JP2019088217A - Farm field work support terminal, farm field work machine and farm field work support program - Google Patents

Abstract

To provide a farm field work support terminal which allows an operator who performs a work to properly understand a work state by a farm field work machine.SOLUTION: There is provided a farm field work support terminal 1 provided on a farm field work machine 2A-2D comprising a travel machine body 21A-21D and a farm field work device 22A-22D for performing a work to the farm field, and supports a farm field work by the farm field work machine 2A-2D. The farm field work support terminal comprises: a display part 11; a machine body position information acquisition part 12 for acquiring machine body position information indicating a position of the travel machine body 21A-21D; a work information acquisition part 13 for acquiring work information indicating a content of a work by the farm field work device 22A-22D; a display control part 14 for controlling display to the display part 11; and a communication part 15 for communicating with the farm field work machine 2A-2D. The display control part 14 displays a work history in the farm field on the farm field displayed on the display part 11, based on the machine body position information and the work information.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a field work support terminal, a field work machine, and a field work support program.

  In recent years, various guidance systems have been used to support agricultural work in fields. In particular, when working with a field work machine, a guidance system for guiding workers is used so that work can be performed efficiently without duplication and omission of work.

  As such a guidance system, for example, Patent Document 1 discloses a guidance system having a function of registering a plurality of tractors. This guidance system uses information such as a definition on a field on a field shared among a plurality of tractors, and information of a turning radius for each of the tractors registered in advance, among the plurality of registered vehicles. It is advantageous in that it can guide the traveling route suitable for the tractor that actually works.

  Further, in Patent Document 2, the position information of the worker by the GPS and the operation information of the worker by the acceleration sensor are combined with the field information and the like stored in advance, thereby identifying the work content of the worker and performing the work An agricultural operation management method for recording a history is disclosed. According to this method, it is possible to record the history of when and what kind of work was done on a work management terminal such as a PC placed at home, so that the work history and plan are managed It is advantageous in that it is easy to do.

WO 2015/132928 JP, 2015-208244, A

  By the way, although the guidance system currently disclosed by patent document 1 can perform guidance which reflected the turning radius of the individual actually used for work among several tractors registered, guidance of a tractor is carried out. It does not correspond to other types of field work machines such as rice transplanters. Therefore, it was necessary to prepare different guidance systems for each field work machine in order to utilize the guidance system throughout the different operations performed depending on the growth stage of the crop. Such a configuration may increase the cost required to procure a field work machine or a dedicated terminal, or the operator may find it difficult to handle because the method of operating the terminal differs for each field work machine.

  Further, in the agricultural operation management method of Patent Document 2, although the operation history can be recorded and the operation history can be confirmed after the operation, the operation history information can not be immediately provided to the worker. In addition, the field information stored in advance in the method of managing agricultural work in Patent Document 2 remains information in rough sections such as a section for planting melon, a section for planting spinach, etc. It has not been possible to identify the work area. Such a configuration may not sufficiently meet the demand for grasping the work history immediately and adjusting the work content during work.

  In view of the above, it is desirable to realize a field work support terminal that allows a worker who is working with a field work machine to accurately know the situation of work.

  The field work support terminal according to the present invention is a field work support terminal provided in a field work machine provided with a traveling machine body and a field work device for performing work on the field and supporting field work by the field work machine Unit, an aircraft position information acquisition unit for acquiring aircraft position information indicating the position of the traveling vehicle, a work information acquisition unit for acquiring work information indicating the contents of work by the field work device, and display on the display unit A display control unit for controlling the display unit, and a communication unit for communicating with the field work machine, wherein the display control unit is displayed on the field displayed on the display unit based on the machine position information and the work information. Show the work history in the field.

  In addition, the field work support program according to the present invention is a field work support program provided in a field work machine including a traveling machine body and a field work device for performing work on the field and supporting field work by the field work machine. A machine position information acquisition function of acquiring machine position information indicating the position of the traveling machine body; a work information acquisition function of acquiring work information indicating the contents of work by the field work device; the machine position information and the work information And the function of displaying the work history in the field on the field displayed on the display unit on the basis of the computer.

  According to these configurations, since the work history in the field is displayed on the field work support terminal, it is possible to support the worker to immediately grasp the work history in the field and adjust the work content.

  Hereinafter, preferred embodiments of the present invention will be described. However, the scope of the present invention is not limited by the preferred embodiments described below.

  In the field work support terminal according to the present invention, as one aspect, the display of the work history by the display control unit is performed on the field displayed on the display unit based on the machine position information and the work information. Preferably, each area is colored by applying different colors to the contents of the work performed.

  According to this configuration, with respect to a plurality of field work performed in stages, the area where each work is performed can be displayed in different colors, so that the worker can easily grasp the work history .

  In the field work support terminal according to the present invention, as one aspect, the display of the work history by the display control unit further performs the work only once in an area where the same work is performed in duplicate. It is preferable to include coloring distinguishably with the area.

  According to this configuration, the worker can easily grasp the area where the same work has been performed in duplicate, so that the contents of the work can be adjusted so that duplication does not occur. This can improve work efficiency.

  In the field work support terminal according to the present invention, as one aspect, the work information acquisition unit acquires the work information by communicating with the traveling machine body and the field work device via the communication unit. Is preferred.

  According to this configuration, since the work history can be recognized based on the model and equipment status of the field work machine, the accuracy of displaying the work history is enhanced. Moreover, it is advantageous in the point which does not require human operation for making a field work support terminal recognize the state of a field work machine.

  As one aspect, the field work support terminal according to the present invention is that the display unit is a touch panel display unit, and the work information acquisition unit acquires the work information through human operation on the display unit. Is preferred.

  According to this configuration, since the work history can be recognized based on the condition of the field work machine model, equipment and the like, the accuracy of the work history is enhanced. In addition, in order to make the field work support terminal recognize the state of the field work machine, it is advantageous in that the operator can adjust arbitrarily or the operator can correct an error in the case of automatic recognition. .

  The field work support terminal according to the present invention includes, as one aspect, a traveling route determination unit that determines a traveling route of the traveling machine body, and performs the second operation after the first operation. Is determining, as the planned travel route for the second work, the actual travel route traveled by the traveling airframe in the first work, and the display control unit displays the planned travel route on the display unit. Is preferred.

  According to this configuration, the travel result route of the first operation can be reflected on the planned travel route of the second operation.

  As for the field work support terminal concerning the present invention, as one mode, it is preferred that the above-mentioned run route determination part excludes the field where the above-mentioned 1st work was not performed, and determines the above-mentioned run plan route.

  According to this configuration, it is possible to determine a travel route taking into consideration the presence of an obstacle or the like. In addition, it is advantageous in that it is not necessary to reconsider obstacles and the like for each work because information in one work for the same field can be used in other work when determining such a travel route. It is.

  A field work support terminal according to the present invention, as an aspect, a divergence recognition unit that recognizes a divergence direction and a divergence distance between the machine position information and one route selected from the traveled actual route or the planned travel route. It is preferable that the display control unit displays the deviation direction and the deviation distance on the display unit.

  According to this configuration, since the operator can recognize the deviation direction and the deviation distance between the actual travel route in the past work or the planned travel route in the current work and the current position of the field work machine, steering of the field work machine Can be corrected immediately.

  In the field work support terminal according to the present invention, as one aspect, the divergence recognition unit is configured to set the divergence distance level divided into a finite level based on the divergence distance and a predetermined divergence distance reference. Preferably, the display control unit displays the divergence direction, the divergence distance, and the divergence distance level on the display unit.

  According to this configuration, since the operator can recognize the degree of deviation from the specified route, it is easy to determine whether it is necessary to correct the steering.

  In the field work support terminal according to the present invention, as one aspect, preferably the machine position information acquisition unit acquires the machine position information from a positioning device provided in the field work machine via the communication unit. .

  According to this configuration, the work history can be recorded based on the travel history of the field work machine.

  It is preferable that the field work assistance terminal which concerns on this invention is equipped with the positioning apparatus for acquiring the said vehicle body positional information as one aspect.

  According to this configuration, since it is not necessary to provide a positioning device in each field work machine, the cost of the whole field work machine used for a series of field work can be reduced.

  It is preferable that the field work assistance terminal which concerns on this invention is a field work machine provided with the field work assistance terminal of any one of said aspect as one aspect.

  According to this configuration, it is possible to provide a field work machine equipped with an easy-to-use guidance system.

  Further features and advantages of the present invention will become more apparent from the following description of exemplary and non-limiting embodiments, which will be described with reference to the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS The schematic of the field work using 1st embodiment of the field work assistance terminal which concerns on this invention. The example of the screen display of 1st embodiment of the field work assistance terminal which concerns on this invention. The schematic showing the setting of the operation | work non-target area by 1st embodiment of the field work assistance terminal which concerns on this invention. The example of determination of the travel route by 1st embodiment of the field work assistance terminal which concerns on this invention. The figure showing the relation of each component in the guidance system containing the first embodiment of the field work support terminal concerning the present invention.

First Embodiment
Embodiments of a field work support terminal according to the present invention will be described with reference to FIGS. In the present embodiment, an example will be described in which the field work support terminal 1 according to the present invention supports a series of rice cropping operations in a paddy field P (an example of a field). The field work support terminal is also applicable to, for example, support of field work other than rice work such as field work. In the following description, the global positioning satellite system is referred to as GNSS.

  The field work support terminal 1 according to the present embodiment is, in the paddy field P, tillage work and scraping work with the tractor 2A, rice planting work with the rice planter 2B, pesticide spreading work with the riding control machine 2C, and harvest work with combine 2D A field work support terminal that can support Here, the tractor 2A, the rice transplanter 2B, the riding control machine 2C, and the combine 2D are examples of field work machines, and are collectively referred to as field work machines 2. Cultivation work, scratching work, rice planting work, pesticide application work, and harvesting work are examples of field work.

  In the example described below, it is assumed that the paddy field P has a main part P1 and a row P2 and there is a non-removable rock P3 (an example of an obstacle) in a part of the main part P1. (Figure 1). In order to run a field work machine, it is necessary to carry out a turning operation at P2 in particular, and rock P3 needs to be avoided.

  The tractor 2A includes a traveling body 21A and a GNSS 23A (an example of a positioning device), and also includes a tilling operation device 221A or a scratching operation device 222A. Either of the tilling work device 221A and the scratching work device 222A can be selected and attached according to the work content. Similarly, the rice transplanter 2B comprises a traveling machine body 21B, a rice transplanting work apparatus 22B, and a GNSS 23B, and the passenger control device 2C comprises a traveling machine body 21C, an agrochemical spraying work apparatus 22C, and a GNSS 23C, and the combine 2D comprises a traveling machine body 21D. , Harvest work device 22D, and GNSS 23D. Here, the tilling operation device 221A, the scratching operation device 222A, the rice transplanting operation device 22B, the agrochemical spraying operation device 22C, and the harvesting operation device 22D are examples of the field operation device.

  As shown in FIGS. 2 and 5, the field work support terminal 1 includes a touch panel 11 (an example of a display unit), a machine position information acquisition unit 12, a work information acquisition unit 13, a display control unit 14, a communication unit 15, and a travel route. The determination unit 16 and the divergence recognition unit 17 are provided.

  The display content 3 includes the machine position information 31 of the field work machine 2, the guide line 32, the work history 33, and the route divergence information 34. The work history 33 is displayed by coloring the paddy field P displayed on the touch panel 11 according to the history of work and the growing condition of the crop.

  Then, the usage form of said agricultural field work assistance terminal 1 is demonstrated. First, for the tilling work in the paddy field P, the worker mounts the tilling work device 221A on the tractor 2A, and further mounts the field work support terminal 1. At this time, the work information acquisition unit 13 recognizes that the tillage work device 221A is attached to the tractor 2A by communication with the tractor 2A via the communication unit 15, and the work performed from this is the tillage work Recognize that. Further, the machine position information acquiring unit 12 starts acquiring the machine position information 31 by the GNSS 23A through communication with the tractor 2A through the communication unit 15. In addition, the travel route determination unit 16 determines a travel route 32A suitable for efficiently performing tillage work on the entire area of the paddy field P. In the following description, the above steps are referred to as "preparation steps".

  When the guidance by the field work support terminal 1 is started, the display control unit 14 causes the touch panel 11 to display the aircraft position information 31 by the vehicle position information acquisition unit 12 and the guideline 32 based on the traveling route 32A. Further, at this time, the entire area of the paddy field P displayed on the touch panel 11 is colored in yellowish color which indicates that it is the unworked area 331. When the tractor 2A is made to travel while driving the tillage work device 221A in a state where the guidance function is performed, the traveling history 311 of the tractor 2A is displayed on the touch panel 11. Then, an area having a width corresponding to the work width of the tilling work device 221A along the traveling history 311 is colored in dark brown as the tilling work completed area 332 (FIG. 2). The information regarding the above-mentioned work width is acquired by the work information acquisition unit 13 through communication with the tractor 2A via the communication unit 15. At this time, the display control unit 14 causes the touch panel 11 to display the route deviation information 34 recognized by the deviation recognition unit 17 based on the deviation between the machine position information 31 and the traveling route 32A. The route deviation information 34 includes deviation direction information 341 indicating which direction the aircraft position information 31 is deviated to the left or right of the traveling route 32A, and divergence distance information indicating the deviation width of the aircraft position information 31 from the traveling route 32A. 342 and divergence distance level information 343 indicating which level the divergence width has reached. For example, in the example shown in FIG. 2, the divergence distance level is divided into four stages, and the divergence distance level information 343 is displayed as the number (1 to 4) of indicators to be lit. With such guidance, the operator can visually identify the tilled work area 332 and the unworked area 331, and can adjust the steering to travel on the traveling route 32A.

  When plowing work is carried out in the main part P1 of the paddy field P, the border P2 is reached in due course. Then, the worker performs the turn-back operation of the tractor 2A, causes the tractor 2A to enter the next traveling path parallel to the immediately preceding traveling path, and continues the tilling work. At this time, although the tilled work area 332 is colored in dark brown continuously, when the tilling work is performed overlapping the area already recognized as the tilled work area 332, the overlap area 35 is colored red. To color. As described above, the overlapping area 35 is colored in a color different from that of the tilling work area 332, so that the operator can recognize the presence or absence and the size of the overlapping work area. If the overlap area 35 can be recognized, the operation method of the tractor 2A can be adjusted to reduce the overlap area 35, so that the tilling operation can be performed efficiently.

  When the tillage work is further advanced, it reaches the vicinity of the rock P3 soon. Then, the worker maneuvers the tractor 2A to travel avoiding the rock P3. When the tilling work is completed on the entire area of the paddy field P, a portion corresponding to the rock P3 is displayed on the touch panel 11 as an unworked area 331. The traveling route determination unit 16 recognizes the unworked area 331 as the work non-target area 36 in the subsequent work (FIG. 3).

  In addition, as an aspect of avoidance of an obstacle (rock P3), it may be shown, for example in FIG. In FIG. 4, the operator maneuvers the tractor 2A to bypass the rock P3 when reaching the vicinity of the rock P3. After bypassing the rock P3, work is performed along the original work travel line. For the part detouring the rock P3, the tilled work area 332 will expand to the unworked area 331 side, but in order to avoid overlapping of the working area in the subsequent tilling work, the traveling bypassing the rock P3 I will work along the line. In this case, the traveling route determination unit 16 corrects the traveling route 32A based on the traveling line traveled so as to avoid the rock P3 during traveling after detouring the rock P3. In addition, it is the same as that of the case of FIG. 3 to recognize the unworked area 331 which did not work in order to avoid the rock P3 in the tilling work as the work non-target area 36 in the subsequent work.

  Next, the worker mounts the scratching work device 222A on the tractor 2A in the scratching work in the paddy field P. Furthermore, when the field work support terminal 1 is attached, the preparation stage is performed as in the case of the above-mentioned tilling work. However, at this time, the travel route determination unit 16 avoids the work non-target area 36 in consideration of the position information corresponding to the rock P3 recognized as the work non-target area 36 in the tilling work (example of the first work). The traveling route 32B for the scratching operation (example of the second operation) is determined. Thus, the field work support terminal 1 can perform guidance in consideration of the avoidance of the rock P3.

  When the tractor 2A is driven to perform the scratching operation, the display control unit 14 causes the scratching on the paddy field P displayed on the touch panel 11 based on the travel history 311 of the tractor 2A and the width of the scratching device 222A. The working area 333 is colored light brown. Also in the scratching operation, the display of the overlapping area 35 is performed as in the case of the tilling operation. In this way, the operator can visually identify the scratching area 333 and the tilling area 332 and can adjust the operation method so that the overlapping area 35 does not occur.

  In addition, although the tractor 2A is not particularly limited, it is equipped with various field work devices such as a stand device, a stand sowing device, a multi-work device, a fertilizer spray device, a boom sprayer device etc. as a field work device. It is possible. When the upright apparatus is attached to the tractor 2A as a field work apparatus, the vertical work is performed. When a stand sowing device is attached to the tractor 2A as a field work device, a vertical seeding work is performed. When the multi-work device is attached to the tractor 2A as a field work device, the vertical seeding work is performed. When the fertilizer application device is attached to the tractor 2A as a field work device, fertilization work is performed. When the boom spray device is attached to the tractor 2A as a field work device, a drug dispersion operation is performed. Also in these cases, the display control unit 14 colors the work completed area to a color corresponding to each field work device (field work) for each type of field work device (field work).

  Next, the operator mounts the field work support terminal 1 on the rice transplanter 2B in the rice planting work in the paddy field P. The preparation step is carried out in the same manner as in the above-mentioned scratching operation. When the rice transplanter 2B is driven to carry out the rice transplanting operation, the display control unit 14 controls the rice transplanting operation on the paddy field P displayed on the touch panel 11 based on the travel history 311 of the rice transplanter 2B and the width of the rice transplanter 22B. Area 334 is colored green. Here, the rice planting operation device 22B is configured in a multi-row planting type (for example, eight-row planting), and the number of planting bars can be changed by operating each row clutch (not shown). The work information acquisition unit 13 recognizes how much row planting type the rice transplanter 22B is actually operated by communication with the rice transplanter 2B via the communication unit 15, and the display control unit 14 recognizes The width to be recognized as a rice planting completed area 334 is adjusted according to the number of rice fields. As described above, the work history 33 can be displayed reflecting not only the type of the field work machine 2 in which the field work support terminal 1 is installed, but also the specific operation state. Also in the rice planting operation, the display of the overlapping area 35 is performed.

  Next, the worker mounts the field work support terminal 1 on the riding control machine 2C in the pesticide spreading operation in the paddy field P. The preparation stage is carried out in the same manner as the above-mentioned rice planting operation. When the pesticide management work is performed by driving the passenger management device 2C, the display control unit 14 displays the top of the paddy field P displayed on the touch panel 11 based on the travel history 311 of the passenger management device 2C and the width of the pesticide dispersion work device 22C. , The agrochemical spray work area 335 is colored white. In addition, the display of the duplication area | region 35 is performed also in agrochemical spraying operation | work. Here, for example, when spraying two types of pesticides, the area sprayed with the first pesticide can be displayed in white and the area sprayed with the second pesticide can be displayed in gray. Thus, the display color of the work history 33 can be appropriately added or changed according to the progress of the work.

  Finally, in the harvesting work in the paddy field P, the worker mounts the field work support terminal 1 on the combine 2D. The preparation stage is carried out in the same manner as the above-mentioned rice planting operation. When harvesting operation is performed by driving the combine 2D, the display control unit 14 selects the harvest operation completed area on the paddy field P displayed on the touch panel 11 based on the travel history 311 of the combine 2D and the width of the harvest operation device 22D. Color 336 ocher. Also in the harvesting operation, the display of the overlapping area 35 is performed.

  As described above, one field work support terminal 1 can be commonly used in a series of operations such as tillage, scratching, rice planting, pesticide spraying, and harvesting related to rice cultivation, and the work history 33 and the work Since past information on the non-target area 36 can be utilized, field work can be performed efficiently. In the above embodiment, the case where the field work support terminal 1 is shared by a plurality of field work machines 2 is described as an example, but each field work machine 2 may be provided with a separate field work support terminal 1 .

Other Embodiments
Finally, another embodiment of the field work support terminal according to the present invention will be described. The configurations disclosed in each of the following embodiments can be applied in combination with the configurations disclosed in the other embodiments as long as no contradiction arises.

  In the above embodiment, the configuration in which the field work machine is the tractor 2A, the rice transplanter 2B, the passenger management machine 2C, and the combine 2D has been described as an example. However, without being limited to such a configuration, the field work machine on which the field work support terminal according to the present invention is installed may be any other field work machine.

  In the above embodiment, the configuration in which the work information acquisition unit 13 acquires work information by communication with the field work machine 2 via the communication unit 15 has been described as an example. However, without being limited to such a configuration, acquisition of work information by the work information acquisition unit may be performed through human operation on the display unit by the worker.

  In the above embodiment, the configuration in which the vehicle position information acquisition unit 12 acquires the vehicle position information 31 by the GNSS 23 via the communication unit 15 has been described as an example. However, the present invention is not limited to such a configuration, for example, even if the field work support terminal includes a positioning device such as GNSS, and the position information acquiring unit acquires the vehicle position information by the positioning device. Good. Note that, even when the field work machine or the field work support terminal includes the positioning device, the machine position information acquisition unit corrects the work information in consideration of the difference in the installation position between the positioning device and the field work device. Can provide more precise guidance.

  In said embodiment, the field work assistance terminal 1 demonstrated as an example the structure which is an exclusive terminal. However, without being limited to such a configuration, for example, a general-purpose portable terminal such as a smartphone or a tablet terminal realizes a machine position information acquisition function, a work information acquisition function, and a function for displaying work history. It may be configured as a program to Or you may comprise as a field work machine carrying the field work assistance terminal provided with said function.

  With regard to the other configurations, it is to be understood that the embodiments disclosed herein are illustrative in all respects, and the scope of the present invention is not limited by them. Those skilled in the art will easily understand that appropriate modifications can be made without departing from the spirit of the present invention. Therefore, other embodiments modified within the scope of the present invention are naturally included in the scope of the present invention.

  The present invention can be used, for example, in a field work support terminal.

1: Field work support terminal 11: Touch panel 12: Machine position information acquisition part 13: Work information acquisition part 14: Display control part 15: Communication part 16: Traveling route determination part 17: Deviation recognition part 2: Field work machine 2A: Tractor 2B: rice planter 2C: passenger control machine 2D: combine vehicle 21: field work device 221: field cultivating device 222A: alternate scratching device 22A: rice transplanting device 22C: pesticide working device 22D: harvesting device 23: harvesting device 23: GNSS
3: Display contents 31: Vehicle position information 311: Travel history 32: Guideline 33: Work history 331: Unworked area 332: Cultivation work completed area 333: Replacement work completed area 334: Rice planted work completed area 335: Agrochemical spraying work completed Region 336: Harvested region 34: Route divergence information 341: Divergence direction information 342: Divergence distance information 343: Divergence distance level information 35: Overlap region 36: Work non-target region

Claims (13)

A field work support terminal provided in a field work machine equipped with a traveling machine body and a field work device for performing work on a field and supporting field work by the field work machine,
A display unit,
An airframe position information acquisition unit for acquiring airframe position information indicating a position of the traveling airframe;
A work information acquisition unit that acquires work information indicating contents of work by the field work device;
A display control unit that controls display on the display unit;
A communication unit that communicates with the field work machine;
The field work support terminal which displays the work history in the field on the field displayed on the display unit based on the machine position information and the work information.   The display of the work history by the display control unit is based on the machine position information and the work information for each content of the work performed for each area on the field displayed on the display unit. The field work support terminal according to claim 1, which is performed by coloring different colors.   The display of the work history by the display control unit may further include coloring an area in which the same work is performed in an overlapping manner distinguishable from the area in which the work is performed only once. Field work support terminal described.   The field work according to any one of claims 1 to 3, wherein the work information acquisition unit acquires the work information by communicating with the traveling machine body and the field work device via the communication unit. Support terminal. The display unit is a touch panel display unit,
The field work support terminal according to any one of claims 1 to 4, wherein the work information acquisition unit acquires the work information through an artificial operation on the display unit. A travel route determination unit configured to determine a travel route of the traveling aircraft body;
When performing the second task after the first task,
The traveling route determination unit determines, as a planned traveling route for a second operation, the actual traveling route on which the traveling airframe has traveled in the first operation.
The agricultural field work support terminal according to any one of claims 1 to 5, wherein the display control unit displays the planned traveling route on the display unit.   The field work support terminal according to claim 6, wherein the traveling route determination unit determines the planned traveling route by excluding an area where the first work has not been performed. And a deviation recognition unit that recognizes a deviation direction and a deviation distance between the vehicle position information and one route selected from the actual travel route or the planned travel route,
The field work support terminal according to claim 6 or 7, wherein the display control unit displays the deviation direction and the deviation distance on the display unit. The divergence recognition unit determines one divergence distance level from among the divergence distance levels divided at the level of the finite stage based on the divergence distance and a predetermined divergence distance reference,
The field work support terminal according to claim 8, wherein the display control unit displays the deviation direction, the deviation distance, and the deviation distance level on the display unit.   The field work support terminal according to any one of claims 1 to 9, wherein the machine position information acquisition unit acquires the machine position information from a positioning device provided in the field work machine via the communication unit. .   The agricultural field work support terminal according to any one of claims 1 to 10, comprising a positioning device for acquiring the vehicle body position information.   The field work machine provided with the field work support terminal according to any one of claims 1 to 11. A field work support program provided in a field work machine equipped with a traveling machine body and a field work device for performing work on a field and supporting field work by the field work machine,
An airframe position information acquisition function of acquiring airframe position information indicating the position of the traveling airframe;
A work information acquisition function of acquiring work information indicating contents of work by the field work apparatus;
A field work support program which causes a computer to realize a function of displaying a work history in the field on the field displayed on a display unit based on the machine position information and the work information.

Images