tractor that moves under its own power within a field to perform agricultural work, and comprises a machine body S1a, an operating unit S1b on which an operator sits and performs various operations, a drive unit S1c having a power source such as an engine, a running unit S1d having multiple wheels or crawlers to move the machine body S1a, and a connecting unit S1e that connects to the work machine S2 so that it can be towed. The operating unit S1b includes a handle (steering wheel) for controlling the direction of travel of the mobile machine S1, and operating levers and pedals for switching between forward and reverse, adjusting the vehicle speed, etc. The connecting unit S1e includes, for example, a three-point linkage mechanism or a towing hitch, and further includes a PTO shaft (Power Take-Off) that transmits power from the drive unit S1c to the rear working machine S2. By operating the control unit S1b, the operator can move the mobile machine S1 in any direction within the field while simultaneously towing the work machine S2 connected to the coupling unit S1e.

[0027] The tablet terminal, which functions as an agricultural work support device 1, is mounted on the control panel S1b of the mobile machine S1 (inside the cabin or around the driver's seat). Specifically, the agricultural work support device 1 is positioned using a dedicated mounting device so that it is easily visible to the operator riding the mobile machine S1 while they are operating the machine. For example, it may be positioned directly in front of the driver's seat or to the side of the dashboard. This allows the operator to intuitively view the display screen of the agricultural work support device 1 without having to move their eyes significantly, while simultaneously checking for safety in the front and rear directions.

[0028] As shown in Figure 1, the working machine S2 is a broadcaster (fertilizer spreader) that is towably connected to the coupling part S1e of the mobile machine S1, and comprises a machine body S2a having a hopper for storing agricultural materials, and a spreading part S2b that discharges and spreads agricultural materials to the rear or side. The spreading part S2b rotates a spinner using power transmitted, for example, from the PTO shaft of the mobile machine S1, and spreads agricultural materials by centrifugal force. The working machine S2 may be a general agricultural machine that does not have advanced communication functions such as the ISOBUS standard mentioned above or automatic control functions. For example, by manually setting and fixing the shutter opening of the spraying unit S2b in advance, the working machine S2 can continuously spray a fixed amount of agricultural material per unit time.

[0029] <Functions of agricultural work support devices> As shown in Figure 2, the agricultural work support device 1, in terms of its functions, includes a storage unit 10 that stores various programs and data, such as "work map information" that defines the target amount of work per unit area, "location information" that indicates the current position of the mobile machine S1 (work machine S2), and "speed information" that indicates the actual movement speed or instructed speed. A history storage unit 11 that stores "history information" such as agricultural work performance may also be included. Furthermore, the agricultural work support device 1 includes the following components as functions for controlling the support processing of agricultural work: a map acquisition unit 12, a position acquisition unit 13, a speed acquisition unit 14, an instructed speed acquisition unit 15, a route setting unit 16, an output unit 17, and a notification unit 18. These are functions (function blocks) that are realized by the processor executing agricultural support programs stored in memory.

[0030] First, let's explain the "various types of information (data)" stored in the memory unit 10. The agricultural work support device 1 stores dynamic data used to support agricultural work (such as real-time speed instructions and screen output) in the storage unit 10 and manages data by accumulating records of past work history. In this embodiment, the agricultural work support device 1 is equipped with a storage unit 10, but this is merely an example. The information may be managed in a cloud database located outside the agricultural work support device 1, and the agricultural work support device 1 may access the database via a communication network to obtain the necessary information.

[0031] <<Work Map Information>> "Work map information," as shown in Figure 3, is data that defines the target amount of work per unit area (e.g., target amount of fertilizer applied) for each location (area) within the field, and is also called a "fertilizer map" or "prescription map." As mentioned above, when the agricultural work support device 1 generates "work map information," it uses, for example, "NDVI (Normalized Difference Vegetation Index)" as a vegetation index to understand the growth status of crops. NDVI is an index that quantifies the density and activity of crop leaves by utilizing the light reflection characteristics of plants. By using this NDVI data, it is possible to precisely understand the unevenness of growth within the field and calculate the optimal target workload. In addition, "ISOXML format" is one example of a data format for "work map information" imported from an external server. ISOXML is an international standard format used to exchange work instruction data between agricultural machines that comply with the ISOBUS standard.

[0032] The data structure of the "work map information" consists of multiple sections (grids) that divide the field. When this system generates "work map information," the "width" of each grid is set to the actual spraying width (e.g., several meters) of the work machine S2 connected to the rear of the mobile machine S1. In addition, the "length (length in the direction of travel of the mobile machine S1)" of each grid is adjusted to a distance that allows the operator to respond to the constantly changing instruction speed by accelerating and decelerating. This creates "work map information" that corresponds to the "physical characteristics of the machine" and "human operability" in an actual farming environment.

[0033] <<Location information>> "Location information" is data indicating the current position of a mobile machine S1 or working machine S2 within the field. This data is acquired based on satellite positioning such as GNSS using artificial satellites AS and is updated in real time as the machine moves. Specifically, the location information includes latitude and longitude data, as well as two-dimensional coordinate data based on the field. By using this "location information," it becomes possible to identify the grid the vehicle is currently traveling on and to provide guidance on the next route to take (travel path).

[0034] <<Speed ​​information>> "Speed ​​information" is data that includes the current "moving speed (actual travel speed)" of the mobile machine S1 (working machine S2) and the "instructed speed (target speed)" required to achieve the target workload in the work map information. The "movement speed" may be calculated from the temporal change (displacement) of the above position information, or it may be obtained directly from the vehicle speed sensor of the mobile machine S1. The "instructed speed" is a value calculated inversely from the relationship between the target work amount read from the work map information and the amount of spray per unit time (steady discharge capacity) of the work machine S2, and is updated and stored according to conditions such as when the mobile machine S1 enters a different grid.

[0035] <<Output of work map information>> The map acquisition unit 12 acquires "work map information" that defines the target amount of work per unit area from the storage unit 10 or an external server. This work map information has multiple sections into which the field is divided in a mesh-like manner or along the direction of travel, and the data has different target amounts of work mapped to each section. The position acquisition unit 13 acquires the current "location information" of the mobile machine S1 in real time based on satellite positioning such as GNSS. In this case, the position acquisition unit 13 may use the antenna built into the agricultural work support device 1. The speed acquisition unit 14 acquires the actual "moving speed" of the mobile machine S1. This moving speed may be calculated and acquired based on the temporal displacement of the position information, or it may be acquired from the vehicle speed sensor equipped on the mobile machine S1.

[0036] The speed acquisition unit 15 compares the current "location information" obtained from the position acquisition unit 13 with the "target work amount (set fertilization rate)" per unit area corresponding to the currently moving section. Then, based on this target work amount and the "amount of agricultural material to be spread" and "spreading width" per unit time set for the work machine S2, it calculates and acquires the "instructed speed" of the mobile machine S1 in real time. Specifically, because the discharge rate per unit time of the work machine S2 is constant, in areas where the target work amount (fertilizer application rate per unit area) should be reduced, the indicated speed acquisition unit 15 calculates a faster "indicated speed". On the other hand, in areas where the target work amount should be increased (where the fertilizer should be spread thicker), the indicated speed acquisition unit 15 calculates a slower "indicated speed". In this way, the agricultural work support device 1 uses the inverse relationship between the target work amount and the indicated speed to determine the optimal vehicle speed for each area.

[0037] The route setting unit 16 calculates the optimal travel direction for the mobile machine S1 based on polygons (outline data) representing the shape of the field. Specifically, the route setting unit 16 determines the travel direction to follow the longitudinal direction identified based on the outline of the field, so that the straight-line travel distance of the mobile machine S1 is as long as possible, and sets a "travel path" based on that travel direction. The output unit 17 outputs the obtained "work map information," "location information," "movement path," "movement speed," and "instructed speed" to the display screen 20 provided on the mobile machine S1. The location information and movement path of the mobile machine S1 are superimposed on the work map information. Furthermore, the "travel route" is not limited to one that strictly defines the order of travel, etc., and may be freely set according to the worker's preference. Alternatively, a travel route may not be set in advance at all.

[0038] <<User interface of the display screen>> As shown in Figure 3, the output unit 17 provides a highly visible user interface to the display screen 20 so that the operator can understand the work status and speed status even in the driver's seat of the mobile machine S1, which is subject to vibration and noise. Specifically, the output unit 17 outputs a work map (fertilization map) 21 to the left-hand area of ​​the display screen 20. This work map 21 is output in different display modes for each section, corresponding to differences in the target work amount (set fertilization rate) per unit area. For example, sections with a high target fertilization amount are displayed in "black," sections with a low target fertilization amount are displayed in "gray," and normal sections are displayed in "white," with multiple levels of color coding.

[0039] The output unit 17 displays the current position 21a, the travel route 21b, the travel history 21c, and the section 21d (work section) superimposed on the work map 21. Here, the current position 21a is displayed as a "white circle". The travel route 21b is the planned route of the mobile machine S1 (work machine S2) and is displayed as a "white arrow". The travel history 21c is the route that the mobile machine S1 has already traveled (actual route) and is displayed as a "black filled arrow". The section 21d is divided into a section before work and a section after work. Additionally, the current fertilization rate 22 and the set fertilization rate 23 are numerically displayed in the lower left area of ​​the display screen 20 for easy comparison.

[0040] As shown in Figure 3, the operator can intuitively see that the mobile machine S1 is currently traveling in a section with a low target fertilizer application rate (gray) and is traveling along the longitudinal direction of the field. They can also see that the current fertilizer application rate 22 is, for example, "174 kg / ha" and the set fertilizer application rate 23 is "161 kg / ha".

[0041] Furthermore, the output unit 17 may be configured to allow the operator to arbitrarily adjust or change the orientation of the work map 21 output to the display screen 20 according to their preferences and operation. For example, the output unit 17 may automatically adjust and display (fixed display) the orientation of the work map 21 so that the long side of the field (or the long side of the grid) is always the vertical (horizontal) direction of the display screen. This makes it easier for the operator to grasp the feeling of moving in a straight line along the grid of the work map 21. Alternatively, the output unit 17 may be fixed in a position where the north direction is always facing upwards on the screen, or it may employ a display that automatically adjusts the orientation of the work map 21 to always follow the current direction of travel of the mobile machine S1 so that it is always facing upwards on the screen. By configuring the system in such a way that the orientation of the work map 21 can be flexibly changed according to the work environment and preferences, the support effect for agricultural work can be further enhanced.

[0042] As shown in Figure 3, the output unit 17 outputs a linearly extending slider-shaped speed meter 24 to the right-hand area of ​​the display screen 20. The output unit 17 numerically displays the current actual speed 25 and the target indicated speed 27 near the speed meter 24. The output unit 17 then displays on the speed meter 24 a certain speed tolerance range 24a (first region) based on the indicated speed 27, and a speed out-of-bounds range 24b (second region) that falls outside the said speed tolerance range. The speed tolerance range 24a is preferably depicted on the meter as an easily visible area, such as light green. In addition, the output unit 17 may output a speedometer that extends in a curved direction, as well as a speedometer that extends in a straight line.

[0043] The output unit 17 moves a speed icon 26 (for example, a tractor icon) indicating the current speed up and down along the speed meter 24 in conjunction with fluctuations in the actual movement speed. This allows the operator to adjust the vehicle speed so that the speed icon 26 falls within the permissible speed range 24a, or so that it matches the baseline of the indicated speed 27. In this way, the amount of agricultural work per unit area performed by the work machine S2 can be adjusted by providing assistance with speed control through the intuitive display screen 20, without the need for expensive automatic control mechanisms.

[0044] According to the display screen shown in Figure 3, the operator can intuitively understand that although the actual travel speed 25 (e.g., 9.2 km / h) is below the instructed speed 27 (e.g., 9.9 km / h), the speed icon 26 is within the permissible speed range 24a.

[0045] <<Auditory Driving Assistance (Notification Sounds)>> The agricultural work support device 1 provides driving assistance through visual displays as well as auditory feedback. Specifically, the notification unit 18 outputs a "notification sound (alert sound)" when the actual movement speed falls outside a certain speed tolerance range 24a based on the instructed speed. At this time, the notification unit 18 outputs a notification sound set to a specific frequency band that can be distinguished from "environmental noise (engine noise, driving vibration noise, etc.)" generated in conjunction with the movement of the mobile machine S1 such as a tractor. Generally, "environmental noise" generated from agricultural machinery such as tractors tends to concentrate energy in the low-frequency to medium-frequency band. Therefore, it is preferable that the notification sound output by the notification unit 18 be set to a tone whose main component is in a higher frequency band (for example, around 2kHz to 4kHz, which is easily audible to humans) that is less susceptible to masking by this "environmental noise". This allows operators to clearly hear the notification sound even in environments with high levels of ambient noise.

[0046] Furthermore, the notification unit 18 outputs a notification sound in different ways depending on whether the "actual speed of movement" exceeds the upper limit of the speed tolerance range 24a or falls below the lower limit of the speed tolerance range 24a. For example, it is preferable to use different pitches and sound patterns (such as continuous and intermittent sounds), such as outputting a "high-pitched alert" when exceeding the speed limit and a "low-pitched alert" when decreasing speed. With the above configuration, the operator can intuitively operate the accelerator and gear shift through auditory feedback without having to continuously stare at the display screen 20, and return to the appropriate speed range. As a result, practical VRA fertilization can be easily achieved while maintaining safe driving operations in agricultural settings.

[0047] With the above-described work support system, even agricultural machinery (mobile machinery, work machinery) that does not have an automatic speed control function can achieve agricultural work that produces the same effect as VRA agriculture.

[0048] <Example of display screen> Next, a modified version of the display screen will be explained based on Figure 4. The modified display screen 120 employs a display configuration that further enhances the intuitive operability for the operator. Specifically, the output unit 17 uses simple geometric shapes such as lines and triangles instead of a "tractor image" as the speed icon 26 that is output to the right-hand area of ​​the display screen. In the modified display screen shown in Figure 4, the speed icon 26 has a shape in which inward-facing triangles are placed at both ends of a horizontal straight line. The operator adjusts the vehicle speed so that this speed icon 26 matches the target indicated speed 27 (for example, a reference line with the value "9.9"). This allows the operator to operate the accelerator with an intuitive sense of "aligning (overlapping) the object with the frame line."

[0049] The output unit 17 outputs a work map 21A showing the work plan and a work map 21B showing the work results to the display screen 120 side by side. Work map 21A displays the planned travel route 21b superimposed on the color coding of each section according to the difference in target work volume. On the other hand, work map 21B showing the work results displays the current position 21a, the travel route 21b, the travel history 21c, and multiple sections 21d, 21e superimposed on the output unit 17.

[0050] Furthermore, the output unit 17 outputs the section 21d that the mobile machine S1 has traveled through in the work map 21B showing the work results, in a display mode that allows for identification according to the difference in "actual work volume". Specifically, the output unit 17 displays the "work results (actual amount of sprayed material)" for each completed section 21d, corresponding to either "appropriate," "excess," or "insufficient" relative to the target value, using a different identification method (for example, three different colors). For example, the output unit 17 may distinguish between appropriate results ("green"), excessive results ("yellow"), and insufficient results ("red"). Alternatively, the output unit 17 may distinguish between different hatching patterns. Furthermore, the uncompleted section 21e is indicated by color coding according to the target fertilizer application amount, as described above, similar to Figure 3. This allows workers to compare and verify their work plan and actual work results on the same display screen. As a result, they can intuitively grasp any excesses or deficiencies in spraying within the field, as well as the progress being made.

[0051] In addition to the work map 21, the output unit 17 may also output a "satellite image (vegetation index image)" of the field to the display screen 120. For example, this satellite image may be an image that visualizes the crop growth status (unevenness of growth) in a heat map format based on vegetation indexes such as NDVI mentioned above. By directly displaying satellite images of the actual field, the operator can easily link the actual field view seen from the window with the growth status displayed on the screen as they proceed with their work.

[0052] <Agricultural work support methods and agricultural work support programs> Next, we will explain the "farm work support method (series of processing flows)" executed by the farm work support device 1 (computer) and the "farm work support program" that causes the computer to execute the said method. The processor of the agricultural work support device 1 executes the following steps repeatedly at predetermined intervals by running the "agricultural work support program". First, the agricultural work support device 1 acquires "work map information" that defines the target amount of work per unit area (Step 1). Next, the agricultural work support device 1 acquires "current location information" based on satellite positioning (Step 2) and also acquires the "actual moving speed" of the mobile machine S1 (work machine S2) (Step 3).

[0053] Next, the agricultural work support device 1 calculates and obtains the "instructed speed" required to achieve the target, based on the target amount of work per unit area corresponding to the acquired position information and the amount of agricultural material to be spread per unit time, which is pre-set for the work machine S2 (Step 4). Then, as shown in Figure 3, the agricultural work support device 1 outputs the acquired work map information, location information, movement speed, and instructed speed to a display screen in a comparative format (step 5). By performing this series of information processing steps, the agricultural work support device 1 assists the operator in adjusting the speed and enables VRA fertilization.

[0054] The "farm work support program" that executes each process of the "farm work support method" described above is provided by being stored on a non-temporary recording medium that can be read by the farm work support device 1. Examples of readable recording media include magnetic disks, magneto-optical disks, CD-ROMs, DVD-ROMs, semiconductor memory, and cloud storage. Alternatively, a general-purpose mobile terminal can be used as the agricultural work support device 1 to launch dedicated software (such as a web application) via the network, and the above-mentioned agricultural work support program can be executed on a web browser or in a local environment.

[0055] <Other> In the above embodiment, ISOXML format was used as an example for the data format of "work map information," but it is not particularly limited. For example, the map acquisition unit 12 may acquire "work map information" described in a common geospatial information format such as GeoJSON format or Shapefile format. This ensures high versatility and compatibility.

[0056] In the above embodiment, the output unit 17 may treat the display objects (work map 21, speed meter 24, various numerical values, etc.) output on the display screen 20 as individual modules, and output the display and hiding of each module according to the operation of the work operator. In addition, the output unit 17 may output the arrangement and size of each module so that the user can change them. This allows for the optimization of the displayed objects and layout to suit the skill level and preferences of the workers.

[0057] In the above embodiment, the output unit 17 does not have to limit the width of the speed tolerance range 24a of the speed meter 24 to a fixed value. For example, it may be set and displayed as a speed range of "approximately ±5%" of the indicated speed 27. In other words, the setting may be arbitrarily changed considering the balance between work accuracy and driving operation. Furthermore, the notification unit 18 may be configured to output an "alert sound" when the movement speed deviates, as well as a "notification sound" when the actual movement speed returns to within the speed tolerance range 24a, indicating that the speed has become appropriate.

[0058] In the above embodiment, the agricultural work support device 1 may calculate the "actual amount of work (such as fertilization rate)" in each plot (grid) and record it in the history storage unit 11. Specifically, the agricultural work support device 1 calculates the "actual amount of work per unit area" at the grid location in real time by dividing the "amount of agricultural material spread per unit time (a constant value)" by the work machine S2 by the "actual travel speed" obtained by the speed acquisition unit 14. This allows accurate data to be accumulated on how much material was actually spread, even if the worker was unable to travel at the instructed speed. Furthermore, this work volume data can be used to make decisions about additional work later and for farm management.

[0059] In the above embodiments, the agricultural work support device, agricultural work support method, and agricultural work support program according to the present invention were mainly described. However, the embodiments described above are merely examples to facilitate understanding of the present invention and do not limit it. The present invention can be modified and improved without departing from its spirit, and of course, equivalents thereof are included. [Explanation of Symbols]

[0060] S Agricultural work support system S1 Mobile Machinery (Tractor) S1a Machine body S1b operation section S1c Drive Unit S1d running gear S1e connection part S2 Work Machine (Broadcaster) S2a Machine body S2b Spreading part 1 Farming support equipment 10 Storage section 11 History Storage Unit 12 Map acquisition section 13 Position acquisition part 14 Speed ​​acquisition section 15 Indicated speed acquisition section 16 Route setting section 17 Output section 18 Hochi Department 20, 120 display screen 21, 21A, 21B Work Map (Fertilization Map) 21a Current location 21b Travel Path 21c Movement History Sections 21d and 21e 22 Current fertilization rates 23. Set fertilization rate 24 Speedometer 24a Speed ​​tolerance range (first region) 24b Speed ​​limit range (second region) 25 Actual movement speed 26 Speed ​​Icons 27 Indicated speed 28 Satellite images (vegetation indicator images) AS satellite FS Field Sensor

Claims

1. An agricultural work support device equipped with memory and a processor, which assists in the movement of a work machine that performs the task of spreading agricultural materials, The aforementioned work machine sprays a fixed amount of the agricultural material per unit time without automatically controlling the amount sprayed per unit time. The aforementioned agricultural work support device, A map acquisition unit that acquires work map information defining the target amount of work per unit area, A position acquisition unit that acquires current location information based on satellite positioning, A speed acquisition unit that acquires the moving speed of the aforementioned work machine or the mobile machine to which the aforementioned work machine is connected, An instruction speed acquisition unit that acquires the instruction speed of the work machine or the mobile machine, calculated based on the target work amount per unit area corresponding to the location information and the amount of agricultural material spread per unit time by the work machine, The system includes an output unit that outputs the aforementioned work map information, the aforementioned position information, the aforementioned movement speed, and the aforementioned instruction speed to a display screen, An agricultural work support device that enables adjustment of the amount of agricultural work per unit area by the work machine by assisting in the operation of the movement speed through the display screen.

2. The aforementioned agricultural work support device is a device that assists the movement of the aforementioned work machine or mobile machine that does not have an automatic speed control function, The agricultural work support device according to claim 1, wherein the work map information, the position information, the movement speed, and the instruction speed are output to the display screen provided on the work machine or the mobile machine.

3. The map acquisition unit acquires the work map information which includes multiple sections obtained by dividing the field, The agricultural work support device according to claim 1, wherein the output unit outputs the work map information in a different display manner for each section in accordance with the difference in the target amount of work per unit area.

4. The agricultural work support device according to claim 1, wherein the output unit outputs the moving speed and a certain speed tolerance range based on the indicated speed to the display screen in a display manner that allows for comparison with each other.

5. The output section is, The speedometer, which extends in a straight or curved direction, is displayed on the screen. The speedometer displays a first region indicating the permissible speed range and a second region indicating the range outside the permissible speed range, The agricultural work support device according to claim 4, wherein an indicator showing the moving speed is moved along the speed meter in accordance with the fluctuation of the moving speed.

6. The system further includes a notification unit that outputs a notification sound when the aforementioned moving speed falls outside a certain speed tolerance range based on the indicated speed. The agricultural work support device according to claim 1, wherein the notification unit outputs the notification sound, which is set to a frequency band distinguishable from ambient noise associated with the movement of the mobile machine, in different ways depending on whether the movement speed exceeds the upper limit of the speed tolerance range or falls below the lower limit of the speed tolerance range.

7. The system further includes a path setting unit that determines the direction of travel of the mobile machine to be along the longitudinal direction specified based on the outer shape of the field, and sets a travel path based on the direction of travel. The agricultural work support device according to claim 1, wherein the output unit displays the movement path and the current location information on the work map.

8. The map acquisition unit acquires the work map information which includes multiple sections obtained by dividing the field, The agricultural work support device according to claim 1, wherein the output unit outputs in a different display manner for each section after the work machine has traveled, corresponding to the calculated difference in the actual amount of work per unit area.

9. A farm work support device according to any one of claims 1 to 8, A display screen is provided for displaying information output by the aforementioned agricultural work support device, and the mobile machine moves within the field. The mobile machine is connected to the work machine, Based on the position information that changes as the mobile machine moves, the indicated speed is changed, and the indicated speed and the moving speed are output to the display screen in a way that allows for comparison. An agricultural work support system that enables adjustment of the amount of agricultural work per unit area performed by the work machine by assisting in the operation of the speed of the mobile machine through the display screen.

10. A method of supporting agricultural work performed by a computer that assists in the movement of a work machine used for spreading agricultural materials, The aforementioned work machine sprays a fixed amount of the agricultural material per unit time without automatically controlling the amount sprayed per unit time. The aforementioned computer, A process to obtain work map information that defines the target amount of work per unit area, The process of obtaining current location information based on satellite positioning, A process for obtaining the moving speed of the work machine or the mobile machine to which the work machine is connected, A process for acquiring the instruction speed of the work machine or the mobile machine, calculated based on the target work amount per unit area corresponding to the location information and the amount of agricultural material spread per unit time by the work machine, The process of outputting the aforementioned work map information, the aforementioned position information, the aforementioned movement speed, and the aforementioned instruction speed to the display screen is executed. A farm work support method comprising the computer enabling adjustment of the amount of farm work per unit area by the work machine through the operation of the movement speed via the display screen.

11. A farm work support program to be executed by a computer that assists in the movement of a work machine that performs the work of spreading agricultural materials, The aforementioned work machine sprays a fixed amount of the agricultural material per unit time without automatically controlling the amount sprayed per unit time. To the aforementioned computer, A process to obtain work map information that defines the target amount of work per unit area, The process of obtaining current location information based on satellite positioning, A process for obtaining the moving speed of the work machine or the mobile machine to which the work machine is connected, A process for acquiring the instruction speed of the work machine or the mobile machine, calculated based on the target work amount per unit area corresponding to the location information and the amount of agricultural material spread per unit time by the work machine, The process of outputting the aforementioned work map information, the aforementioned position information, the aforementioned movement speed, and the aforementioned instruction speed to the display screen is executed. A farm work support program that enables the computer to adjust the amount of farm work per unit area performed by the work machine by assisting in the operation of the movement speed through the display screen.

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