JP2020025474A - Agricultural management system - Google Patents

Abstract

To provide an agricultural management system capable of simply grasping a harvesting position of crops.SOLUTION: An agricultural management system includes a first position detection device for detecting a position of a worker, a first motion detection device for detecting a motion of the worker, and a harvesting estimation unit for estimating the harvesting position where the worker harvests crops from the position data detected by the first position detection device and the motion data detected by the first motion detection device. The agricultural management system includes a clocking device for measuring time. The harvesting estimation unit estimates the harvesting motion from the motion data detected by the first motion detection device, and determines the time corresponding to the estimated harvesting motion as the harvesting time.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an agricultural management system.

  Conventionally, Patent Literature 1 is known as an agricultural tool for cutting agricultural products such as vegetables. The sickle disclosed in Patent Literature 1 includes a gripper gripped by an operator, and a blade plate attached to a tip of the gripper. In such a sickle, for example, it is possible to cut (harvest) crops by applying the blade plate portion to the base of the crop while the operator grips the grip portion with his hand and pulling the grip portion toward the user. .

JP 2007-252328 A

As described above, when crops are manually harvested using a sickle, it is a fact that the harvesting position (harvesting position) must be memorized by the worker, which is a burden on the worker. ing.
The present invention has been made to solve the above-described problems of the conventional technology, and has as its object to provide an agricultural management system capable of easily grasping the harvest position of a crop.

The technical means of the present invention for solving this technical problem is as follows.
The agricultural management system includes a first position detection device that detects a position of a worker, a first operation detection device that detects an operation of the worker, position data detected by the first position detection device, and the first operation. A harvest estimating unit for estimating a harvest position at which the worker has harvested the crop from the operation data detected by the detection device.

The agricultural management system includes a clock device that measures time, the harvest estimating unit estimates the harvest operation from the operation data detected by the first operation detection device, and a time corresponding to the estimated harvest operation. Is the harvest time.
The harvest estimating unit calculates a movement path of the worker corresponding to the time based on the position data, and determines a harvest position of the crop from the movement path and the harvest time.

The harvest estimating unit estimates the harvest operation from the operation data detected by the first operation detection device, and determines position data corresponding to the estimated harvest operation as the harvest position.
The agricultural management system includes a management device that includes a storage device that stores the harvest position, and a harvest display unit that displays the harvest status of the crop based on the harvest position of the crop recorded in the storage device. ing.

The agricultural management system includes the first position detection device and the first operation detection device, and further includes a mobile terminal that can be worn by the worker.
The agricultural management system includes a second position detection device that detects a position of the agricultural tool, a second operation detection device that detects an operation of the agricultural tool, position data detected by the second position detection device, and the second operation detection device. And a harvest estimating unit for estimating a harvest position at which the agricultural tool has harvested the crop from the operation data detected in step (1).

The agricultural management system includes a clock device that measures time, the harvest estimating unit estimates the harvest operation from the operation data detected by the second operation detection device, and a time corresponding to the estimated harvest operation. Is the harvest time.
The harvest estimating unit calculates a travel route of the agricultural implement corresponding to the time based on the position data, and determines a harvest position of the crop from the travel route and the harvest time.

The harvest estimating unit estimates the harvest operation from the operation data detected by the second operation detection device, and determines position data corresponding to the estimated harvest operation as the harvest position.
The agricultural management system includes a management device that includes a storage device that stores the harvest position, and a harvest display unit that displays the harvest status of the crop based on the harvest position of the crop recorded in the storage device. ing.

  The agricultural management system includes the second position detection device and the second operation detection device, and further includes a portable terminal that can be mounted on the agricultural implement.

  ADVANTAGE OF THE INVENTION According to this invention, the harvest position of a crop can be grasped easily.

It is a figure showing an agricultural management system. It is a figure showing the perspective view of a personal digital assistant. It is a figure showing the state where a portable terminal was attached to a worker. It is a figure showing acceleration data. It is a figure which shows the amplitude and frequency characteristic after Fourier transform. FIG. 9 is a diagram illustrating first principal component / second principal component characteristics after principal component analysis processing. It is a figure showing an example of an information input screen. It is a figure which shows the processing flow at the time of calculation of a harvest time. It is a figure which shows the relationship between the extraction range of the operation | movement data at the time of a Fourier transform, and the calculated harvest time. It is a figure showing position data. It is a figure which shows harvest position data. It is a figure showing the position of an actual crop, and the harvest position specified by position specification processing. It is a figure which shows the locus | trajectory division process of the locus | trajectory of position data, and the crop estimation part. It is a figure which shows the locus | trajectory of position data, and the virtual ridge which a crop estimation part produces. It is a figure showing harvest time data. It is a figure showing harvest position data in virtual ridge VU2. It is a figure which shows the harvest position of the crop in virtual ridge VU and virtual ridge VU2. It is a figure showing an example of a harvest situation screen. It is a figure showing an example of a harvest situation screen. It is a figure showing field data which records product crop information. It is a figure showing the state where a personal digital assistant was attached to a farm tool. It is a figure showing an agricultural management system in a modification.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
The agricultural management system is a system that mainly manages information about agriculture. Specifically, the agricultural management system is a system that manages information on harvesting of agricultural products. The agricultural products are mainly vegetables, fruits, potatoes and the like. In this embodiment, description will be given on the assumption that the crop is Chinese cabbage, cabbage, broccoli, or the like.

  FIG. 1 shows an agricultural management system 1. The agricultural management system 1 includes a mobile terminal 10. For example, the mobile terminal 10 is a terminal in a form called a smart watch, and can be attached to a specific part of a worker's body. As shown in FIGS. 2A and 2B, the mobile terminal 10 includes a main body 17 and a mounting device 18 for mounting or holding the main body 17 on a worker's body.

The main body 17 is, for example, a rectangular or circular outer case (housing). The input / output device 16 is attached to the main body 17. An attachment 18 is attached to the main body 17.
The attachment 18 is, for example, two long bands attached to the main body 17. The band is formed of a synthetic resin or a leather material having flexibility but excellent durability. The wearing tool 18 can hold (wear) the main body 17 to the worker by winding the band around the forearm of the worker and fastening the bands together. In this embodiment, a long band is exemplified as the wearing device 18. However, any shape and material may be used as long as the main body 17 can be worn or held on a specific portion of the worker's body. There is no problem. For example, the wearing tool 18 may be a glove having a holding portion for holding the main body 17 or a wristband having a fixing member to which the main body 17 can be detached.

  The input / output device 16 of the mobile terminal 10 is a liquid crystal display screen having a touch panel. The operator operates the mobile terminal 10 via the input / output device 16. That is, the input / output device 16 outputs video information on the liquid crystal display screen, and receives a touch operation on a drawing target on the screen as input information. The input / output device 16 can change the video information on the screen according to the input information, and can start arbitrary application software. In addition, the input / output device 16 may be a device that receives an input by voice. In this case, the worker can operate the mobile terminal 10 by voice and can output information from the mobile terminal 10 by voice.

As shown in FIG. 1, the mobile terminal 10 includes a first position detecting device 11, a first motion detecting device 12, a clock device 13, a storage device 14, and a communication device 15. The first position detecting device 11, the first motion detecting device 12, the clock device 13, and the communication device 15 are configured by an electronic electric circuit, a program, and the like provided in the main body 17.
The clock device 13 transmits the time (current time) measured by the clock device to various devices of the mobile terminal 10. For example, the clock device 13 transmits the calculated current time to the input / output device 16. Upon receiving the current time, the input / output device 16 changes the time information displayed on the liquid crystal display screen to the received current time.

The communication device 15 is a device for communicating with an external network. That is, the communication device 15 can transmit and receive data to and from an external server via a mobile phone communication network or another network.
The first position detection device 11 is a device that detects the current position (latitude and longitude) of the wearer based on a satellite positioning system (Global Positioning System) such as A-GPS (Assisted GPS). When the mobile terminal 10 is attached to the worker, the first position detection device 11 can detect the position (current position) of the worker. Note that the GPS receives satellite position information and time signals transmitted from a plurality of positioning satellites. The GPS that has received the information detects the current position by calculating the distance between each positioning satellite and the GPS from the difference between the transmission time indicated by the time signal transmitted from the positioning satellite and the reception time of the signal. )can do. In addition, the A-GPS calculates the current position by using the information obtained from the mobile phone communication network together with the satellite position information received by the GPS. Specifically, the A-GPS acquires the satellite position information of the positioning satellite which can be received at the position via the mobile phone communication network, so that the satellite position information of the positioning satellite cannot be obtained (for example, Even if the user is indoors), the current position can be detected.

  The first motion detection device 12 has an acceleration sensor for detecting acceleration and a gyro sensor for detecting angular velocity. When the mobile terminal 10 is mounted on the worker, the first motion detection device 12 can detect a motion (movement) of a mounting part such as a forearm. Specifically, the first motion detection device 12 calculates the acceleration and angular velocity (axial acceleration) in three directions of the mobile terminal 10 (forearm of the worker) based on the state change amount detected by the acceleration sensor and the gyro sensor. ) Is detected.

  The storage device 14 is configured by a nonvolatile memory or the like provided in the main body 17. The storage device 14 stores various information, files, application software, and the like acquired by the mobile terminal 10. Further, the storage device 14 stores the position (position information, position data) detected by the first position detection device 11 and the detection information (acceleration, angular velocity) detected by the first motion detection device 12.

By the way, the worker performs the farming work while wearing the portable terminal 10 during the farming work. In this embodiment, the worker performs harvesting of the crops while the portable terminal 10 is attached to an arm having a farming tool such as a saw sickle that cuts the crops, at least when harvesting the crops as farming. As described above, if the mobile terminal 10 is worn, the detection information (acceleration and angular velocity) detected by the first motion detection device 12, that is, the data of the worker detected by the first motion detection device 11 (hereinafter, motion) Data). The operation data is used for estimating the harvesting operation (crowing operation) of the crop.

To determine the mowing operation from the operation data, a Fourier transform is used. In the determination of the mowing operation by the Fourier transform, acceleration information is used from the operation data as a conversion target.
FIG. 3 shows successive acceleration data indicating time in the horizontal axis direction and acceleration in the vertical axis direction. When data in a time section T (a section indicated by the rectangle SQ1 in FIG. 3) is extracted from the acceleration data and subjected to Fourier transform, an amplitude / frequency characteristic diagram in the time section T shown in FIG. 4 is obtained. Next, the main frequency fm and the amplitude Am (the data indicated by the rectangle SQ2 in FIG. 4) are detected from FIG. 4, and the 6-dimensional feature vector X (X = _{(fm x, Am x, fm} y, Am y, fm z, Am z)) to generate, performs principal component analysis process.

  FIG. 5 is an example of the result of performing principal component analysis on acceleration data (data group) and performing mapping based on the first principal component and the second principal component. As shown in FIG. 5, the data D1 indicates “acceleration data when a mowing operation is performed with a saw blade” during a time interval T of the original data (acceleration data). As shown in FIG. 5, during the time interval T of the original data, the data D2 is “acceleration data when the user walks while shaking the scythe” or “data when the user walks while holding the scythe in front of the chest” Is shown. In addition, when we performed the harvesting work over a dozen times and performed the Fourier transform of the acceleration data, we found that "acceleration data when performing a mowing operation with a saw sickle" and "when walking with a saw Acceleration data ”and“ data when walking while holding the saw sickle in front of the chest ”.

That is, if "data obtained when a mowing operation is performed with a saw sickle" exists during the time interval T, a feature in which the first principal component has a negative value is obtained as a result of the principal component analysis.
From the above results, if the above-described processing is performed on the acceleration data, it is possible to determine whether or not the harvesting operation has been performed during the time interval T, and the operation data of the entire harvesting operation is divided into the time intervals T. By performing the above-described processing on the obtained data, it is possible to calculate all times when the harvesting operation is performed.

As shown in FIG. 1, the agricultural management system 1 includes a management device 30 including a server and the like. The management device 30 is a device that manages agriculture. The management device 30 and the mobile terminal 10 can be connected to each other, and can transmit and receive data to and from each other. The management device 30 includes a storage device 31 and a display unit 32.
The display unit 32 includes electrical and electronic components provided in the management device 30, programs stored in the management device 30, and the like. The display unit 32 displays a predetermined screen on the external terminal 40 connected to the management device 30 or the display device directly connected to the management device 30.

The storage device 31 is configured by a hard disk or a non-volatile memory. The storage device 31 stores data input from the external terminal 40 and information obtained from an external device connected to the management device 30.
The external terminal 40 is a mobile terminal such as a smartphone, a tablet, or a PDA, or a fixed terminal such as a personal computer (PC). The mobile terminal 10 according to the present embodiment is also an example of the external terminal 40.

  For example, when the administrator operates the external terminal 40 to log in to the management device 30 and performs a predetermined operation, the display unit 32 outputs to the external terminal 40 a screen for inputting a work instruction to the worker. Information about the work instruction input by the administrator on the input screen is stored in the storage device 31. When the operator operates either the mobile terminal 10 or the external terminal 40 to log in to the management device 30 and performs a predetermined operation, the display unit 32 displays a work instruction corresponding to the worker from the storage device 31. And outputs a work instruction screen to the worker to one of the mobile terminal 10 and the external terminal 40.

  As described above, when the worker performs the harvesting work on the crop while wearing the mobile terminal 10, the mobile terminal 10 uses the position data (position information) detected by the first position detection device 11 and the first operation detection. The operation data (detection information) detected by the device 12 is collected and stored in the storage device 14. The position data and the operation data are stored in the storage device 14 of the mobile terminal 10 in association with the time (detection time) calculated by the clock device 13.

The collection and storage of the position data and the operation data can be executed after the information collection application stored in the mobile terminal 10 is started. For example, the worker operates the portable terminal 10 at a point (place) where harvesting (rearing) starts, thereby starting activation of the information collection application. In this case, the start of the information collection application coincides with the harvest start point WS.

Alternatively, when the worker operates the mobile terminal 10 before the start of the harvest and starts the start of the information collection application, the worker starts the harvest at the point where the harvest starts (the harvest start operation). Do it for In this case, the point at which the worker performs the harvest start operation is set as the harvest start point WS.
While walking slowly along the ridge, the worker observes the maturity of the crop growing on the ridge. When the worker finds a crop having a maturity suitable for shipment during observation, he harvests only the crop. That is, the worker walks along the ridge in the field, and selects and harvests only the ripe agricultural products on the ridge. The worker performs a predetermined operation on the mobile terminal 10 when the observation and the harvest of the crops in the field are completed. When the predetermined operation is performed, the collection of the position data and the operation data by the mobile terminal 10 can be ended. Note that the position of the worker when the collection of the position data and the operation data is completed may be set as the harvest completion point WE.

  The mobile terminal 10 transmits the collected information (position data, operation data, and time) collected at the time of harvesting to the management device 30 via the network. After receiving the collection information, the management device 30 determines the worker (mobile terminal 10) that transmitted the collection information from the login information of the mobile terminal 10, and determines the worker, the work date, and the reception information (hereinafter, harvest time information and ) Are recorded in the storage device 31 of the management device 30 in an associated state.

  As shown in FIG. 1, the agricultural management system 1 includes a harvest estimating unit 34. The harvest estimating unit 34 estimates a harvest position P where the worker has harvested the crop. The harvest estimating unit 34 is composed of electric / electronic components provided in the management device 30, programs stored in the management device 30, and the like. The harvest estimating unit 34 estimates a harvest operation based on at least the operation data detected by the first operation detection device 12 of the mobile terminal 10, and sets a time corresponding to the estimated harvest operation as a harvest time.

  For example, when the administrator logs in to the agricultural management system 1 by operating the external terminal 40 and performs a predetermined operation after logging in, the display unit 32 of the management device 30 displays the information input screen M01 illustrated in FIG. Is displayed on the external terminal 40. The operator inputs the worker who performed the harvesting operation into the worker input section 101 of the information input screen M01, and inputs the work day when the work was performed into the work day input section 102 of the information input screen M01. When the button 103 is pressed, the harvest estimating unit 34 of the management device 30 acquires the corresponding harvest information from the storage device 31.

After obtaining the harvest time information, the harvest estimating unit 34 refers to the storage device 31, extracts operation data corresponding to the harvest time information, and executes a process of calculating a harvest time. The process of estimating the harvesting operation from the operation data uses the above-described Fourier transform and principal component analysis.
FIG. 7 shows a processing flow from acquisition of the harvest time information to determination of the harvest time. The process of calculating the harvest time from the operation data, that is, the process of the harvest estimating unit 34 will be described in detail with reference to FIG.

As shown in FIG. 7, when the harvesting estimation unit 34 acquires the harvesting information for one operation (S1), there is unprocessed data for the acceleration data that is one of the operation data of the harvesting information. It is determined whether or not it is performed (S2).
If there is unprocessed acceleration data (S2, Yes), unprocessed acceleration data is extracted for T seconds from the beginning (the one with the earliest time), that is, separated by a predetermined extraction time T (S3), and a predetermined extraction is performed. A Fourier transform is performed on the acceleration data extracted at time T (S4).

Next, the main frequency fm and the amplitude Am are detected from the data after the execution of the Fourier transform (S5), and from the detected fm and Am, a six-dimensional feature vector Xi (one of n data arrays of X in total, any (indicating the i-th X) (S6). If there is unprocessed acceleration data (S2, Yes), the processing from S3 to S6 is repeated.

Since the Fourier transform of all the acceleration data obtained at the time when there is no unprocessed acceleration data (S2, No) has been completed, principal component analysis processing is performed on X1 to Xn repeatedly generated in S3 to S6. (S7). X1 to Xn are mapped on the first and second principal component axes obtained by the principal component analysis processing (S8), and those having the same characteristics as the harvesting operation are extracted from X1 to Xn (S9). In this embodiment, Xi in which the value of the first principal component is a negative value is X generated from the acceleration data indicating the harvesting operation.

  In addition, the harvest estimating unit 34 determines, based on a predetermined extraction time T corresponding to an acceleration data group including acceleration data having a negative first principal component among a plurality of acceleration data groups separated by the predetermined extraction time T. Then, the harvest time is calculated (S10). For example, when extracting the acceleration data indicating the harvesting operation, the harvest estimating unit 34 obtains an integrated time Ti obtained by integrating a predetermined extraction time T, and calculates the integrated time Ti at the time when the acceleration data indicating the harvesting operation is extracted, The time added to the time of the harvest start point WS is set as the harvest time. In the above-described embodiment, the harvest time is obtained based on the integration time Ti obtained by integrating the predetermined extraction time T. However, the walking speed of the worker (the distance from the harvest start point WS to the point where the harvest operation is performed) is performed. ) May be used to determine the harvest time.

The harvest estimating unit 34 determines the harvest position P by one of the position specifying process and the joint specifying process. The position specifying process and the joint specifying process are processes for determining the harvest position P of the crop based on the harvest time and the position data of the worker at the time of harvest.
In the position specifying process, the position data corresponding to the harvest operation estimated by the harvest estimating unit 34 is determined as the harvest position P of the crop. That is, in the position specifying process, the harvest estimating unit 34 determines the harvest position P from the harvest time and the position data of the worker at the harvest time. As shown in FIG. 8, when the harvest time is “2018/02/18 10:08:23”, as shown in FIGS. 9 and 10, the time corresponding to the harvest time is “2018/02/18 10 : 08: 23 ”as the harvest position P (34.696033371808 / 135.661775399966). As shown in FIG. 10, when the harvest position is “34.696033371808 / 135.661775399966”, the distance from the end (start point) of the ridge to each harvest position is 6.3 m in the latitude direction and −2 in the longitude direction. .3 m. The harvest position P obtained by the harvest estimating unit 34 is stored in the storage device 31. In other words, according to the position specifying process, as shown in FIG. 11, the worker's movement trajectory (the trajectory L1 of the position data) approaches the unharvested crop HP and harvests the first position detection device 11. Is set as the cropping position P of the crop as it is. Thus, the processing performed to determine the harvest position P can be simplified.

Next, the connection path identification processing will be described.
In the connection path specifying process, a movement path of the worker corresponding to the time is calculated based on the position data, and the harvest position P of the crop is determined from the movement path and the harvest time. For example, the route specifying process is a method of determining the harvest position P in which the process of reducing the detection error of the first position detecting device 11 as a whole is performed on the software side.

  In the route specifying process, the harvest estimating unit 34 acquires the field data of the field where the harvest was performed from the storage device 31 of the management device 30. The harvest estimating unit 34 searches the work record in the storage device 31 based on the “worker” and the “work date” input on the information input screen M01, and specifies a field to be acquired. When the work history of the day is not registered in the work record, the target field may be specified from the position information (latitude, longitude) indicated by the position data of the acquired harvest time information.

  The field data includes information such as the location, shape, production crop, and ridge length of the field. As shown in FIG. 12A, the harvest estimating unit 34 uses the ridge length L from the acquired field data. As described above, the worker walks along the ridge in the field, observes and harvests the crops. When the worker reaches the end of the ridge (hereinafter referred to as the ridge end), the worker moves to the next ridge, walks along the ridge like the previous ridge, and observes and harvests crops. The harvest estimating unit 34 first classifies the position data of the harvest time information into “movement along ridges” and “move between ridges”.

As illustrated in FIG. 12A, the harvest estimating unit 34 divides the locus L1 of the position data into a section where the amount of change in the position data (the traveling direction of the worker) can be averaged in one direction and a section where the amount of change cannot be averaged. Further, the change amount of the position data in each section after the division is integrated, and the section length indicated by the integrated sum is compared with the ridge length L. If the section length is less than the ridge length L (for example, 50% of the ridge length L), the harvest estimation unit 34 determines that the section length is constant with respect to the ridge length L. A section shorter than the length is determined to be a movement between ridges, that is, a movement locus L3a.

When the section length is equal to or longer than a certain length with respect to the ridge length L, the section is determined to move along the ridge, that is, the movement locus L2. Similarly, the harvest estimating unit 34 regards a section in which the amount of change in the position data (the traveling direction of the worker) cannot be averaged in one direction as being moving in the furrow, and moves the furrow in the same way as the movement locus L3a ( (Moving locus) L3b.
As shown in FIG. 12B, the harvest estimating unit 34 averages the amount of change in the position data of the movement locus L2 corresponding to “movement along the ridge” (referred to as a virtual ridge or an estimated movement route) VUi ( i = 1,2,3 ...)
Is generated, and both ends of the generated straight line are defined as ridge ends. In FIG. 12B, the ridge end corresponding to the start point of the estimated movement route VUi is indicated by “VUiS”, and the ridge end corresponding to the end point of the estimated movement route VUi is indicated by “VUiE”.

The crop estimating unit 34 sets the detection times at both ends of the position data from which the virtual ridge VUi was created to the ridge end passage times. When the generation processing of the virtual ridge (estimated moving route) VUi is completed, the harvest estimating unit 34 determines the harvest position P based on the estimated moving route VUi and the ridge end passing time. Specifically, the harvest estimation unit 34
Assuming that the worker is harvesting the crop while moving at a constant speed from the ridge end VUiS to the ridge end VUiE on the estimated moving route VUi, the harvest position P is specified.

  For example, it is assumed that the length of the virtual ridge VU2 is 20 m. If the passage time of the ridge end VU2S of the virtual ridge VU2 is “13:35:13” and the passage time of the ridge end VU2E is “13:35:53”, the harvest estimating unit 34 sets “moving speed = L / ( VU2E−VU2S) = 20/40 = 0.5 m / sec ”, it is calculated that the moving speed of the worker on the estimated moving route VU2 is 0.5 m / sec. The harvest estimating unit 34 calculates the distance from the starting point VU2S of the ridge end VU2 to the harvest position P based on the moving distance of the worker. For example, as shown in FIGS. 13 and 14A, the harvest times determined by the harvest estimating unit 34 are “2018/02/19 13:35:19”, “2018/02/19 13:35:37”, “2018 / 02/19 13:35:43 ", the distances (harvest moving distances) from the starting point VU2S of the ridge end VU2 to the harvesting positions P5, P6, and P7 are 3 m, 12 m, and 15 m, respectively. As shown in FIG. 14B, the harvest estimating unit 34 sets the position (position on the estimated moving route VU) that has advanced the harvest moving distance in the ridge direction from the start point of the starting point VU2S of the ridge end VU2 to the harvest positions P5, P6, and P7. Set. The harvest positions P5, P6, and P7 obtained by the harvest estimating unit 34 are stored in the storage device 31.

  According to the above, the harvest estimating unit 34 estimates the worker's movement route from the position data detected by the first position detection device 11 and determines the harvest position P on the estimated movement route VU by the route specifying process. When estimating the movement route, the harvest estimating unit 34 averages the moving direction of the worker including the detection error of the first position detection device 11, so that the detection error of the entire harvest position is not a unit of one harvest position. Can be smaller.

  In the above-described embodiment, the worker moves between the ridge ends at a constant speed, and the distance from the starting point of the ridge end to the harvest position (harvest moving distance) is obtained based on the moving speed of the worker. However, in addition to this, the harvesting movement distance may be determined in consideration of the harvesting time (the harvesting time required for harvesting). For example, the harvest estimating unit 34 obtains the harvest moving distance by: harvest moving distance = moving speed of worker × [(passing time of ridge end VU2S−harvesting time) − (number of harvested−1) × cutting time]. The cutting time may be increased as the number of cuts or the moving distance increases. According to this, the harvest position P can be obtained in consideration of the time required for harvest.

As described above, in the above-described embodiment, the two estimation processing methods of the position identification processing and the path identification processing have been described in detail. However, as long as the harvest position P can be identified, there is no problem in using any processing method. The harvest time data and the harvest position data determined by the harvest estimating unit 34 are recorded in the storage device 31 together with the harvest time information. Thereby, the agricultural management system 1 can provide the user with information for confirming the harvest position P of the crop, that is, the harvest situation of the crop in the field.

As shown in FIG. 1, the agricultural management system 1 has a harvest display unit 33. The harvest display unit 33 includes electric and electronic components provided in the management device 30, programs stored in the management device 30, and the like. The crop display unit 33 outputs the crop situation based on the crop position P recorded in the storage device 31.
For example, when a worker (or a manager) operates the external terminal 40 to log in to the management device 30 and performs a predetermined operation, as illustrated in FIG. 15A, the harvest display unit 33 of the management device 30 A harvest status screen M02a for indicating the harvest status is displayed on the external terminal 40. The harvest display unit 33 displays a selection portion for selecting a field on the harvest status screen M02a, and also displays a graphic F indicating the field. The graphic F indicating the field can be obtained from map information including the field prepared in advance, or map information including the field provided by the map provider. FIG. 15A shows a display screen when a field having a field name of “sixth field” is selected as a display target.

The harvest display unit 33 acquires the map information of the target field (sixth field) and displays the figure F corresponding to the sixth field on the harvest status screen M02a. In addition, the harvest display unit 33 acquires the harvest position P corresponding to the sixth field from the storage device 31 and displays the harvest position P in the figure F corresponding to the sixth field.
In the above-described embodiment, the harvest position P is displayed in the figure F indicating the field, but the ridges are displayed and the presence / absence of harvest of the crop (whether the crop is not harvested) is displayed. May be represented visually. As illustrated in FIG. 16, the management device 30 stores, as field data, the length of the field, the planted crop (produced crop), and the inter-crop distance of the crop (produced crop). For example, when a predetermined operation is performed after logging in the external terminal 40 to the management device 30, the harvest display unit 33 displays a harvest status screen M02b on the external terminal 40, as shown in FIG. 15B. The harvest display unit 33 displays a selection part for selecting a field on the harvest status screen M02b, and also displays a graphic F indicating the field.

  In addition, the harvest display unit 33 displays the virtual ridge VU (the graphic indicating the virtual ridge VU) generated by the harvest estimating unit 34 in the graphic F indicating the field. In addition, the crop display unit 33 arranges the crop icons 110 representing the crops on the virtual ridge VU at equal intervals, that is, at every inter-crop distance, based on the crops (production crops) stored in the management device 30. The crop icon 110 is an unharvested crop, and the harvest display unit 33 can determine whether or not the crop is unharvested based on the harvest position P.

  The harvest display unit 33 refers to the harvest position P stored in the storage device 31 and displays a harvested icon 111 indicating that the crop has been harvested at a position closest to the harvest position P1. As described above, the crop position P can be grasped by displaying the virtual ridge VU (the graphic indicating the virtual ridge VU) and the crop icon 110 and the harvested icon 111 on the harvest status screen M02b. The harvest time corresponding to the harvest position P may be displayed together with the harvested icon 111 on the harvest status screen M02b.

  The agricultural management system 1 includes a first position detecting device 11 for detecting a position of an operator, a first operation detecting device 12 for detecting an operation of the worker, a position data detected by the first position detecting device 11, and a first position detecting device. A harvest estimating unit 34 for estimating a harvest position at which the worker has harvested the crop from the motion data detected by the motion detection device 12. According to this, by the first position detection device 11 and the first operation detection device 12, the worker's position (position data) and the worker's movement (movement data) when the worker performs the harvesting work of the crops. And can be detected. Further, the harvesting position can be estimated by the harvest estimating unit 34 from the position (position data) of the worker and the operation (operation data) of the worker detected when the harvesting work is performed. In other words, the worker does not need to remember the harvest position of the crop, and can simply grasp the harvest position simply by performing the harvest operation.

The agricultural management system 1 includes the clock device 13 that measures the time, and the harvest estimating unit 34 estimates the harvest operation from the operation data detected by the first operation detection device 12, and corresponds to the estimated harvest operation. The time is the harvest time. According to this, not only the harvest position of the crop but also the harvest time can be obtained by the harvest estimating unit 34, so that it is possible to easily grasp where and when the crop was harvested.

  The harvest estimating unit 34 calculates the worker's movement route corresponding to the time based on the position data, and determines the harvest position of the crop from the movement route and the harvest time. According to this, for example, when the moving direction of the worker in the harvesting work is constant, such as when the worker harvests the crop while moving along the ridge, the first position detecting device 11 detects the moving direction. Even if an error occurs in the position (the position of the worker), the harvesting position can be estimated with some accuracy.

The harvest estimating unit 34 estimates the harvest operation from the operation data detected by the first operation detection device 12, and determines the position data corresponding to the estimated harvest operation as the harvest position. According to this, in the harvesting operation, the harvesting position can be estimated even if the moving direction of the worker is not constant.
The management device includes a storage device that stores a harvest position, and a harvest display unit that indicates a harvest status of the crop based on the harvest position of the crop recorded in the storage device. According to this, the harvest situation can be easily grasped.

The agricultural management system 1 includes a first position detection device 11 and a first operation detection device 12, and further includes a mobile terminal 10 that can be worn by an operator. According to this, it is possible to detect both the position of the worker and the movement of the worker simply by attaching the portable terminal 10 to the worker.
In the above-described embodiment, the harvesting operation and the harvest position P are estimated by attaching the portable terminal 10 to the worker. However, as shown in FIG. The operation and the harvest position P may be estimated.

FIG. 18 shows an agricultural management system 100 in a case where the portable terminal 10 is attached to the agricultural implement 80 (modification). The agricultural management system 100 includes a second position detection device 211, a second operation detection device 212, and a harvest estimating unit 134.
The second position detection device 211 is a device that detects the position of the agricultural implement. The second position detection device 211 is a device that detects the current position (latitude / longitude) of the agricultural implement 80 based on the satellite positioning system. When the mobile terminal 10 is attached to the farm implement 80, the second position detection device 211 can detect the position (current position) of the farm implement 80. Note that the detailed configuration of the second position detecting device 211 is the same as that of the first position detecting device 11, and thus the description is omitted. In other words, the first position detection device 11 in the embodiment shown in FIG. 1 may be replaced with the “second position detection device 211”.

  The second motion detection device 212 has an acceleration sensor for detecting acceleration and a gyro sensor for detecting angular velocity. When the portable terminal 10 is mounted on the farming tool 80, the second motion detection device 212 can detect a motion (movement) of the mounting portion of the farming tool 80. Specifically, the second motion detection device 212 calculates the acceleration and angular velocity (axial acceleration) in the three axial directions of the portable terminal 10 (the mounting portion of the farming tool 80) based on the state change amount detected by the acceleration sensor and the gyro sensor. ) Is detected. Note that the detailed configuration of the second motion detection device 212 is the same as that of the first motion detection device 12, and a description thereof will be omitted. In other words, the first motion detection device 12 in the embodiment illustrated in FIG. 1 may be replaced with the “second motion detection device 212”.

  The crop estimating unit 134 estimates the crop position at which the agricultural implement 80 has harvested the crop from the position data detected by the second position detector 211 and the operation data detected by the second operation detector 212. In addition, the harvest estimating unit 134 estimates a harvest operation based on at least the operation data detected by the second operation detection device 212 of the mobile terminal 10, and sets a time corresponding to the estimated harvest operation as a harvest time. The harvest estimating unit 134 estimates a harvest operation from the operation data detected by the second operation detection device 212, and sets a time corresponding to the estimated harvest operation as a harvest time.

Further, the harvest estimating unit 134 calculates a moving route of the agricultural implement 80 corresponding to the time based on the position data, and determines a harvest position of the crop from the moving route and the harvest time. Further, the harvest estimating unit 134 estimates the harvest operation from the operation data detected by the second operation detection device 212, and determines the position data corresponding to the estimated harvest operation as the harvest position. Note that the harvest estimating unit 13
The detailed configuration of No. 4 is the same as that of the harvest estimating unit 34, and thus the description is omitted. In other words, the harvest estimating unit 34 in the embodiment illustrated in FIG. 1 may be replaced with the “harvest estimating unit 134”. According to the above modified example, even when the portable terminal 10 is attached to the agricultural implement 80, the harvest position P can be properly obtained.

  As mentioned above, although one Embodiment of this invention was described, it should be considered that Embodiment disclosed this time is an illustration and restrictive at no points. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

DESCRIPTION OF SYMBOLS 1 Agricultural management system 10 Mobile terminal 11 1st position detecting device 12 1st operation detecting device 13 Clock device 14 Storage device 15 Communication device 16 I / O device 17 Main part 18 Mounting part 21 2nd position detecting device 22 2nd operation detecting device Reference Signs List 30 management device 31 storage device 32 display unit 33 harvest display unit 34 harvest estimation unit 40 external terminal 80 farm tool 101 worker input unit 102 work day input unit 103 start button 110 crop icon 111 harvested icon 134 harvest estimation unit 211 second position Detecting device 212 Second motion detecting device D1, D2 Data F Field shape VU, VUi (VU1, VU2, VU3) Virtual ridge (estimated moving route)
VUiS (VU1S, VU2S, VU3S) Ridge end (start point)
VUiE (VU1E, VU2E, VU3E) Ridge end (end point)
L ridge length L1 trajectory L2 trajectory along ridge L3a trajectory between ridges L3b trajectory between ridges (turn)
M01 Information input screen M02a, M02b Harvest status screen P Harvest position P5, P6, P7 Harvest position in virtual ridge VU2 SQ1, SQ2 Rectangular WS Harvest start point WE Harvest completion point

Claims (12)

A first position detection device that detects a position of the worker;
A first motion detection device that detects a motion of the worker;
A harvest estimating unit configured to estimate a harvest position at which the worker has harvested the crop from the position data indicating the position detected by the first position detection device and the operation data detected by the first operation detection device;
Agricultural management system that has. Equipped with a clock device that measures the time,
The agricultural management system according to claim 1, wherein the harvest estimating unit estimates the harvest operation from the operation data detected by the first operation detection device, and sets a time corresponding to the estimated harvest operation as a harvest time. .   The agriculture according to claim 2, wherein the harvest estimating unit calculates a movement route of the worker corresponding to the time based on the position data, and determines a harvest position of the crop from the movement route and the harvest time. Management system.   The harvest estimation unit estimates the harvest operation from the operation data detected by the first operation detection device and determines position data corresponding to the estimated harvest operation as the harvest position. The agricultural management system according to any of the above.   2. A management device comprising: a storage device that stores the harvest position; and a harvest display unit that displays a harvest status of the crop based on the harvest position of the crop recorded in the storage device. The agricultural management system according to any one of Items 1 to 4.   The agricultural management system according to any one of claims 1 to 5, comprising the first position detection device and the first operation detection device, and further comprising a portable terminal that can be worn by the worker. A second position detection device for detecting the position of the agricultural implement,
A second operation detection device that detects the operation of the agricultural tool;
A harvest estimating unit that estimates a harvest position at which the agricultural tool has harvested the crop from the position data indicating the position detected by the second position detection device and the operation data detected by the second operation detection device;
Agricultural management system that has. Equipped with a clock device that measures the time,
The agricultural management system according to claim 7, wherein the harvest estimating unit estimates the harvest operation from the operation data detected by the second operation detection device, and sets a time corresponding to the estimated harvest operation as a harvest time. .   The agricultural management according to claim 8, wherein the harvest estimating unit calculates a travel route of the agricultural implement corresponding to the time based on the position data, and determines a harvest position of the crop from the travel route and the harvest time. system.   The harvest estimation unit estimates the harvest operation from the operation data detected by the second operation detection device, and determines position data corresponding to the estimated harvest operation as the harvest position. The agricultural management system according to any of the above. 8. A management device comprising: a storage device that stores the harvest position; and a harvest display unit that displays a harvest status of the crop based on the harvest position of the crop recorded in the storage device. An agricultural management system according to any one of claims 10 to 10.   The agricultural management system according to any one of claims 7 to 11, comprising the second position detection device and the second operation detection device, and further comprising a portable terminal that can be attached to the agricultural implement.

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