JP6288238B2 - Agricultural management system and management center for agricultural management system - Google Patents

Description

  The present invention relates to an agricultural management system that centrally manages information exchanged by an agricultural product producer or an agricultural machine.

  In recent years, there has been an increase in contract farming where an individual or a corporation owns an agricultural machine including a plurality of work vehicles for agricultural work, and the production of local farms is entrusted in a batch. In such consignment agriculture, the position information of agricultural machines using radio signals from GPS (Global Positioning System) satellites and the supply of materials such as fertilizers and seedlings are used between the management center and agricultural machines. Information is transmitted and received (see, for example, Patent Document 1).

  On the other hand, there is known an agricultural product distribution method in which an investor invests in an individual producer and grows the investment effect on the web. In this method, a virtual production environment providing step for providing an environment for performing virtual agricultural production activities to an accessor via a computer network, and the accessor virtually performs a production activity in the virtual production environment providing step. A virtual production activity evaluation step that evaluates the degree to which the farming has been performed, and an agricultural product distribution rate determination step that determines a distribution rate for distributing the actual agricultural product according to the contents evaluated in the virtual production activity evaluation step. Then, the agricultural products are distributed according to the distribution rate determined in the agricultural product distribution rate determination step (see, for example, Patent Document 2).

JP 2010-104292 A JP 2002-132856 A

  In this way, the state of growing crops or farm machinery is remotely managed individually via a computer or network, and the information managed remotely is utilized for crop cultivation management, location management of farm machinery, or investment activities in agriculture. Thus, various proposals intended to revitalize the entire agricultural production activities such as agricultural production and crop trading have been made.

  However, in recent years, part of agricultural land (hereinafter referred to as “agricultural land”) has been diverted to residential land and industrial land, and the agricultural land has shrunk and scattered. (Hereinafter abandoned farmland) is increasing. Moreover, in a small country in Japan, farmland is scattered in individual small-scale farmland, and production efficiency is not necessarily good compared with the large-scale farmland seen in the United States. For this reason, in order to increase the production efficiency of agriculture, enlargement of farmland is desired. However, it is necessary to gather multiple small-scale farmland that are already used as small-scale farmland in one place as a large-scale farmland, and it is very difficult to open large-scale farmland. .

  In addition, although the crop management system and the agricultural machine management system have been developed individually, the individual systems are not organically linked, and compared to the construction industry and the transportation industry, etc. where IT is being advanced, There is also the actual situation that IT enforcement is behind.

  The present invention has been made to solve such problems, and provides an agricultural management system that centrally manages the management of agricultural products, the operation of agricultural machinery, and the like according to the characteristics and conditions of agricultural land. For the purpose.

The agricultural management system according to the present invention corrects the positioning information obtained by the positioning device with the positioning reinforcement information from the reinforcing satellite, and obtains a positioning processing unit for positioning its own position and a sensor for measuring the image and the environmental state. The measured data is transmitted as terminal information in association with the positioning data of the positioning processing unit, the wireless device that receives the instruction information on the movement route of the agricultural machine and the work instruction information, and the movement of the agricultural machine that is received by the wireless device A farm work management unit that controls the movement route and work state of the agricultural machine based on the route instruction information and the work instruction information, and the connection relationship of the movement route between the farm equipment terminal mounted on the farm machine and the plurality of farms In addition, while maintaining the shape information of each farm, the virtual managed farmland is configured by bringing the positions between the farms together, and the virtual managed farmland is displayed on the display device. Select a specific farmland from the virtual farmland data management unit that stores the terminal information transmitted from the farm machine terminal in association with each farm, and a plurality of farms of the virtual management farmland held in the virtual farmland data management unit. And an agricultural machine management unit that transmits the instruction information of the movement route to the other farms in the actual farm corresponding to the selected farm and the work instruction information in each farm to the specific agricultural machine terminal. And a management center.
Further, the agricultural management system according to the present invention corrects the positioning information obtained by the positioning device with the positioning reinforcement information from the reinforcing satellite, and measures a positioning processing unit for positioning its own position, farmland shape data, movement route data, and Based on the work instruction information, the farm work management unit that manages the movement route and work state of the agricultural machine and the measurement data acquired by the sensors that measure the surrounding images and the environmental state of the farm are associated with the positioning data of the positioning processing unit. And a group of virtual management farms that are a group of virtual farms that are virtually integrated with a plurality of farms, and a radio device that receives work instruction information. Group management, and for a plurality of farms in each virtual management farmland, holding the data to identify the position and shape of the farm, and terminal information transmitted from the farm machine terminal In addition, a specific virtual managed farmland is selected from a virtual farmland data management unit that holds data of roads connecting farms and a plurality of virtual managed farmland managed by the virtual farmland data management unit. The instruction information for operating the farm machine in the virtual management farmland is generated, the generated instruction information is transmitted to the specific farm machine terminal, the work process of each farm in the selected virtual management farmland, and the farm machine between farms And a management center having a farm machine management unit that transmits the set work process and the travel path to the specific farm machine terminal.
In addition, the management center for agricultural management system according to the present invention corrects the positioning information obtained by the positioning device with the positioning reinforcement information from the reinforcing satellite, and determines the position of the self position, the image and the environmental state. The measurement data acquired by the sensor to be measured is transmitted as terminal information in association with the positioning data of the positioning processing unit, and the wireless device that receives the instruction information of the movement route of the agricultural machine and the work instruction information, and the wireless device Based on the received agricultural machine movement path instruction information and work instruction information, the agricultural machine movement path instruction is provided to the agricultural machine terminal that has the agricultural work management unit that controls the agricultural machine movement path and work state. A virtual machine with a position between farms in a state in which the farm equipment management section that transmits information and work instruction information, and the connection relationship of the movement route between multiple farms and the shape information of each farm are held. A virtual farm land management unit configured to configure a virtual farm land, display the virtual farm land on a display device, and hold terminal information transmitted from the farm machine terminal in association with each farm, and the farm machine manager Selects a specific farmland from a plurality of farms of the virtual management farmland held in the virtual farmland data management unit, and moves between other farms on an actual farm corresponding to the selected farm The instruction information and the work instruction information in each farm may be transmitted to the specific farm machine terminal.

  In addition, the positioning information obtained by the positioning device is corrected by the positioning reinforcement information from the reinforcing satellite, the positioning processing unit for positioning the own position, the farmland shape data, the movement route data, and the work instruction information, The farm work management unit that manages the movement route and the work state, and the measurement data acquired by the surrounding image and the sensor that measures the environmental state of the farm are transmitted as terminal information in association with the positioning data of the positioning processing unit, A wireless device that receives the instruction information, a producer terminal possessed by the producer, and a group of virtual managed farms formed by virtually accumulating a plurality of farms, managing a plurality of groups, and each virtual managed farm land The data for identifying the location and shape of the farm and the terminal information transmitted from the producer terminal for the multiple farms in the farm, and the data for the roads connecting the farms A virtual farmland data management unit that holds the virtual farmland and a plurality of virtual management farmlands managed by the virtual farmland data management unit, a specific virtual management farmland is selected, and a work instruction is given to the producer in the selected virtual management farmland The instruction information to be generated is transmitted, the generated instruction information is transmitted to the specific producer terminal, and the work process of each farm in the selected virtual management farmland and the movement route of the farm machine between the farms are set and set. A management center having a producer management unit that transmits the work process and the movement route that have been performed to the specific producer terminal.

  According to the present invention, a plurality of small-scale farmland scattered can be managed as a large-scale virtual farmland by IT (Information Technology) informationization, so that the production efficiency of agricultural products can be improved.

It is a figure which shows the conceptual structure of the management system for agriculture by Embodiment 1. FIG. It is a figure which shows the structure of the automatic agricultural machine with which the agricultural machine terminal by Embodiment 1 was mounted | worn. It is a figure which shows the structure of the agricultural machine with which the producer terminal by Embodiment 1 was mounted | worn. It is a figure which shows the structure of the management center by Embodiment 1. FIG. It is a figure which shows the structure of the agricultural machine management part by Embodiment 1. FIG. It is a figure which shows the structure of the producer management part by Embodiment 1. FIG. 3 is a diagram illustrating a configuration of a data management unit according to Embodiment 1. FIG. It is a conceptual diagram which shows an example of the management farmland by Embodiment 1. FIG. It is a figure which shows an example of the virtual management farmland by Embodiment 1. FIG. It is a figure which shows an example of the movement path | route between farms by Embodiment 1. FIG. It is a conceptual diagram which shows an example of the link data between farms by Embodiment 1. FIG. 6 is a conceptual diagram illustrating an example of movement route data between farms according to Embodiment 1. FIG. It is a figure which shows an example of the farmland managed according to the area by Embodiment 1. FIG. 1 is a diagram illustrating an example of a satellite system according to Embodiment 1. FIG. It is a figure which shows an example of the monitor screen of the virtual management farmland by Embodiment 1. FIG. It is a figure which shows an example of the moving route of the agricultural machine in the actual farm by Embodiment 1. FIG. It is a figure which shows an example of the movement route of the virtual farm by Embodiment 1. FIG. It is a figure which shows the structure of the seller management part by Embodiment 1, and a consumer management part. It is a figure which shows the structure of the investor management part by Embodiment 1. FIG. It is a figure for demonstrating the mechanism of nonlife insurance using the insurance management part by Embodiment 1. FIG.

Embodiment 1 FIG.
Hereinafter, the agricultural management system of Embodiment 1 which concerns on this invention is demonstrated. The agricultural management system according to the first embodiment manages a plurality of adjacent small, small, or scattered small farms as large-scale farms in a virtual space, and farming machines such as farming machines and farming machines, or farming In the producer of the product, information on a plurality of small-scale farmland to be exchanged is centrally managed as a large-scale farmland in a virtual space.

  FIG. 1 is a diagram showing a configuration of an agricultural management system according to Embodiment 1, wherein (a) is a block diagram showing a conceptual configuration, and (b) is a diagram showing a line configuration of an information network. FIG. 2 is a diagram showing a configuration of an automatic farm machine equipped with an agricultural machine terminal according to Embodiment 1, (a) is a diagram showing an automatic farm machine equipped with an agricultural machine terminal, and (b) is a diagram of an agricultural machine terminal. It is a block diagram which shows a connection structure with a structure and its peripheral device. FIG. 3 is a diagram showing a configuration of an agricultural machine equipped with a producer terminal, (a) is a diagram showing an agricultural machine equipped with a producer terminal, and (b) is a configuration of the producer terminal and its surroundings. It is a block diagram which shows a connection structure with an apparatus.

  1A, the agricultural management system according to the first embodiment includes an agricultural field sensor 30, a producer terminal 10, an agricultural machine terminal 20, a remote sensor 40, a consumer terminal 60, and an investor terminal 80. A management center 50, a seller terminal 70, and an information network 100. The agricultural field sensor 30, the producer terminal 10, the agricultural machine terminal 20, the remote sensor 40, the consumer terminal 60, the seller terminal 70, and the investor terminal 80 are connected to the management center 50 via the information network 100, respectively. ing. The producer terminal 10 and the agricultural machine terminal 20 have a CPU, a storage device, an input device, a display device, and the like. In addition to a dedicated terminal capable of communication by satellite communication or wireless communication, for example, satellite communication or wireless communication. Smartphones (multifunctional mobile phones) that can be used, and tablet (multifunctional mobile terminals) type terminals capable of satellite communication and wireless communication may be used. The consumer terminal 60, the investor terminal 80, and the seller terminal 70 may be a desktop or portable personal computer. Similarly to the producer terminal 10 and the agricultural machine terminal 20, a CPU and storage device, input Devices, display devices, etc., in addition to dedicated terminals capable of communication by satellite communication or wireless communication, for example, smartphones capable of satellite communication or wireless communication, tablet terminals capable of satellite communication or wireless communication, etc. It may be used. In addition, the producer terminal 10, the agricultural machine terminal 20, the consumer terminal 60, the seller terminal 70, and the investor terminal 80 have a common specification that can freely implement application software that can be used in the agricultural management system. Terminal (common platform terminal) may be used.

  Further, in FIG. 1B, the information network 100 conforms to a wireless communication standard such as a wired line 101 using optical communication or an electric cable, LTE (Long Term Evolution) standard, WiMAX (Worldwide Interoperability for Microwave Access) standard, or the like. A plurality of types of information transmission lines including a wireless line 102 using a wireless terminal, a telephone line 103 using a mobile phone or a fixed telephone, a satellite communication line 104 with a communication satellite interposed therebetween, and the like. In the following description, a case where the producer terminal 10 and the agricultural machine terminal 20 are connected to the management center 50 by the satellite communication line 104 or the wireless line 102 will be described as an example.

  In FIG. 2, the automatic agricultural machine 25 according to the first embodiment is equipped with an agricultural machine terminal 20, a mounting sensor 21, and an illumination 29. The agricultural machine terminal 20 is attached to the automatic agricultural machine 25 so as to be attachable / detachable, but may be incorporated in the automatic agricultural machine 25. The automatic farm machine 25 includes an ECU (Electronic Control Unit) 26 and a drive unit 27. The automatic farming machine 25 has a work machine 24 detachably attached, and drives the drive unit 27 and the work machine 24 by autonomous control in accordance with a control command from the ECU 26. The work machine 24 performs fertilization, soil improvement, tilling, soil disinfection, ridgeling, sowing, and the like. The illumination 29 is configured by infrared light illumination, halogen light illumination, LED (Light Emitting Diode) illumination, or the like. The automatic agricultural machine 25 can run at night by providing the lighting 29.

  The agricultural machine terminal 20 includes a positioning device 22, a positioning processing unit 201, a navigation processing unit 202, a storage device 203, a farm work management unit 205, a wireless device 23, and a display unit 217. The display unit 217 is provided with a switching button for selecting and switching between an automatic mode for autonomously controlling the automatic agricultural machine 25 and a manual mode for manually operating the automatic agricultural machine 25. Yes. By selecting this switching button, the operation of the farm work management unit 205 can be switched to either the auto mode or the manual mode. In addition, the manual mode of the automatic farm machine 25 includes a manual operation mode for directly operating the automatic farm machine 25 and a remote operation mode for remotely operating the automatic farm machine 25 via the wireless device 23.

  The agricultural machine terminal 20 is connected to the ECU 26 and the mounted sensor 21. The mounted sensor 21 is an inertial sensor such as a camera that acquires an infrared image or a visible image, a laser scanner (laser range finder) that acquires a distance image in the scanning direction, a hyperspectral camera, a temperature sensor, a moisture sensor, a gyroscope, and an acceleration sensor. One, some, or all of sensors such as an altitude sensor, a geomagnetic direction sensor, and odometry are provided, and various sensor data are acquired using these sensors. The onboard sensor 21 acquires various sensor data and measures surrounding images and the environmental state of the farm. The measurement data acquired by the on-board sensor 21 is associated with the positioning data and time data of the positioning processing unit 201, and is temporarily stored in the storage device 203 as terminal sensing information. The terminal sensing information includes various data such as date, time (time), position, orientation, altitude, moisture, atmosphere temperature, ground temperature, soil spectrum, laser distance image, visible image, and infrared image. The on-board sensor 21 may be provided with at least a camera that acquires a visible image.

  The ECU 26 gives a control command to the work machine 24 in accordance with the control operation command of the farm work management unit 205. The storage device 203 stores farmland shape data 210 and movement route data 211 and 212. The positioning device 22 receives positioning signals from GNSS (Global Navigation Satellite Systems) satellites such as GPS satellites, GLONASS satellites, GALILEO satellites, quasi-zenith satellites, and positioning augmentation signals from quasi-zenith satellites at intervals of, for example, 1 Hz to 10 Hz. Then, the positioning information is decoded (in addition, the reception rate of the positioning signal from the GNSS satellite and the positioning reinforcement signal from the quasi-zenith satellite is not necessarily limited to this). The positioning processing unit 201 measures the self position with high accuracy based on the positioning information decoded by the positioning device 22.

  The agricultural field sensor 30 includes an installed remote camera, a temperature sensor, a humidity sensor, an illuminance sensor, a wind speed sensor, a soil sensor, and the like that are connected to the management center 50 by the information network 100, and is installed on the managed farmland. Further, the agricultural field sensor 30 is not necessarily fixed to the managed agricultural land, and may be a movable type mounted on a moving vehicle. The remote sensor 40 is an observation satellite that performs remote sensing, such as an optical satellite, a radar satellite, or an earth observation satellite, and passes over the managed farmland. The remote sensor 40 may be mounted on an airship, an airplane, or a helicopter that passes over the managed farmland, or may be mounted on a moving body such as an unmanned airship, an unmanned airplane, or an unmanned helicopter.

  In FIG. 3, the agricultural machine 15 according to the first embodiment has the producer terminal 10 and the mounted sensor 11 detachably attached via an adapter (mounting tool) (not shown). The producer terminal 10 may be attached to a waist belt or clothes. The agricultural machine 15 drives the installed working machine 24 by manual operation by hand. In addition, when the manual operation mode of the manual mode is selected on the agricultural machine terminal 20, the operation can be performed in the same manner as the producer terminal 10. In addition, the producer terminal 10 may be provided with a connection interface for connecting to the automatic agricultural machine 20.

  The producer terminal 10 includes a positioning processing unit 111, a navigation processing unit 112, a storage device 113, a positioning device 12, a wireless device 13, a farm work management unit 115, and a display unit 117. The producer terminal 10 is connected to the on-board sensor 11. The storage device 113 stores farmland shape data 120 and movement route data 121 and 122. The on-board sensor 11 is an inertial sensor such as a camera that acquires an infrared image or a visible image, a laser scanner (laser range finder) that acquires a distance image in the scanning direction, a hyperspectral camera, a temperature sensor, a moisture sensor, a gyroscope, and an acceleration sensor. One, some, or all of sensors such as an altitude sensor, a geomagnetic direction sensor, and odometry are provided, and various sensor data are acquired using these sensors. The on-board sensor 11 acquires various sensor data and measures the surrounding image and the environmental state of the farm. The measurement data acquired by the on-board sensor 11 is associated with the positioning data and time data of the positioning processing unit 111, and is temporarily stored in the storage device 113 as terminal sensing information. The terminal sensing information includes various data such as date, time (time), position, orientation, altitude, moisture, atmosphere temperature, ground temperature, soil spectrum, laser distance image, visible image, and infrared image. The on-board sensor 11 may be provided with at least a camera that acquires a visible image.

  The positioning device 12 receives a positioning signal from the GNSS satellite and a positioning reinforcement signal from the quasi-zenith satellite at intervals of 1 Hz to 10 Hz, for example, and decodes the positioning information. The positioning processing unit 111 measures its own position with high accuracy based on the positioning information decoded by the positioning device 12 (note that the reception rate of the positioning signal from the GNSS satellite and the positioning augmentation signal from the quasi-zenith satellite is not necessarily this. Not limited to).

  FIG. 4 is a diagram showing the configuration of the management center 50. In the figure, the management center 50 includes a communication device 500, a system management unit 501, a data management unit 502, an output device 503, an input device 504, an agricultural land attribute management unit 511, an agricultural work plan generation unit 512, an agricultural field. Sensor management unit 513, farm work management unit 510, remote sensor management unit 516, seller management unit 517, consumer management unit 518, investor management unit 519, input / output management unit 520, LAN ( A local area network) or a data communication line 590 connected by a data bus. The farm work management unit 510 includes an agricultural machine management unit 514 and a producer management unit 515. The agricultural field sensor management unit 513 manages the operational state of the agricultural field sensor 30 and the presence or absence of abnormality in the sensor output data. The remote sensor management unit 516 manages the operation status of the remote sensor 40 and the presence or absence of abnormality in the sensor output data. When the remote sensor 40 is an observation satellite or other mobile object, control of an observation sensor mounted on the remote sensor 40 (operation status monitoring, remote sensor control, reception of a telemetry signal, transmission of a control command, etc.) Controls the mother machine such as an artificial satellite or a moving body equipped with the observation sensor (monitoring operation status, remote control of the mother machine, receiving a telemetry signal, sending a control command, etc.).

  The farm work plan generation unit 512 generates a long-term production plan and a short-term production plan for crops, a farm work plan for each farm, and the like. Agricultural work plan includes date and time of cultivation, date and time of removing seeds, weed removal, date and time of pesticide application, date and time of fertilizer application, date and time of water supply, date and time of crop harvesting, date and time of pollen, pest control and rain protection A plan is set for various farm work such as date and time, post-processing such as threshing and washing of the crop after harvesting, including the farm where the farm work is performed and the points and work areas where the farm work is performed in the farm. This plan is appropriately input and updated by an operator of the management center 50 using schedule management dedicated software via the input device 504 and the output device 503. In addition, the farm work plan generation unit 512 may automatically prompt the operator to input or change the plan so as to support the operator's work. Further, when some automatic program for planning is created, the farm work plan generation unit 512 may automatically generate a part of the farm work plan according to the automatic program.

For example, the following process is performed in generating the farm work plan.
1. Generation process of each farm's cultivation sequence process.
2. Generation of travel routes between farms in consideration of road traffic conditions between farms.
3. Calculation of the optimal route for moving between farms in the shortest time.
4). Calculation process for storage time and operating time of farm machinery.
5. Data collection time for each farm's soil condition and the process of formulating an analysis plan for the collected data.

  Further, the farm work plan generation unit 512 automatically generates a farm work plan for one hour, half day, one week, and one month by adding information on the long-term weather forecast and the short-term weather forecast, or generation of a farm work plan by an operator. Work support. The farm machine management unit 514 of the farm work management unit 510 manages the autonomous control sequence of the automatic farm machine 25, the movement route of the farm machine, the work process of the farm machine, the storage location and the storage time of the farm machine, and the like. Further, the producer management unit 515 of the farm work management unit 510 manages information for supporting the producer's work.

  The input device 504 includes a mouse, a pointing device, a keyboard, and the like. The output device 503 includes a display device such as a liquid crystal display, an organic EL display, or a CRT. The input / output management unit 520 converts display output information input from other units of the management center 50 into information that can be displayed by the output device 503, controls the display device of the output device 503, and displays the screen of the display device. The display output information is displayed. The input / output management unit 520 encodes information input from the input device 504 by mouse movement, button operation, keyboard key input, and the like into the system management unit 501 and outputs the input information. An echo is displayed on the device 503.

  The management center 50 includes a part of the input / output management unit 520, a part of the output device 503 and a part of the input device 504 distributed in a plurality of slave stations, and a thin client via the LAN or the information network 100. An information network system that connects each slave station and the management center 50 may be configured by a method. As a result, each slave station can operate the management center 50. In addition, since each slave station can be installed at the operator's home so that each operator can operate the agricultural management system while staying at home, operators who are inconvenient to commute to and move from the management center 50 Will also be able to operate at home. Furthermore, if each slave station is provided in a portable terminal or portable terminal, the operator can operate at an arbitrary place or position.

  The communication device 500 is communicatively connected to the wireless device 23 of the automatic agricultural machine terminal 20 via the satellite communication line 104 or the wireless line 102. The communication device 500 is communicatively connected to the wireless device 13 of the producer terminal 10 via the satellite communication line 104 or the wireless line 102.

  The system management unit 501 is connected to each unit of the management center 50 (communication device 500, data management unit 502, output device 503, input device 504, farmland attribute management unit 511, farm work plan generation unit 512, farm field via the data communication line 590. Sensor management unit 513, agricultural work management unit 510, remote sensor management unit 516, seller management unit 517, consumer management unit 518, investor management unit 519, and input / output management unit 520) System management. The agricultural machine management unit 514 or the producer management unit 515 allocates an identification ID number to the agricultural machine terminal 20 and the producer terminal 10 that are in charge, and individually associates the dynamics with time information and position information for each ID number. To manage.

  FIG. 5 is a diagram illustrating a configuration of the agricultural machine management unit 514. In the figure, the agricultural machine management unit 514 includes an agricultural machine movement route generation unit 541, an agricultural machine work process generation unit 542, and an agricultural machine remote control unit 543. FIG. 6 is a diagram illustrating a configuration of the producer management unit 515. In the figure, the producer management unit 515 includes a farm work movement route generation unit 551, a farm work process generation unit 552, and a farm work remote support unit 553.

  FIG. 7 is a diagram showing the configuration of the data management unit 502 that forms a database. In the figure, a data management unit 502 manages various data relating to farmland, farm work, harvesting, and the like of the current year on a database, and can update the database in real time. In addition, when updating data in the database, the data log is always recorded in association with time information (time, date, year, etc.). The data management unit 502 can manage big data (large-capacity data) such as a data center in which a plurality of data servers are connected in parallel, or cloud computing in which data management is performed by connecting a plurality of data centers. It consists of a computer system.

  The data management unit 502 includes a farmland data management unit 910, a virtual farmland data management unit 920, a farm work data management unit 930, a harvest data management unit 940, a consumer data management unit 905, and an investor data management unit 960. I have. In the farm work data management unit 930, data such as soil condition, moisture, fertilizer, pests, and harvest amount are stored in association with time information (time information) and position information. In addition, since each farm corresponding to the virtual management farmland 950 basically uses abandoned farmland or fallow farmland, the farmer at that time will be informed about the cultivation situation when the farm was cultivated in the past. The information is confirmed, and the confirmed information is stored in the farmland data management unit 910 as a database.

  FIG. 8 is a conceptual diagram showing an example of managed farmland by the agricultural management system of the first embodiment. In the figure, the managed farmland 1 is composed of a plurality of farms for each area. In the example of FIG. 8, there are five farms A, farm B, farm C, farm D, and farm E in the managed farmland 1 of one area. Has a farm. As the managed farmland 1, for example, a land that has been abandoned in the past or a fallow farmland may be selected. By using abandoned cultivated land or fallow land, the acreage of farmland can be expanded. Each farm can be composed of small farms.

  Each farm is connected by one or more roads 5. In the example of FIG. 8, farm A and farm B are connected by road a and road b. Farm B and farm C are connected by road d. Farm B and farm D are connected by road c. Farm C and farm D are connected by road e. Farm D and farm E are connected by road f and road g. Farm E and farm A are connected by road h. The managed farm 1 is provided with at least one warehouse 9. In the example of FIG. 8, in the vicinity of the farm E, farm equipment such as the farm machine 15, the automatic farm machine 25, and the work machine 24, and a warehouse 9 for storing seeds, fertilizers, and the like are installed. Further, the warehouse 9 may be used as a harvest warehouse, or a harvest warehouse may be provided adjacent to the warehouse 9. In addition, it is preferable to provide at least one harvest warehouse for each farm.

  The farmland data management unit 910 includes the position of each farm in the managed farmland 1, the outer shape and the outer position, the area, the land owner (right holder), the operating funds for the land, the farm insurance contract amount and the contract conditions described below, Name of the producer contracted on the farm, the past crop yield, the type of crop successfully produced in the past, the number of people required to cultivate the farm, owned equipment inside and outside the farm, the nearest station or bus bower Various information such as information relating to transportation means such as surrounding roads and toll road interchanges is stored. The farmland attribute management unit 511 controls the input / output management unit 520, performs input / output management of information managed by the farmland data management unit 910, and performs encryption processing when information is input / output.

  Each farm is provided with one or more field sensors 30. In the case of a farm with a large cultivated area, the field sensors 30 are installed at a plurality of locations such as around the farm boundary or at the center of the farm. The farm machine 15 or the automatic farm machine 25 is deployed on any one or a plurality of farms of the managed farm land 1 and performs farm work. The agricultural machine 15 or the automatic agricultural machine 25 is stored in the warehouse 9 or other storage when not in use. Moreover, the agricultural machine 15 or the automatic agricultural machine 25 is conveyed by conveyance vehicles, such as a truck and a cart. Alternatively, the automatic farm machine 25 travels between the farms through the road 5 by autonomous traveling, remote operation in a remote operation mode, or the like. The agricultural machine 15 passes through the road 5 by a manual operation of the producer and moves between the farms. The farm machine 15 is equipped with the producer terminal 10, and the automatic farm machine 25 is equipped with the farm machine terminal 20.

  The management center 50 is installed in a remote place or a remote place different from each farm, and is not necessarily installed in an agricultural land, and may be installed in an industrial land or a city. Further, the remote sensor (40) of FIG. 8 shows an example using the observation satellite 400. FIG. 8 shows an example in which a satellite communication line 104 using a communication satellite is used. 8 shows an example in which the producer terminal 10 mounted on the agricultural machine 15 and the agricultural machine terminal 20 mounted on the automatic agricultural machine 25 perform positioning by the GNSS satellite 106.

  In addition, a consumer lives or is located around each farm in the virtual management farm 950. This consumer can perform user registration as a user member who uses the virtual management farmland 950.

  The consumer management unit 518 stores, in the consumer data management unit 905, attribute information such as the residence, contact information, name, farmland usage form, and membership classification of the registered consumer. The consumer management unit 518 can read or rewrite the consumer attribute information stored in the consumer data management unit 905 by encrypted communication.

  The registered consumer has a consumer terminal 60 provided by the management organization of the agricultural management system. The membership classification of the consumer registered as a user is classified into, for example, an investor member, a reservation purchase user member, a temporary purchase user member, and a support member. Investor members are individuals or corporations that make investments such as providing operating funds for virtual managed farm 950, investing in production activities of virtual managed farm 950, subscribing to non-life insurance, financing non-life insurance, etc. Is a member of The reservation purchase user member is a member such as an individual or a corporation that reserves and purchases crops produced on a farm corresponding to the virtual management farmland 950. The temporary purchase user member is an individual member who temporarily purchases crops produced on the farm corresponding to the virtual management farmland 950. The support member is a member of an individual or a corporation that supports the operation and production activities of the virtual management farm 950. For example, the support member can provide volunteer services or paid services such as going around the farms in the virtual managed farm 950, providing supplies to the producers of each farm, and providing advice to the producers of each farm for production. provide. The investor member can be a joint owner or joint owner of the virtual managed farm 950 depending on the investment ratio.

  The investor member, the reservation purchase user member or the temporary purchase user member, and the support member can be all or part of the members.

FIG. 9 is a diagram illustrating an example of the virtual management farmland according to the first embodiment, in which (a) illustrates an example of arrangement of each virtual farm in the virtual management farmland, and (b) illustrates an example of attribute data of each virtual farm. FIG.
In FIG. 9A, a virtual managed farm 950 in each zone constitutes a group farm that is group-managed by collecting one virtual farm 951 or a plurality of predetermined virtual farms 951 together. Each virtual farm 951 corresponds to each farm (for example, farms A, B, C, D, and E) constituting the actual managed farmland 1.

  In the example of FIG. 9A, the virtual management farmland 950 and the virtual farm 951 have a rectangular area division line 952 that divides each of them, so that the area of the virtual management farmland 950 is reduced. Each virtual farm 951 is laid in the plane of 950, and each virtual farm 951 is compressed and arranged in the virtual management farm 950. For this reason, when displaying and managing each farm on the screen, the display image of the virtual farm 951 is displayed on the screen as compared to the case where the actual managed farmland 1 is displayed on the screen. The data size of each farm can be reduced, and each farm can be displayed on a larger screen.

  In the example of FIG. 9A, the virtual farm 951 has a rectangular shape that is in contact with the outer periphery of each of the farms A, B, C, D, and E and provides a minimum area surrounding each farm. By collecting and managing a plurality of actual small farms in this way, one virtual large farm can be configured for each area (for each group).

  The virtual management farm 950 and the virtual farm 951 may be polygonal shapes other than the rectangular shape as long as the shape can be defined by digital discrete numerical values, an elliptic curve described by a predetermined equation, etc. It may be. Further, the number Nk (Nk is a positive integer) of the virtual farms 951 belonging to one virtual managed farm 950 is preferably a number that can be managed on the screen, for example, 1000 or less at maximum. .

For example, in FIGS. 8 and 9, the virtual management farm 950 and the virtual farm 951 are set as follows.
The farmland attribute management unit 511 refers to information on each farm in the managed farmland 1 managed by the farmland data management unit 910 and acquires the position, outer shape, and outer shape position of each farm. Based on this acquired information, the farmland attribute management unit 511 calculates area lane markings that touch the outer shape of each farm and assigns area lane markings. In addition, the data of the position of each farm, the external shape, and the external position are acquired by surveying the inside and outside of the farm site in advance. At this time, using the aerial survey, the survey data is efficiently acquired by acquiring the three-dimensional survey data of the farm and the aerial photograph (two-dimensional survey data or digital map) viewed from directly above the farm. be able to.

  Next, the farm land attribute management unit 511 sets a specific farm in the managed farm land 1 (for example, a farm located at the southernmost and westernmost ends) as a reference farm, and an area division line 956 of a farm adjacent to the area division line 955 of the reference farm. However, the area division line 956 of the adjacent farm is moved to a position where it touches the adjacent area division line 955 of the reference farm. As a result, the reference farm and the farm adjacent to the reference farm are combined. Similarly, the combined farm is used as a new reference farm, and other farms adjacent to the new reference farm are sequentially combined, whereby the placement of each virtual farm 951 is sequentially determined. Finally, the virtual farms 951 are combined into one, and a farm area (virtual site area) of the virtual management farm 950 is generated.

  When connecting the farms, the connection points between the farms 5 and the connection points between the farms (points 1aA, 1bA, 1hA,..., 1hE, etc. in FIG. 9A described later) When connecting points are connected, if there is a contradiction in which the connecting line overlaps with another connecting line, the overlap is adjusted appropriately so as not to cause a contradiction. This adjustment may be appropriately performed by manually performing input / output operations using the input device 504 and the output device 503.

  Further, the area division line of the farm before the movement is moved so as not to exceed the extension of the area division line of the reference farm. Specifically, the movement of the adjacent farm may be stopped when the adjacent farm to be moved reaches an extension of the southernmost or westernmost line of the area division line of the reference farm.

In the example of FIGS. 8 and 9A, first, the farm B is set as a reference farm, and the farm A is moved to a position in contact with the uppermost end of the farm B. And move farm A to farm B.
Similarly, with the combined farm A and B as the reference farm, farm C is moved to the position where it touches the rightmost end of the combined farm A and B, and the extension of the line at the bottom end (e.g., corresponding to the southernmost end) And move farm C to the combination of farms A and B.
Subsequently, with the combined farm A, B, C as the new reference farm, farm D is moved to a position that touches the rightmost end of the combined farm A, B, C, and on the extension of the lowermost line. Move until it is in place and join Farm D to the combination of Farms A, B, and C.
Finally, with the combined farm A, B, C, D as the new reference farm, move farm E to the position where it touches the top of farm D in the combined farm A, B, C, D And move to the extension of the leftmost line of farm D until farm D is joined to the combination of farms A, B, and C.
The farm E may be combined with the combined body of the farms A, B, and C before the farm D.

  In addition, from the aerial photograph viewed from directly above the farm, an ortho image (hereinafter referred to as a farm ortho image) partitioned by the area lane lines of each farm is generated. By moving the segmented farm orthoimages like a puzzle and connecting them (joining the farm orthoimages), the placement of the virtual farm 951 can be easily determined, and the farm of the virtual management farmland 950 can be determined. An area can be easily generated.

  In addition, by installing CAD (computer aided design) software in the input / output management unit 520, the virtual management farmland 950 can be generated more easily. Moreover, since the virtual management farmland 950 generated using the farm orthoimage is formed using a photograph of an actual farm, the virtual management farmland 950 can be displayed as a more realistic farm.

  For example, by using a mouse or a pointing device of the input device 504, aerial photographs of all the farms are cut out on the display screen to generate individual pieces of farm ortho images. This individualized farm orthoimage is a shape (two-dimensional digital map) that directly reflects the shape data of each virtual farm 951. Next, the position of each virtual farm 951 is determined by, for example, grasping the individual farm orthoimages by a mouse click operation and moving the farm orthoimages to a desired position in the display screen by, for example, a mouse drag operation. At this time, the position of each virtual farm 951 is sequentially determined so that each virtual farm 951 is combined with the virtual farm 951 of the adjacent farm.

As described above, the virtual management farmland 950 can be generated more efficiently by combining farm orthophotos using CAD software.
In addition, since the operation position of a mouse, a pointing device, or the like can be accurately measured, between the original farm position on the aerial photograph and the position of the virtual farm 951 after the farm ortho image is cut out and moved. The difference (movement vector) between the moved position coordinate values can be accurately measured. For this reason, it becomes possible to generate the virtual management farmland 950 with higher accuracy.

  The virtual farmland data management unit 920 holds information on the roads 5 that connect the actual farmlands corresponding to the virtual farms 951, so that the information on the connection points between the farmlands and the roads 5 and the connection destinations of the connection points. Information is held as link data.

  In the example of FIG. 9A, the virtual farm 1A corresponding to the farm A includes three connection points 1aA, 1hA, and 1bA in the clockwise direction. The virtual farm 1B corresponding to the farm B includes four connection points 1aB, 1bB, 1dB, and 1cB in the clockwise direction. The virtual farm 1C corresponding to the farm C includes two connection points 1dC and 1eC in the clockwise direction. The virtual farm 1D corresponding to the farm D includes four connection points 1cD, 1eD, 1fD, and 1gD in the clockwise direction. The virtual farm 1E corresponding to the farm E includes three connection points 1fE, 1hE, and 1gE in the clockwise direction.

  As shown in FIG. 9B, each virtual farm 951 is assigned farm node data as attribute data. The farm node data is held and managed by the virtual farmland data management unit 920. The operator of the management center 7 inputs farm node data using the input device 504. The virtual management farmland 950 is assigned an ID number for each area. Each virtual management farm 950 is assigned an ID number (virtual farm ID) of the virtual farm 951 owned by the virtual management farm 950. The farm node data of the virtual farm land data management unit 920 includes virtual center positions (X1A, Y1A, Z1A...) And center positions (x1A, y1A, z1A,...) Corresponding to the virtual farm ID of each virtual farm 951. ..), size (m1A × n1A), shape data (polygondata1A...), Polygonal approximation of actual farm outline corresponding to virtual farm 951, acreage area (S1A...), And each virtual farm 951 Are stored, such as contact data (1aA, 1bA, 1hA...) Of the road 5 to which is connected, additional information (V1a...) Indicating characteristics unique to the virtual farm 951, and the like.

  In FIG. 9B, the area division lines (955, 956, etc. in FIG. 8) in contact with the actual farm outline and the area section line 952 in contact with the virtual farm shape data outline have the same shape. The size indicates the vertical and horizontal dimensions of the area division line. The virtual center position XYZ indicates the center position of the area section line 952 that is in contact with the outline of the virtual farm shape data, and is the center position of the area division lines (955, 956, etc.) that are in contact with the actual outline of the farm. Coordinate conversion can be performed by taking a correspondence relationship with xyz. The shape data includes coordinate data expressed in a local coordinate system with the virtual center position XYZ of each virtual farm 951 as the origin, and uses the position coordinates of the virtual position XYZ and the center position xyz, and shape data. Thus, the absolute position of the contour line of the actual farm corresponding to each virtual farm 951 can be accurately expressed within the range of the quantization error. As a result, the actual farm position and shape corresponding to the virtual farm 951 compressed in the virtual management farm 950 can be constantly reproduced. The planting area roughly corresponds to the area of the shape data, but may indicate the area of land that can actually be used for cultivation in the virtual farm.

  For example, the virtual center position (X, Y, Z) of the farmland, the center position (x, y, z) of the area section line of the actual farm, and any vertex (xp, yp, zp) of the polygon in the shape data ), The absolute position (xpr, ypr, zpr) corresponding to an arbitrary vertex of the actual farm shape data (polygondata) is xpr = xp + x, ypr = yp + y, zpr = zp + z. In addition, the actual positions (xir, yir, zir) of arbitrary points (xi, yi, zi) in the virtual farmland are xir = xi−X + x, yr = yi−Y + y, and zir = zi−Z + z.

  FIG. 10 is a diagram illustrating an example of a movement route between farms according to the first embodiment. FIG. 11 is a conceptual diagram showing an example of inter-farm link data according to the first embodiment. FIG. 12 is a conceptual diagram illustrating an example of movement route data between farms according to the first embodiment.

  In FIG. 10, the connection points of the virtual farms 951 are connected by links indicating actual roads 5. For example, the connection point 1aA of the virtual farm 1A is connected to the connection point 1aB of the virtual farm 1B by the link 1a indicating the road a. The connection point 1bA of the virtual farm 1A is connected to the connection point 1bB of the virtual farm 1B by a link 1b indicating the road b. The connection point 1cB of the virtual farm 1B is connected to the connection point 1cD of the virtual farm 1D by a link 1c indicating the road c. The connection point 1 dB of the virtual farm 1B is connected to the connection point 1dC of the virtual farm 1C by a link 1d indicating the road d. The connection point 1eC of the virtual farm 1C is connected to the connection point 1eD of the virtual farm 1D by a link 1e indicating the road e. The connection point 1fD of the virtual farm 1D is connected to the connection point 1fE of the virtual farm 1E by a link 1f indicating the road f. The connection point 1gD of the virtual farm 1D is connected to the connection point 1gE of the virtual farm 1E by a link 1g indicating the road g. The connection point 1hE of the virtual farm 1E is connected to the connection point 1hA of the virtual farm 1A by a link 1h indicating the road h.

  In FIG. 11, the attribute data of each link connecting the connection points of each virtual farm 951 is held and managed by the virtual farm land data management unit 920 as link data between farms. The operator of the management center 7 inputs inter-farm link data using the input device 504. In the inter-farm link data, a link ID is assigned to each link for each managed farm land ID. Each link of the inter-farm link data corresponds to the link ID, the link destination farm ID (1A, 1B...) Indicating the virtual farm ID to be connected, and the length of each link (that is, each road 5). Link length (L1a...) Indicating the length), link shape (polygondata1a...) Expressing the shape of each link as a straight line or polygon, and coordinates of connection points located at both end points of each link. Link connection point coordinates (coordinates of one end point (x1aA, y1aA, z1aA), coordinates of the other end point (x1aB, y1aB, z1aB) ...), incidental information (Wa ...) indicating link-specific characteristics, etc. Is stored.

  The agricultural machine movement route generation unit 541 of the management center 50 selects the link that connects the connection points of the virtual farms 951 based on the inter-farm link data acquired from the virtual farmland data management unit 920, so that the automatic agricultural machine 25 Generates a plurality of movement route data that gives a combination of a plurality of routes when moving between farms. In addition, the farm work movement route generation unit 551 selects the link that connects the virtual farms based on the inter-farm link data acquired from the virtual farm land data management unit 920, so that the worker operates the farm machine 15. A plurality of movement route data is generated that gives a combination of a plurality of routes when moving between farms. Each generated movement route data is held and managed by the virtual farmland data management unit 920. The agricultural machine movement route generation unit 541 and the agricultural work movement route generation unit 551 are based on information manually input by the operator from the input device 504 or information obtained by automatic calculation, and movement route data of the agricultural machine terminal 20 and the producer terminal 10. Is generated.

  As shown in FIG. 12, the movement route data between farms includes a plurality of routes identified by a plurality of route IDs. For each route ID, information of a standard moving route that defines the use order and moving direction of the links connecting the virtual farms is stored. For example, in correspondence with each route ID, information indicating the order of link IDs passing through and the direction of movement of the link IDs is stored. For example, + indicates a direction from one end point of the link toward the other end point, and-indicates a direction from the other end point of the link toward the one end point. For each route ID, information (T1...) Indicating the travel time for each route and incidental information (Q1...) Indicating characteristics for each route are stored.

  For example, if the moving speed of the agricultural machine 15 or the automatic agricultural machine 25 is v (assumed to be constant), the moving time T1 can be calculated by T1 = (L1h + L1A + L1a + L1B + L1d + L1C + L1e + L1D + L1g) / v. Also, the movement time T2 is T2 = (L1f + L1D2 + L1c + L1B2 + L1b + L1A2 + L1a + L1B + L1d + L1C + L1e + L1D + L1g) / v, T3 = (L1f + L1D2 + L1c + L1B + L1D + L1 ++ 1)

In the calculation of T1, L1A is the distance required to move from the connection point 1hA to 1aA in the farm A, L1B is the distance required to pass in the farm A when moving from the connection point 1aB to 1dB, L1C Is the distance required for passing when moving from the connection point 1dC to 1eC in the farm A, and L1D is the distance required for passing when moving from the connection point 1eD to 1gD in the farm D, respectively. Further, in the calculation of T2, L1D2 is the distance required to move from the connection point 1fD to 1cD in the farm D, L1B2 is the distance required to pass in the farm B when moving from the connection point 1cB to 1bB, and L1A2 Is the distance required to move from the connection point 1bA to 1aA in the farm A, L1B is the distance required to move from the connection point 1aB to 1dB in the farm B, and L1C is the connection point 1dC in the farm C. The distance required for passing when moving from 1eC to 1eC, and L1D indicates the distance required for passing when moving from the connection point 1eD to 1gD in the farm D, respectively. In this example, clearly T1 <T2.
Also, in the calculation of T3, L1D2 is the distance required to move from the connection point 1fD to 1cD in the farm A, L1B3 is the distance required to pass in the farm A when moving from the connection point 1cB to 1dB, L1C Indicates the distance required for passing when moving from the connection point 1dC to 1eC in the farm A, and L1D3 indicates the distance required for passing when moving from the connection point 1eD to 1fD in the farm D.

  Further, the routes of the route ID1 and ID2 pass through all of the farms A to E. The route of route ID 3 passes through all routes except for farm A. Further, the route of route ID 3 shows an example in which the farm C is moved by skipping the farm C when moving from the farm D to the farm B.

  The farm work management unit 510 generates a route selection command based on information manually input by the operator from the input device 504 or information obtained by automatic calculation. In accordance with the route selection command generated by the farm work management unit 510, the farm machine remote control unit 543 actually performs the automatic farm machine 25 to which each farm machine terminal 20 is mounted from the movement route data stored in the virtual farm land data management unit 920. Select the travel route data to be moved to. The agricultural machine remote control unit 543 extracts farm node data and inter-farm link data corresponding to the selected travel route data from the data stored in the virtual farmland data management unit 920, and selects the selected travel route data and The extracted farm node data and inter-farm link data are packetized together and sent to the communication device 500. The communication device 500 sends the selected movement route data, the extracted farm node data, and the inter-farm link data to the agricultural machine terminal 20 attached to the automatic agricultural machine 25 via the satellite communication line 104 or the wireless line 102, and the movement route. Data, farm node data, and farm link data are set for each farm machine terminal 20.

  Further, the farm work remote support unit 553 follows the route selection command generated by the farm work management unit 510 from the movement route data stored in the virtual farm land data management unit 920 for the farm machine 15 to which each producer terminal 10 is attached. The travel route data for actually moving the road 5 between the farms is selected. The farm work remote support unit 553 extracts farm node data and inter-farm link data corresponding to the selected travel route data from the data stored in the virtual farm land data management unit 920, and selects the selected travel route data and The extracted farm node data and inter-farm link data are packetized together and sent to the communication device 500. The communication device 500 sends the selected movement route data, the extracted farm node data, and the inter-farm link data to the producer terminal 10 attached to the farm machine 15 via the satellite communication line 104 or the wireless line 102, and moves the movement route. Data, farm node data, and inter-farm link data are set for each producer terminal 10.

  Each agricultural machine terminal 20 and each producer terminal 10 communicates with the communication device 500 of the management center 50 via the satellite communication line 104 or the wireless line 102, and packetized movement route data, farm node data, and between farms. Link data is acquired and stored in the storage device 203 and the storage device 113, respectively. Here, the farm node data and the inter-farm link data are respectively stored in the farmland shape data unit 210 of the storage device 203 and the farmland shape data unit 120 of the storage device 113. The travel route data is stored as travel route data 211 and travel route data 121 in the storage device 203 and the storage device 113, respectively.

  The agricultural machine 15 to which each producer terminal 10 is attached and the automatic agricultural machine 25 to which each agricultural machine terminal 20 is attached, in accordance with the movement route data 211 and the movement route data 121, use the link specified in the movement route data, Move between farms by manual operation or automatic operation, and perform farming work in order. For example, the navigation processing unit 112 and the navigation processing unit 202 move the map and the movement on the screens of the display unit 117 of the producer terminal 10 and the display unit 217 of the agricultural machine terminal 20 based on the movement route data 211 and the movement route data 121. Displays a route line. According to the display of the map and the moving route, the agricultural machine 15 and the automatic agricultural machine 25 may be moved by manual operation or by transporting them to a transport vehicle (truck, cart, etc.). Further, the automatic agricultural machine 25 may be autonomously driven according to the movement route data 211, or may be remotely operated using wireless communication via the wireless line 102.

  The agricultural machine 15 performs various types of farming by a manual operation manually at a destination farm. Moreover, the automatic farm machine 25 is automatically operated by the autonomous control of the farm machine terminal 20 at the destination farm, and automatically performs various cultivations. In addition, since the automatic agricultural machine 25 is provided with the manual mode, you may perform manual operation manually using the agricultural machine terminal 20 or the producer terminal 10.

  Here, an example of movement between virtual farms will be described with reference to FIG. Here, the movement between the virtual farms will be described. However, since the farm and the virtual farm have a one-to-one correspondence, the movement between the actual farms is also performed in the same manner. The movement within the farm during cultivation will be described later.

  First, since the agricultural equipment is stored in the warehouse 9 located in the vicinity of the virtual farm 1E, the automatic agricultural machine 25 to which the agricultural machine terminal 20 is attached and the agricultural machine 15 to which the producer terminal 10 is attached are the movement path data 211 or the movement. According to the route data 121, the vehicle starts from the warehouse 9 and moves to each farm.

At this time, since there is only one link 1h indicating a road connecting the virtual farm 1E and the virtual farm 1A, it is assumed that the road crowded time zone is a general road that cannot be used, and the links 1b, 1c It is assumed that 1f is a farm road away from the general road.
The information indicating the congestion state is stored in the incidental data in the inter-farm link data of FIG. 11, and for example, the incidental data Wh of the link 1h is a data flag indicating that it is congested from noon to 17:00 pm Is stored, and the accompanying data Wb, Wc, Wf of the links 1b, 1c, 1f stores a data flag indicating that it is free from other links from noon to 17:00 pm. In addition, a data flag indicating that the use is prohibited from noon to 17:00 pm is stored in the accompanying data Q1 of the route ID1 of the moving route data, and the accompanying data Q2 of the route ID2 of the moving route data is 17 pm to 17 pm A data flag indicating that the use is positively recommended during the time is stored.

  In such a case, the farm work management unit 510 has a shortest accumulated distance of the link length and the shortest distance because there is no road in the morning and there is no restriction on the use of any additional data Q1 and Q2 in the route data. In addition, the route ID1 that can travel in the shortest time T1 is selected as the first route, and the travel route data of the selected route ID1 is selected as the travel route data 211 of the specific agricultural machine terminal 20 or the specific producer terminal 10. Is set in the movement route data 121 of The specific agricultural machine terminal 20 or the specific producer terminal 10 is designated in advance by the agricultural machine remote control unit 543 or the agricultural work remote support unit 553.

  According to the set route 1, the automatic farm machine 25 to which the specific farm machine terminal 20 is mounted or the farm machine 15 to which the specific producer terminal 10 is mounted uses the link 1h to correspond to the farm E corresponding to the virtual farm 1E. To the farm A corresponding to the virtual farm 1A, and the farm 1A is cultivated. Thereafter, the link 1a is used to move to the corresponding farm B of the virtual farm 1B and the farm B is cultivated. Hereinafter, the links 1d, 1e, and 1g are used in order to move to the corresponding farms of the virtual farm 1C, the virtual farm 1D, and the virtual farm 1E, and the farming work is performed on each farm. Finish.

  In addition, the traffic volume increases from noon to 17:00 pm, the link 1h becomes unusable, and the accompanying data Q1 of the route ID1 passing through the link 1h is prohibited. At the same time, a recommendation flag is set in the incidental data Q2 of the route ID2. Therefore, as another route that bypasses the link 1h, the farm work management unit 510 has previously selected the route ID 2 that passes through the links 1f, 1c, and 1b, and the movement route data of the selected route ID 2 is used as a specific agricultural machine terminal. 20 movement route data 211 or movement route data 121 of a specific producer terminal 10 is set.

  The automatic agricultural machine 25 to which the specific agricultural machine terminal 20 is attached or the agricultural machine 15 to which the specific producer terminal 10 is attached sequentially moves the links 1f, 1c, and 1b according to the selected route ID2, and corresponds to the farm 1E. The farm E reaches the corresponding farm A of the virtual farm 1A via the corresponding farm D of the virtual farm 1D and the corresponding farm B of the virtual farm 1B. Thereafter, similarly to the first route, the farm moves in order from the virtual farm 1A to the corresponding farms of the virtual farm 1B, the virtual farm 1C, the virtual farm 1D, and the virtual farm 1E, and finishes the afternoon cultivation work.

  In this way, the farm work management unit 510 performs the travel time and travel distance according to the supplementary data indicating the link-specific characteristics according to the link length and the congestion state of the road, and the route data set based on the supplementary data. Select a route between farms that will reduce the

Note that the farm work management unit 510 may perform route selection by a method other than the example shown above.
For example, the travel time for each link corresponding to each road 5 is measured by measuring the actual traffic volume and the travel time of the vehicle using a traffic flow measuring device and a vehicle detection sensor installed on each road 5. A route that can be moved in the shortest time may be selected by accumulating the moving time of all the links that pass through the movement between farms and calculating the moving time for each moving route.

  In addition, the farm work management unit 510 may select a movement path between farms based on, for example, farm-specific conditions such as the soil condition, cultivation situation, and harvest situation of each virtual farm 951. In this case, the virtual farmland data management unit 920 stores cultivation status data indicating the soil state, cultivation status, and harvesting status of the virtual farm 951 in advance as supplementary data of the farm node data. For example, the field sensor 30 managed by the field sensor management unit 513, the remote sensor 40 managed by the remote sensor management unit 516, the mounted sensor 21, and the mounted sensor 11 sense the state of the soil, the cultivation status, and the harvesting status, respectively. The farm work management unit 510 automatically analyzes the above data and generates incidental data based on the data related to the above and the farm work plan of cultivation set by the farm work plan generation unit 512, or the operator inputs from the input device 504 The incidental data is set by manual input.

  In addition, incidental data is a parameter that indicates the state of moisture and soil condition as the soil condition, a parameter that indicates whether or not there is a farming work plan for cultivation according to the time and time, and a unit amount as the harvest condition. Using parameters indicating the yield per area, etc., each parameter may be indexed by dividing it into stepwise numerical values.

  Such an example will be described with reference to FIG. The farm A corresponding to the virtual farm 1A modifies the soil or grows seedlings before planting, so the farm work plan generation unit 512 sets a plan for suspension of cultivation for several days or weeks. . In addition, farm C corresponding to virtual farm 1C is in the vicinity of the river basin, and if the river is flooded more than a certain amount, soil inundation occurs. Therefore, if the previous day was a storm, Assume that no farming is possible until the pool is dry. Alternatively, it is assumed that the farm C corresponding to the virtual farm 1C has poor soil quality and has a small amount of harvest per unit area and a small cultivated area.

  At this time, for example, a data flag indicating prohibition of use is stored in the incidental data of the virtual farm 1A in the farm node data. Further, in the incidental data of the virtual farm 1A in the farm node data, for example, a data flag indicating prohibition of use is stored in the morning.

  In such a case, the farm work management unit 510 does not pass through the virtual farm 1A, or does not pass through the virtual farm 1C in the morning, but designates a route ID 3 that can pass through the virtual farm 1C in the afternoon as a specific farm equipment terminal. It is set to the automatic farm machine 25 to which 20 is attached or the agricultural machine 15 to which the specific producer terminal 10 is attached.

  According to the set route 1, the automatic farm machine 25 to which the specific farm machine terminal 20 is mounted or the farm machine 15 to which the specific producer terminal 10 is mounted corresponds to the virtual farm 1E using the link 1f in the morning, for example. The farm E moves from the farm E to the corresponding farm D of the virtual farm 1D and performs farming work on the farm D. Thereafter, the link 1c is used to move to the corresponding farm B of the virtual farm 1B, the farm B is cultivated, and the morning cultivating work is completed.

  Also, in the afternoon, the corresponding farm C of the virtual farm 1C becomes usable, so the link 1d is used to move to the farm C, and the links 1e and 1f are used to correspond to the virtual farm 1D and the virtual farm 1E. Move to farms D and E, respectively, and finish the afternoon cultivation work.

Next, utilization of the virtual management farmland 950 group-managed by area will be described.
FIG. 13 is a diagram illustrating an example of farmland group-managed by area according to the first embodiment. In the figure, the virtual managed farm 950 constitutes a group for each of a plurality of areas. In the example of FIG. 13, virtual managed farms 950 that are group-managed in five areas A, B, C, D, and E are provided. Each group of virtual managed farms 950 includes a plurality of virtual farms 951.

  Each virtual managed farm 950 is provided with at least one warehouse 9. A center warehouse 959 is arranged in an area including the areas A, B, C, D, and E. The center warehouse 959 is an accumulation warehouse for transferring and supplying supplies such as farm equipment, seeds, fertilizer, and agricultural products to and from the individual warehouses 9 arranged in each virtual management farmland 950. The farm work management unit 510 manages the receipt of goods between the center warehouse 959 and the warehouse 9. For example, inventory management of materials stored in a warehouse is performed by attaching the contactless IC tag or barcode to the material, measuring the position of the material, and displaying the movement status of the material on the display screen of the output device 503. And logistics management. The center warehouse 959 also serves as a harvest warehouse for storing the harvested products (product) produced at each farm in each virtual management farm 950 and storing the harvested products. It goes without saying that the harvest warehouse provided in the center warehouse 959 may be provided separately in the vicinity of the center warehouse 959.

  FIG. 14 is a diagram showing an example of an agricultural management system using the satellite system according to the first embodiment. FIG. 14 shows an example in which a virtual managed farm 950 in a specific area is selected from the virtual managed farm 950 in a plurality of areas. In the figure, the sky above the area A is clear, and the sky above the area B is covered with clouds 86 and becomes rainy or rainy weather.

  In FIG. 14, the satellite system includes at least one communication satellite 1050, a ground control station 81 of at least one communication satellite 1050, at least one observation satellite 400, and a ground control station 82 of at least one observation satellite 400. A plurality of positioning satellites 1062 that constitute the GNSS satellite 106 such as a GPS satellite, a GLONASS satellite, and a GALILEO satellite, three or more reinforcing satellites 1061 that reinforce the positioning of the positioning satellite 1062, and at least one that controls the reinforcing satellite 1061 And a ground control station 80. The communication satellite 1050 performs satellite communication between the agricultural machine terminal 20 and the producer terminal 10 and the ground control station 81. The ground control station 81 is connected to the management center 50 via the wired line 101 and the wireless line 10 of the information network 100 and transmits information to and from the management center 50. The ground control station 81 and the communication satellite 1050 constitute a satellite communication line 104. The ground control station 82 is connected to the management center 50 via the wired line 101 and the wireless line 10 of the information network 100 and transmits information to and from the management center 50. The ground control station 82 is connected to a weather forecast station (not shown) via the wired line 101 and the radio line 10 of the information network 100, and transmits weather information to and from the weather forecast station. . The management center 50 receives weather information from the weather forecast station via the wired line 101 and the wireless line 10 of the information network 100.

  As the reinforcing satellite 1061, for example, a quasi-zenith satellite (QZS) is used. Quasi-zenith satellites are also used as GNSS satellites. The ground control station 80 is connected to a plurality of electronic reference points 85. Electronic reference point 85 is a fixed reference point for positioning installed by the Geospatial Information Authority of Japan at approximately 1,200 locations nationwide. The position of the electronic reference point can be obtained with high accuracy, and the positioning signal of the GNSS satellite can be received. Positioning information such as a pseudo distance between the electronic reference point and the GNSS satellite is acquired. In order to obtain positioning accuracy of several centimeters to several meters, the ground control station 80 determines the ionospheric delay amount and tropospheric delay amount for each divided region of Japan based on the positioning information measured by the electronic reference point 85. Then, precise positioning reinforcement information such as orbital error and clock error of the GNSS satellite is generated and transmitted to the reinforcing satellite 1061 as a positioning reinforcement signal. The positioning reinforcement signal includes error information of the GNSS signal received at the reference point, GNSS signal availability information, and the like.

  For example, when the reinforcing satellite 1061 is a quasi-zenith satellite, the orbital inclination angle is about 45 degrees, the eccentricity is about 0.099, and the orbital length radius is about 42,000 km. Make one lap per day. The quasi-zenith satellite is operated in the ascending intersection, for example, three or more at 120 degree intervals. However, at least one satellite is always visible near the zenith in Japan. The quasi-zenith satellite transmits a positioning signal substantially the same as the GPS signal transmitted from the GPS satellite. The quasi-zenith satellite is near the zenith, and since one or more quasi-zenith satellites can always be seen at a high elevation angle of 60 degrees or more, the transmission signal can be captured on the ground side even in the valleys of the buildings or between the forests. , Always enables stable positioning. The reinforcement satellite 1061 receives the positioning reinforcement signal from the ground control station 80, relays the signal with a transponder in the satellite, and transmits the positioning reinforcement signal (L1-SAIF, LEX) to the ground. In addition, a positioning complementary signal (L1C / A, L2C, L5, L1C) compatible with the GPS signal is transmitted. By adding the positioning reinforcement signal or the positioning complementary signal from the reinforcing satellite 1061 to the positioning signal from the GNSS satellite 1062, it is possible to reinforce the positioning accuracy based on the positioning signal from the GNSS satellite 1062 and perform higher-accuracy positioning. it can.

  The positioning device 22 of the agricultural machine terminal 20 and the positioning device 12 of the producer terminal 10 include a positioning reinforcement signal and a positioning supplement signal (hereinafter referred to as positioning signal) transmitted from the reinforcing satellite 1061, and approximately four or more GNSS satellites 1062. Receive positioning signals such as L1C / A, L2C, L5, and L1C. The positioning processing unit 201 and the positioning processing unit 111 receive when performing RTK (realtime kinematic) positioning calculation processing using a pseudorange such as a C / A code or P code included in the received positioning signal or a carrier phase. Error correction is performed using reinforcement information such as ionospheric delay, troposphere delay, GNSS satellite orbit error, clock error, etc. included in the measured positioning reinforcement signal, and it is as high as several centimeters to several tens of centimeters (for example, 2 cm to 50 cm). Accurate positioning is performed to measure the position reference point of the agricultural machine terminal 20 and the self-position of the position reference point of the producer terminal 10.

  Here, the positioning processing unit 201 measures the self-position of the antenna phase center position Ia of the positioning device 22 by positioning calculation processing based on the positioning signal from the GNSS satellite 1062. At this time, the relative position vector Ir of the physical center position Id determined from the outer shape of the agricultural machine terminal 20 with respect to the antenna phase center position Ia of the positioning device 22 is set in the positioning processing unit 201 in advance. Using the vector Ir, translational coordinate transformation and affine transformation of the antenna phase center position Ia of the positioning device 22 are performed, and the self position of the center position Id of the agricultural machine terminal 20 is measured. In addition, when the agricultural machine terminal 20 is mounted on the automatic agricultural machine 25, the relative position vector Itr of the central position Ic of the automatic agricultural machine 25 with respect to the central position Id of the agricultural machine terminal 20 is set and input to the positioning processing unit 201 in advance. . The positioning processing unit 201 performs translational coordinate conversion, affine transformation, and the like based on the relative position vector Itr of the center position Ic of the automatic farm machine 25 and the center position Id of the farm machine terminal 20, thereby positioning the center position of the farm machine terminal 20 The self position of the center position Ic of the automatic farm machine 25 is measured from Id. The center position Ic of the automatic agricultural machine 25 is used as the position reference point of the agricultural machine terminal 20. Similarly, the positioning processing unit 111 measures the self-position of the antenna phase center position Ia2 of the positioning device 12 by positioning calculation processing based on the positioning signal from the GNSS satellite 1062. At this time, the relative position vector Ir2 of the physical center position Id2 determined from the outer shape of the producer terminal 10 with respect to the antenna phase center position Ia2 of the positioning device 12 is set in advance in the positioning processing unit 111. The position vector Ir2 is used to perform translational coordinate transformation, affine transformation, and the like of the antenna phase center position Ia2 of the positioning device 12 to determine the self-position of the center position Id2 of the producer terminal 10. In addition, when the producer terminal 10 is attached to the agricultural machine 15, the relative position vector Itr2 of the central position Ic2 of the agricultural machine 15 with respect to the central position Id2 of the producer terminal 10 is set and input to the positioning processing unit 111 in advance. . The positioning processing unit 111 performs translational coordinate transformation and affine transformation on the basis of the relative position vector Itr2 between the center position Ic2 of the agricultural machine 15 and the center position Id2 of the producer terminal 10, thereby positioning the center position of the producer terminal 10 From Id2, the self-position of the center position Ic2 of the agricultural machine 15 is measured. The center position Ic2 of the agricultural machine 15 is used as the position reference point of the producer terminal 10. The positioning processing unit 201 of the agricultural machine terminal 20 and the positioning processing unit 111 of the producer terminal 10 are estimated at the time of positioning sampling based on the estimation error information of the reinforcement information transmitted from the reinforcement satellite 1061 and other error information. An error amount Rg indicating the magnitude of the positioning error is calculated.

  The observation satellite 400 is equipped with a built-in sensor such as a synthetic aperture radar, a high-resolution optical sensor (visible camera, infrared camera, hyperspectral camera, etc.), microwave radiometer, and the like. The observation satellite 400 observes the ground from the satellite orbit above each managed farm 1 by using the onboard sensor, and transmits the observation information to the ground control station 82. The ground control station 82 transmits the observation information received from the observation satellite 400 to the management center 50. Note that the observation satellite 400 is equipped with a plurality of observation satellites such as a synthetic aperture radar, a high-resolution optical sensor (visible camera, infrared camera, hyperspectral camera, etc.) and a microwave radiometer mounted on each observation satellite. It goes without saying that the ground may be observed with a group of satellites.

  The remote sensor management unit 516 of the management center 50 is based on the ground observation information acquired by the onboard sensor of the observation satellite 400, for example, that the cloud 86 stays above the area B, is raining, Detects weather information such as rainfall. The farm work management unit 510 receives the weather information obtained by the remote sensor management unit 516, and transmits instruction information to the farm machine terminal 20 or the producer terminal 10 based on the received weather information. In addition, the remote sensor management unit 516 acquires weather data created by the Japan Meteorological Agency and local weather data over the managed farmland 1 observed by the observation satellite 400, and performs long-term weather forecasts and short-term forecasts for each managed farmland 1. Weather forecast information such as a weather forecast is generated, and the generated weather forecast information is stored in the farmland data management unit 910. The farm work plan generation unit 512 displays the weather forecast information stored in the farm land data management unit 910 as support information to the operator of the management center 50 via the output device 503, and the operator uses the weather forecast information to A farm work plan is drafted based on support information from the management unit 910.

  In addition, the remote sensor management unit 516 uses, for example, a hyperspectral image obtained as observation information on the ground by the microwave radiometer of the observation satellite 400, so that the nitrogen concentration, chlorophyll index, nitrogen amount, etc. of each managed farmland 1 can be obtained. The observation values are analyzed to generate remote sensing information such as soil components, moisture status, vegetation status, and protein distribution status of the crop, and the generated remote sensing information is stored in the farmland data management unit 910. The farm work plan generation unit 512 displays the remote sensing information stored in the farm land data management unit 910 as support information to the operator of the management center 50 via the output device 503, and the operator uses the remote sensing information to display the farm land data. A farm work plan is drafted based on support information from the management unit 910.

  FIG. 15 is a diagram illustrating an example of a monitor screen of the virtual management farmland according to the first embodiment. In the figure, an image 9500 of a predetermined number (M <= Nk) of the virtual managed farmland 950 in a plurality of areas is displayed at a time on the monitor screen 505 of the output device 503, and an image 860 showing clouds over each area is displayed. Is displayed. In the image 9500, an image 9510 of the virtual farm 951 is displayed. These images are generated by data compression of the farm node data stored in the virtual farmland data management unit 920, various positions and shape data of the inter-farm link data, and the like.

  In addition, a cursor 990 for performing a selection instruction is displayed in the monitor screen 505. The cursor 990 moves by a movable operation of a mouse, a point device, or the like that constitutes the input device 504. Further, information can be input to the input device 504 by operating a push button or a keyboard of the input device 504. Information input to the input device 504 is converted into code information by the input / output management unit 520, and the converted code information is input to the system management unit 501 as input code information. The system management unit 501 transmits a predetermined command command corresponding to the input code information to the farm work management unit 510 according to an operation algorithm corresponding to preset input code information.

  For example, in FIG. 15, the mouse constituting the input device 504 is operated to move the cursor 990 into the area A, and the area A is selected by pressing the left push button of the mouse once. Further, the keyboard of the input device 504 is operated to input a quantity and a code number as keys. In response to this button selection or key input, the input / output management unit 520 selects the selection position of the area A (for example, the position coordinates of the area A in the screen), the input code information indicating the number of times the left push button is pressed, and the quantity Get the input code information corresponding to the code number. In accordance with the input code information, the system management unit 501 transmits a command command corresponding to the input code information related to the cultivated land instruction to the farm work management unit 510. As a result, for example, an operation command can be given to the farm work management unit 510 such that the area A is set as a priority cultivation target site where the farming machine 15 and the automatic farming machine 25 are operated intensively.

  In this case, the farm work management unit 510 generates work increase instruction information for increasing the operation time and the number of operations in the area A in order to increase the operation time and the input quantity of the agricultural machine 15 and the automatic farm machine 25, for example. The generated work increase instruction information is transmitted to all or a part of the specific farm work management unit 205 of the agricultural machine terminal 20 or the farm work management unit 115 of the producer terminal 10. In addition, what is necessary is just to input each ID number by the keyboard operation of the input device 504, for example, when specifying some specific agricultural machine terminals 20 or the producer terminal 10. FIG.

  The farm work management unit 205 of the farm machine terminal 20 increases the cultivation time of the attached automatic farm machine 25 based on the instruction information received from the farm work management unit 510. Alternatively, the farm work management unit 510 transmits instruction information for activation, and the output instruction information is received by the farm work management unit 205 of the automatic farm machine 25 that is suspended in the warehouse 9, whereby the automatic farm machine 25 is autonomous. It is controlled and operates so as to be newly input from the warehouse 9 to the farm in the area A.

  Further, the farm work management unit 115 of the producer terminal 10 provides information for teaching the producer who operates the farm machine 15 to increase the cultivation time based on the instruction information received from the farm work management unit 510. Are displayed on the display unit 117. Alternatively, the specific producer terminal 10 that has received the instruction information pulls out the dormant farm machine 15 from the warehouse 9 and newly inputs it to the farm in the area A to the producer who owns the producer terminal 10. Is displayed on the display unit 117.

  Further, by operating the mouse constituting the input device 504, the cursor 990 is moved into the area B where the image 860 indicating the cloud is superimposed and displayed, and the right push button of the mouse is moved at an interval of, for example, a predetermined time ts or less. Area B is selected by pressing twice continuously. In response to this button selection, the input / output management unit 520 obtains input code information indicating the selection position of the area B (for example, the position coordinates of the area B in the screen) and the number of times the right button of the mouse is pressed. In accordance with the acquired input code information, the system management unit 501 transmits a command command corresponding to the input code information related to the cultivated land instruction to the farm work management unit 510. Thereby, it can be set as the cultivation stop object land which stops the cultivation of the area B temporarily. Alternatively, the operating time and the input quantity of the agricultural machine 15 and the automatic agricultural machine 25 can be reduced.

  In this case, the farm work management unit 510 raises all or a part of the farm machines 15 and the automatic farm machines 25 that are currently input by, for example, reducing the operating hours of the farm machines 15 and the automatic farm machines 25 to zero or reducing the predetermined time. Retreat to the warehouse 9 and immediately stop the cultivation in the area B or generate work reduction instruction information for reducing the amount of cultivation work. The generated work reduction instruction information is transmitted to all or part of the specific farm work management unit 205 of the agricultural machine terminal 20 or the farm work management unit 115 of the producer terminal 10. In addition, what is necessary is just to input each ID number by the keyboard operation of the input device 504, for example, when specifying some specific agricultural machine terminals 20 or the producer terminal 10. FIG.

  Based on the work reduction instruction information received from the farm work management unit 510, the farm work management unit 205 of the farm machine terminal 20 performs autonomous control for reducing the cultivation time or moving the automatic farm machine 25 back to the warehouse 9. Further, the farm work management unit 115 of the producer terminal 10 reduces the cultivation time for the producer who operates the agricultural machine 15 or stops the cultivation based on the work reduction instruction information received from the farm work management unit 510. Information for teaching is displayed on the display unit 117.

Further, the farm work management unit 510 may transmit the instruction information to the farm machine terminal 20 of the automatic farm machine 25 or the worker terminal 10 of the farm machine 15 so as to perform farm work in order from the section A to the section E.
For example, by using the input device 504, the specific virtual management farmland 950 in the display screen of the display device 503 is sequentially selected according to the latitude and the weather, and accordingly the farm machine management unit 514 of the farm work management unit 510 is selected. However, the virtual management farm 950 to which the automatic farm machine 25 is moved may be selected one after another, and the automatic farm machine 25 may be moved within the selected virtual management farm 950.

Further, by using the input device 504, the specific virtual management farmland 950 in the display screen of the display device 503 is sequentially selected according to the latitude and the weather, and accordingly the producer management unit of the farm work management unit 510 The instruction information for moving the agricultural machine 15 in the virtual management farm 950 can be transmitted to the producer terminal 10 one after another.
For example, when a change in weather can be predicted with high accuracy in advance, the agricultural machine management unit 514 provides instruction information for the agricultural machine terminal 20 of the automatic agricultural machine 25 or the worker terminal 10 of the agricultural machine 15 so that the clear areas are cultivated in order. You may send it. Moreover, the farm machine terminal 20 of the automatic farm machine 25 or the worker terminal 10 of the farm machine 15 is cultivated in order from the area existing in the southern region as spring comes in order from the south to the north. Instruction information for may be transmitted.

  By doing in this way, it becomes possible to concentrate agricultural machines with limited resources such as quantity and operating time in order by area, and to improve the operating rate of agricultural machines per unit period.

  As described above, the agricultural management system according to the first embodiment selects an area with good weather when the weather is different for each area of the virtual management farmland 950, or another area that is rich when the area A is unsuccessful. By selecting D or selecting an area according to the latitude, resources such as producers or agricultural machinery can be concentrated in the selected area, so that either one is not affected by the weather or cropping situation. It is possible to stably harvest crops from the farm in the virtual management farmland 950. In addition, it is possible to perform farming work at a lower cost by using limited agricultural machine resources.

  FIG. 16 is a diagram illustrating an example of a travel route of an agricultural machine in an actual farm according to the first embodiment. The movement route 971 indicates a desired route for moving the automatic agricultural machine 25 and the agricultural machine 15 and passing the position reference point of the agricultural machine terminal 20 or the position reference point of the producer terminal 10. In the example of FIG. 16, the moving route 971 has a route from the starting point 972 to the starting point, passing through the turn-back points 974 and reaching the ending point 973. The data of the movement route 971 is generated by the farm work plan generation unit 512 and stored in the farm work data management unit 930 in advance. In addition, the farm work plan generation unit 512 sets a movement prohibition area in which the automatic farm machine 25 and the farm machine 15 are prevented from entering together with the movement route 971 and the movement is prohibited. For example, an area outside the outline of the farm corresponding to the virtual farm 951 is set as the movement prohibited area.

  The input / output management unit 520 is equipped with CAD software for creating the movement route 971. The operator of the management center 50 inputs a command for requesting the farm work plan generation unit 512 to generate the movement route 971 from the input device 504 and the input / output management unit 520. The farm work plan generation unit 512 starts generation of the movement route 971 according to the input command, and each virtual farm 951 in the virtual management farm 950 is displayed on the display screen of the output device 504 via the input / output management unit 520. Is displayed. The operator of the management center 50 selects a specific virtual farm 951 from the displayed virtual farm 951 using the mouse and the input / output management unit 520 of the input device 504 and displays the enlarged virtual farm 951. Thereafter, the operator of the management center 50 uses the mouse of the input device 504 and the input / output management unit 520 to draw a straight line, a curve, a selection designation range, and the like in the display screen of the output device 504, thereby creating a virtual farm 951. The movement route 971 and the movement prohibition area are drawn. The drawn geometric shape data of the movement route 971 and the movement prohibited area is input from the input / output management unit 520 to the farm work plan generation unit 512. The farm work plan generation unit 512 stores the input movement route 971 and movement prohibited area in the farm work data management unit 930.

  Note that these drawing control and input / output control are processed by the execution operation of the CAD software of the input / output management unit 520. Further, when drawing the movement route 971 and the movement prohibition area, an image of the virtual farmland 951 generated by the farm orthoimage may be superimposed on the display screen of the output device 504. Thereby, the movement route 971 can be generated in accordance with the actual situation in the farm.

  The farm machine movement route generation unit 541 and the farm work movement route generation unit 551 of the management center 50 perform desired movement so that the automatic farm machine 25 or the farm machine 15 travels along the movement route 971 for each farm land corresponding to the virtual farm land 951. Movement instruction route information is generated from the route 971. The movement instruction route information is obtained by expressing discrete passing points on the movement route 971 of the farmland corresponding to each virtual farmland 951 by point group data of two-dimensional coordinates. In addition, the movement instruction route information includes supplementary information such as a point at which the automatic agricultural machine 25 or the agricultural machine 15 is stopped on the desired movement route 971, its stop time, and movement speed. The movement instruction route information is automatically or manually generated based on the desired movement route 971 according to the information input by the operator of the management center 50 via the input device 504 or the farm work plan generated by the farm work plan generation unit 512. Is done. In addition, the movement prohibition area includes the movement instruction route information, and an instruction area that prohibits movement and entry is set.

  In addition, the farm work process generation unit 542 of the farm machine management unit 514 of the management center 50 and the farm work process generation unit 552 of the producer management unit 515 are executed by the automatic farm machine 25 and the farm machine 15 for each farm land corresponding to the virtual farm 951, respectively. A control sequence for farm work is generated. The farmer operating the automatic farming machine 25 and the farming machine 15 performs farming work according to this control sequence while moving along the moving route 971.

  The agricultural machine work process generation unit 542 transmits the work instruction information to the outside via the communication device 500 using the control sequence as work instruction information. The wireless device 23 receives the work instruction information of the farm work management unit 205 transmitted from the communication device 500 of the management center 50. The farm work management unit 205 generates the farm work control sequence in accordance with the received work instruction information. For example, the control sequence includes an automatic control program, and an execution program for executing various farming operations such as tillage, sowing, seedling planting, cutting, and fertilizer distribution is provided using the work machine 24.

  In addition, the agricultural machine work process generation unit 552 transmits the work instruction information to the outside via the communication device 500 using the control sequence as work instruction information. The wireless device 13 receives the work instruction information of the farm work management unit 115 transmitted from the communication device 500 of the management center 50. The farm work management unit 115 generates the farm work control sequence according to the received work instruction information. For example, the control sequence includes an output display control program that provides display information for work support. The farm work management unit 115 is a procedure manual for performing various farm work such as tilling, sowing, planting seedlings, cutting, and fertilizer distribution on the screen of the display unit 117 of the producer terminal 10 using the work machine 24. By displaying work precautions, work contents, and work instruction contents such as work examples as characters, designs, photos, videos, etc., the work contents are taught to the worker of the agricultural machine 15.

The movement instruction route information generated by the agricultural machine movement route generation unit 541 and the agricultural work movement route generation unit 551 is transmitted to the wireless device 13 of the producer terminal 10 and the wireless device 23 of the agricultural machine terminal 20 via the communication device 500. The movement instruction route information received by the wireless device 13 and the wireless device 23 is stored as the movement route data 212 and the movement route data 122 in the storage device 203 and the storage device 113, respectively.
In addition, the movement prohibition area | region which prohibits the movement and entry of the automatic agricultural machine 25 and the agricultural machine 15 contained in movement instruction | indication route information is stored in the movement path data 212 and the movement path data 122 similarly.

  The warehouse 9 stores a plurality of work machines 24, automatic farm machines 25, farm machines 15, and storage units 350 for seeds, fertilizers, harvested products, and the like. The actual farmland corresponding to the virtual farmland 951 is provided with a water supply unit 351 such as a sprinkler or a pump that draws and supplies water from the irrigation canal.

  FIG. 17 is a diagram showing an example of a virtual farm movement route according to the first embodiment, where (a) shows the virtual farm movement route, and (b) shows the relationship between the self-location and the sensing points. , (C) shows another relationship between the self-position and the sensing point.

  In FIG. 17, shape data 952 indicates an actual farm outline corresponding to the virtual farm 951. Reference numeral 954 indicates cropping position data of a crop planted in an actual farm. The farmland shape data 210 and 120 in the storage device 203 and the storage device 113 hold shape data 952 and position data 954.

  Reference numeral 956 in FIG. 17 indicates the self-position of each position reference point measured by the positioning processing unit 111 and the positioning processing unit 201. Sensing points 955 indicate acquisition points of terminal sensing information that are discretely arranged at a predetermined interval. For the convenience of illustration, the data collection interval of the sensing point 955 is widely described. Actually, however, as illustrated in FIG. 17B, a predetermined absolute position interval (for example, an interval of 10 to 50 cm square) is used. A sensing point 955 is provided. Alternatively, as illustrated in FIG. 17C, sensing points 955 are provided at predetermined movement distance intervals (for example, intervals of several tens of cm) on the movement route 971.

  At the sensing point 955, data is collected by the mounting sensor 21 of the automatic agricultural machine 25 and the mounting sensor 11 of the agricultural machine 15. Reference numeral 958 indicates an error circle that artificially represents the magnitude of the error amount R. The error amount R gives an error obtained by adding the error amount Rg of the positioning error by the positioning processing unit 111 or the positioning processing unit 201 and the traveling position error Rs of the automatic agricultural machine 25 or the agricultural machine 15. Moreover, each dotted line of FIG.17 (b) and FIG.17 (c) has shown the movement locus | trajectory 957 which each position reference point of the agricultural machine terminal 20 and the producer terminal 10 actually passed, respectively.

  In the example of FIG. 17B, the traveling position error (error amount Rs) of the automatic agricultural machine 25 falls within a range of about 20 cm, and the positioning error (error amount Rg) of the agricultural machine terminal 20 falls within a range of about 10 cm. The movement locus 957 when the vehicle autonomously travels stably is shown. In the example of FIG. 17C, a movement locus 957 is shown when the position error (error amount R) of the producer terminal 10 attached to the agricultural machine 15 varies within a range of about 50 cm.

  The farm machine management unit 514 and the producer management unit 515 of the management center 50 generate shape data 952 by referring to the virtual center position XYZ, the center position xyz, and the shape data of the farm node data of the virtual farmland data management unit 920 in advance. To do. Further, the crop planting position data 954 is stored in the virtual farmland data management unit 920 in advance, and the farm machine management unit 514 and the producer management unit 515 take out the planting position data 954 from the virtual farmland data management unit 920. The agricultural machine management unit 514 and the producer management unit 515 generate movement instruction route information data of the agricultural machine 15 and the automatic agricultural machine 25 based on the generated shape data 952 and the extracted planting position data 954. At this time, when there is a crop planted on the actual farm, the farm machine 15 and the automatic farm machine 25 generate data on the movement instruction route information so as not to run immediately above the planting position data 954. The planting position data 954 is generated from the position data of the crop acquired from the terminal sensing information, and is given by, for example, the position where the crop buds or the position where the seedling is planted.

Further, when there is no crop planted on the actual farm, the farm machine management unit 514 and the producer management unit 515 generate data on the movement instruction route information so as to pass over the crop planting position. The generated movement instruction route information data, shape data 952 and planting position data 954 are transmitted to each agricultural machine terminal 20 and the producer terminal 10 via the communication device 500 and the satellite communication line 104 or the wireless line 102.
The wireless device 23 of the agricultural machine terminal 20 receives movement instruction route information data and shape data 952 and planting position data 954, stores the received movement instruction route information data as movement route data 212 in the storage device 203, and The received shape data 952 and planting position data 954 are stored in the storage device 203.

  Similarly, the wireless device 13 of the producer terminal 10 receives the movement instruction route information data, the shape data 952, and the cropping position data 954, and the received movement instruction route information data is stored in the storage device 113 as the movement route data 122. At the same time, the received shape data 952 and planting position data 954 are stored in the storage device 113.

Next, the movement operation of the automatic agricultural machine 25 and the agricultural machine 15 will be described.
In FIG. 16, the automatic farm machine 25 accommodated in the warehouse 9 selects a predetermined work machine 24 according to a control sequence preset by the farm work management unit 205 of the attached farm machine terminal 20, and the selected work machine 24 is selected. Is mounted on the automatic agricultural machine 25. Moreover, the agricultural machine 15 attaches the working machine 24 by manual operation.
The wireless device 23 receives work instruction information via the communication device 500 of the management center 50, and the farm work management unit 205 generates the above-described farm work control sequence in accordance with the received work instruction information.

  Since the roof is installed in the warehouse 9, the agricultural machine terminal 20 cannot receive the positioning signal from the GNSS satellite. For this reason, the farm work management unit 205 acquires an image in the warehouse 9 using the camera, laser scanner, or the like of the mounted sensor 21, and compares the acquired image with a reference pattern image indicating a predetermined specific object. By identifying the distance, direction, positional deviation, etc. to the specific object in the acquired image, and comparing with the position coordinates, reference line, etc. of the specific object set in advance, Identify the driving line. The farm work management unit 205 performs autonomous control to send an operation command to the ECU 26 so that the own running position or the running line is along a predetermined trajectory using the identification result of the own running position or the running line. As the ECU 26 controls the drive unit 27 based on the command, the automatic agricultural machine 25 autonomously travels in the warehouse. For example, as a specific object, using the white line provided on the floor in the warehouse 9, the automatic farming machine 25 performs autonomous traveling so that the white line is traced.

  After the automatic agricultural machine 25 leaves the warehouse 9, the positioning device 22 of the agricultural machine terminal 20 receives the positioning reinforcement signal and the positioning signal transmitted from the reinforcing satellite 1061 and the positioning signal from the GNSS satellite 1062. The positioning processing unit 201 performs a positioning calculation process based on the positioning reinforcement signal and the positioning signal received by the positioning device 22, and locates the self-position 956 with high accuracy.

  Further, in the movement route data 212 of the storage device 203, the coordinates of the passing points on the desired movement route 971 that are set discretely in advance are set. The navigation processing unit 202 compares the coordinates of the passing point of the movement route data 212 with the self-location determination result of the positioning processing unit 201, and corrects the deviation of the self-position 956 from the desired movement route 971. Then, autonomous control for sending an operation command to the ECU 26 is performed, and the ECU 26 controls the drive unit 27 based on the operation command, so that autonomous traveling is performed along the movement route. The automatic farm machine 25 enters the farmland 1 by this autonomous traveling and moves to the start point 972. Moreover, about the movement prohibition area | region, the autonomous control of the automatic agricultural machine 25 is performed so that the automatic agricultural machine 25 may not move or enter into the said area.

  In addition, also when the automatic farm machine 25 moves on the road 5 between the farms mentioned above, according to the movement route data 211, the automatic farm machine 25 can perform autonomous traveling similarly. At this time, it goes without saying that, according to the movement route data 211, when the automatic farm machine 25 moves from the farm to the road, the movement prohibited area that has been prohibited to move to the road is released.

  The automatic farm machine 25 autonomously travels according to the movement route data 212 corresponding to the desired movement route 971 in the farmland 1 and moves in the farmland 1. The movement route 971 is a route that travels from the start point 972 to the end point 973 through each turn point 974.

  The farm work management unit 205 automatically operates the work machine 24 by the ECU 26 outputting a control command to the drive unit 27 and performing drive control according to the farm work control sequence. Thus, the automatic farm machine 25 automatically performs farm work by autonomous control while moving in the farmland 1. For example, it is assumed that the automatic farm machine 25 is a combined work machine to which a plurality of work machines 24 such as tillage, ridger, sowing, transplanting, and harvesting can be attached. In such a case, an example will be described in which the preset farm work control sequence is a command to plow a field at a position K1, plant seeds at a position K2, and plant seedlings at a position K3 in FIG.

  When the position reference point of the agricultural machine terminal 20 reaches the position K1, according to the farm work control sequence, the work machine 24 is moved to the soil surface existing at the work position N1 in the vicinity of the position K1 to dig up the soil. Next, when the position reference point of the agricultural machine terminal 20 reaches the position K2, the work machine 24 seeds the soil surface at the work position N2 near the position K2 according to the farm work control sequence. Next, when the position reference point of the agricultural machine terminal 20 reaches the position K3, the work machine 24 plants seedlings toward the soil surface existing at the work position N3 near the position K3 in accordance with the farm work control sequence. At this time, the azimuth direction with respect to the self-position is measured using the inertial sensors of the mounting sensors 11 and 21, and the relative positions with respect to the self-position are obtained to accurately specify the respective work positions N1, N2, and N3.

  In addition, a three-dimensional distance azimuth image (three-dimensional feature image) of the surrounding environment is acquired using a laser scanner, a camera (stereo camera), or the like of the mounted sensors 11 and 21, and a three-dimensional distance azimuth image (three-dimensional feature image) is acquired. The work positions N1, N2, and N3 may be specified from the image. For example, a three-dimensional feature image in the farm is acquired by running an automatic farm machine 25 for farm scan (pre-measurement scan of the shape of the feature in the farm) early in the morning, and a land marker (reference point) is acquired based on the acquired image. Set (GCP; ground control point). At the time of traveling of the automatic farm machine 25 for the second and subsequent times, the respective work positions N1, N2, and N3 are determined based on the relationship between the relative position and the relative direction between the preset land marker and the three-dimensional feature image acquired during the current traveling. You may make it specify correctly.

  Of course, a farm can be photographed from above using the observation satellite 400 or an unmanned airplane, and a land marker (reference point (GCP)) can be set from the photographed image. Alternatively, the farm may be photographed from above using an unmanned airplane or airship, and the position of the automatic farm machine 25 may be grasped in real time from the photographed image.

  In addition, the combined work machine described here is actually expensive to manufacture. For this reason, the automatic farming machine 25 to which the working machine 24 for plowing is mounted alone, the automatic farming machine 25 to which the working machine 24 for ridges is mounted alone, and the working machine 24 for sowing are mounted alone. The automatic farm machine 25, the automatic farm machine 25 to which the transplanting work machine 24 is mounted alone, the automatic farm machine 25 to which the harvesting work machine 24 is mounted alone, and the like are individually configured to individually A plurality of automatic agricultural machines 25 may be deployed in combination, and a formation of a plurality of automatic agricultural machines 25 may be formed. As a result, it is possible to perform a farm work by forming a formation using a plurality of automatic farm machines 25 each equipped with a work machine 24 having a different work application. In this case, an automatic farm machine 25 to which a working machine 24 for tillage is mounted, an automatic farm machine 25 to which a work machine 24 for ridges is mounted, an automatic farm machine 25 to which a work machine 24 for sowing is mounted, The automatic farming machine 25 to which the working machine 24 for transplantation is attached, the automatic farming machine 25 to which the working machine 24 for harvesting is attached, and the like may all be configured by a common automatic farming machine 25. Thus, by sharing the platform of the automatic farm machine 25 (equipped with a common platform farm machine), the product types of the automatic farm machine 25 are reduced, and the price can be further reduced.

  As the automatic agricultural machine 25 moves, the onboard sensor 21 measures environmental conditions such as surrounding images and farm soil components, moisture, temperature, and atmospheric components. For example, from the surrounding images, the growth status of crops, the occurrence status of weeds and pests, and the like are detected. Moreover, as a soil component, content of nitrogen, temperature in soil, etc. are detected. In addition, the distribution of protein in crops is detected by a hyperspectral camera.

  As described above, the measurement data acquired by the on-board sensor 21 includes positioning data (positioned position, parameters including a pseudo distance used for positioning calculation, positioning error, etc.) and time (time, date). The data is temporarily stored in the storage device 203 as terminal sensing information in association with the data.

  As shown in FIGS. 17B and 17C, this terminal sensing information has reached the circle of the error circle 958 for self-position measurement in the vicinity of the preset sensing point 955 along the movement route 971. At some point, data is collected. The sensing points 955 are set at intervals of, for example, 10 cm to 50 cm (several tens of centimeters) in FIG. 17B, for example, and at the intervals of, for example, 10 cm to 50 cm (several tens of centimeters) along the movement route 971 in FIG. Is set.

  Further, the error circle 958 of the sensing point 955 is determined according to information on the estimation error at the time of positioning sampling. Since the moving speed of the automatic farming machine 25 at the time of cultivation is about 10 cm per second, the sampling rate of the terminal sensing information may be set to 1 Hz or more, and may be matched with the sampling rate of the positioning processing unit 201. At this time, the actual movement trajectory 957 is slightly deviated from the movement route 971. The amount of deviation is a positioning error of the positioning processing unit 201 corresponding to the error circle 958 and a position error related to the autonomous control of the automatic farm machine 25. Depends on.

  The wireless device 23 packetizes terminal sensing information collected within a predetermined time stored in the storage device 203 and generates transmission information. The wireless device 23 transmits packetized transmission information including terminal sensing information to the communication device 500 of the management center 50 via the wireless line 102 or the satellite communication line 104 of the information network 100.

  In addition, since the automatic agricultural machine 25 is equipped with the illumination 29, it can acquire terminal sensing information also at the time of night driving. In particular, by using infrared illumination for the illumination 29 and using an infrared camera for the on-board sensor 21, the amount of light that does not matter to human eyes even when the amount of visible illumination during night driving is reduced. With infrared light, it is possible to acquire a photographed image of a crop or a soil surface.

  Similarly, in the producer terminal 10 attached to the agricultural machine 15, the positioning device 12 of the producer terminal 10 receives the positioning reinforcement signal and the positioning signal transmitted from the reinforcing satellite 1061 and the positioning signal from the GNSS satellite 1062. To do. The positioning processing unit 111 performs a positioning calculation process based on the positioning reinforcement signal and the positioning signal received by the positioning device 12, and locates the self position 956 with high accuracy.

  Further, in the movement route data 122 of the storage device 113, the coordinates of the passing points on the desired movement route 971 that are set discretely in advance are set. The navigation processing unit 112 refers to the movement route data 122 in the storage device 113 and displays the movement route 971 on the screen of the display unit 117. In addition, the producer terminal 10 displays the self-position 956 measured by the positioning processing unit 111 on the same screen of the display unit 117 and simultaneously displays the amount of positional deviation of the self-position 956 from the movement route 971 on the display unit 117. indicate. As a result, the producer operating the agricultural machine 15 is guided so that the self-position 956 moves along the movement route 971 according to the display on the display unit 117, so that the agricultural machine 15 to which the producer terminal 10 is attached is set in advance. It is possible to move within the farmland according to the travel path data 122 that has been made.

  In addition, the onboard sensor 11 measures the surrounding image and the environmental state of the farm with a camera, a laser scanner, a hyperspectral camera, or the like as it moves to the agricultural machine 15. The measurement data acquired by the on-board sensor 11 is temporarily stored in the storage device 113 as terminal sensing information in association with the positioning data of the positioning processing unit 111.

  As shown in FIG. 17 (c), this terminal sensing information is obtained when data reaches the circle of the error circle 958 for self-position measurement in the vicinity of the preset sensing point 955 along the movement route 971. Collected. The sensing points 955 are set along the movement route 971 at an interval of, for example, 50 cm. Further, the error circle 958 of the sensing point 955 is determined according to information on the estimation error at the time of positioning sampling. Since the moving speed of the agricultural machine 15 at the time of cultivation is about 10 cm per second, the sampling rate of the terminal sensing information is preferably 1 Hz or more, and may be matched with the sampling rate of the positioning processing unit 111. At this time, the actual movement locus 957 deviates from the movement route 971 according to the operation state of the producer. The deviation amount is determined by the positioning error of the positioning processing unit 111 corresponding to the error circle 958, and the agricultural machine 15 It depends on the operation accuracy.

  In addition, when the farmland is muddy or the operation of the agricultural machine is difficult and the operation of accurately aligning along the movement route 971 is difficult, the self movement distance is measured by integrating the self position measurement values, and the movement distance Each time the sensor reaches a predetermined interval, the sensing point 955 may be set as needed.

  For example, in FIG. 17C, the position where the moving distance from the passing point Xi-1 to the passing point Xi reaches a predetermined distance (for example, several tens of cm) on the reference point moving locus 957 of the positioning processing unit 111 is sensed. It may be set to point 955 and terminal sensing information may be acquired at the position. In this case, the absolute position of the sensing point 955 is shifted every time the farm machine 15 travels, but terminal sensing information with high resolution (10 cm relative position interval) is obtained at any time, for example, at an interval of 10 m in the farm. Therefore, by smoothing the obtained data, it is possible to obtain data with sufficient resolution for observing, for example, soil analysis, cropping conditions of crops, occurrence of pests, and the like.

  As with the producer terminal 10, the agricultural machine terminal 20 also measures its own movement distance by integrating the self-position measurement values, and sets the sensing point 955 whenever the movement distance reaches a predetermined interval. You may make it do.

  Of course, it is needless to say that the agricultural machine terminal 20 and the producer terminal 10 may acquire terminal sensing information at any given time interval (predetermined sampling rate).

  The wireless device 13 packetizes terminal sensing information collected within a predetermined time stored in the storage device 113 and generates transmission information. The wireless device 13 transmits packetized transmission information including terminal sensing information to the communication device 500 of the management center 50 via the wireless line 102 or the satellite communication line 104 of the information network 100.

  Further, the producer uses the agricultural machine 15 to operate the work machine 24 by manual operation while moving within the farmland 1. At this time, the wireless device 23 receives the work instruction information via the communication device 500 of the management center 50, and the farm work management unit 115 generates a farm work control sequence according to the received work instruction information. The farm work management unit 115 displays the work instruction content on the display screen of the display unit 117 according to the generated control sequence.

  The farm work management unit 510 sends the terminal sensing information received by the communication device 500 from the wireless device 23 and the wireless device 13 to the farm machine management unit 514 and the producer management unit 515, and sends the terminal sensing information to the farm work data management unit 930 of the data management unit 502. Store. That is, with the movement of the agricultural machine 15 or the automatic agricultural machine 25, the terminal sensing information transmitted from the producer terminal 10 or the agricultural machine terminal 20 is sequentially collected by the agricultural work data management unit 930.

  In addition, the farm work management unit 510 uses various data such as date, time, position, orientation, altitude, moisture, atmospheric temperature, ground temperature, soil spectrum, laser distance image, visible image, and infrared image in the terminal sensing information. Analyze data by using data analysis software or manually. By this data analysis, it is possible to obtain analysis information such as the number of pests generated per unit area, the amount of fertilizer supplied, and the amount of crop harvested. Based on the terminal sensing information collected by the farm work data management unit 930 and the analysis information obtained from the terminal sensing information, the farm work plan generation unit 512 appropriately updates the farm work plan by hand or some automatic program.

  In addition, the farm work management unit 510 displays on the output device 503 of the management center 50 a screen image of the crop image taken by the camera in the terminal sensing information. The operator of the management center 50 can constantly monitor the farm by monitoring the display screen of the output device 503.

  In addition, the farm work management unit 510 performs image analysis on the image data from the camera in the terminal sensing information and automatically performs image target detection processing, thereby detecting a moving object in the image and a change in the image in the image. To detect. As a result, it is possible to detect a pest, a pest, a suspicious person, etc., or any abnormal event such as a situation where a farm crop has fallen due to wind and rain, in association with the position information where the abnormal event has occurred.

  Further, the farm work management unit 510 generates an alarm signal in response to detection of an abnormal event in the image. The farm work management unit 510 generates a warning sound from the output device 503 according to the generation of the warning signal, or displays a warning display and an abnormal event occurrence position on the screen of the output device 503. As a result, it is possible to alert the operator of the management center 50 and notify the occurrence position of the abnormal event.

  Further, the farm work management unit 510 sends an alarm signal and information on the occurrence position of the abnormal event to the consumer management unit 518 when the abnormal event occurs. The consumer management unit 518 refers to the attribute information including the residence and contact information of the support member stored in the consumer data management unit 905, and the virtual management farm 950 that resides near the occurrence location of the abnormal event. The support member is determined, and the contact information of the support member is sent to the farm work management unit 510. The farm work management unit 510 uses the received information on the contact information of the support member to notify the support member of an alarm associated with the generation of the alarm signal, thereby encouraging the support member to perform a patrol. Can do.

  In addition, when a crop harvesting operation is performed in accordance with the farm work plan prepared by the farm work plan generation unit 512, the farm work management unit 510 includes the image information of the crop acquired in the terminal sensing information of the farm work data management unit 930, and The position information (hereinafter, harvest position) of the crop from which the image information is obtained is displayed on the output device 503 to provide the image information to the operator of the management center 50.

  Based on the image information, the operator confirms that the crop harvesting operation has been completed for each individual crop in the farm. Further, in response to this confirmation, the operator of the management center 50 calculates the crop yield based on the crop yield standard definition set in advance through the input device 504, and associates the harvest yield obtained by the calculation with the harvest position. In addition, the information is input to the farm work management unit 510. The farm work management unit 510 stores the input harvest amount data and the harvest position data in the harvest data management unit 940 in association with each other.

  The automatic farming machine 25 or the producer collects each harvested product (agricultural crops) for each type for which the harvest amount is calculated, for each predetermined reference harvesting unit, and sorts it for each reference harvesting unit. The automatic farming machine 25 or the producer attaches an identification tag such as a non-contact IC tag or a bar code seal to the sorted harvested items for each reference harvest unit. For example, in the case of radish, carrot and cabbage, one radish or one carrot or one cabbage is used as a reference harvest unit, and an identification tag is attached to each type of radish, carrot and cabbage. In addition, if a plurality of beans or a plurality of wheats weighed with a predetermined straw, a standard harvest unit is provided for each unit weighed with one straw, and a bag is packed for each basket, and an identification tag is provided for each packed bag. wear. The crops to which these identification tags are attached are transported to the crop warehouse as products by the automatic farm machine 25 or the producer. At the stage of being transported to the harvest warehouse, the automatic farm machine 25 or the producer uses the farm machine terminal 20 or the producer terminal 10 to determine which type of product with the identification tag is in what crop warehouse. It counts whether it is stored, and transmits to the farm work management unit 510 the quantity data of the harvest position, the position of the harvest warehouse, and the yield of the product. The farm work management unit 510 stores the received data such as the location of the harvest warehouse, the type of product, the harvest position, and the quantity of the harvest in the harvest data management unit 910 and also in the seller management unit 517. Send. One harvest warehouse is preferably provided for each farm in the virtual management farm 950, but one warehouse 9 of the virtual management farm 950 may be used as a harvest warehouse.

  The farm work management unit 510 manages the receipt of goods between the center warehouse 959 and the warehouse 9. For example, the distribution manager attaches a non-contact IC tag or barcode to the goods, measures the position of the goods, and displays the movement status of the goods on the display screen of the output device 503, so that the goods are stored in the warehouse. Inventory management and logistics management of materials can be performed. Further, the center warehouse 959 also serves as a harvest warehouse for storing some or all of the products produced on each farm in each virtual management farm 950 and storing the carried products. It goes without saying that the harvest warehouse may be provided separately in the vicinity of the center warehouse 959. The movement of the product between the center warehouse 959 and the warehouse 9 is managed using an identification tag.

  The seller management unit 517 determines which crop is to be harvested based on data such as the type and quantity of the product input to the harvest data management unit 940 and the location of the crop warehouse in which the product is stored. Inventory management is performed to indicate how many quantities are present in which harvest warehouse.

  Further, the input / output management unit 520 may display an image of the output device 503 using augmented reality. For example, the input / output management unit 520 displays the shape of the virtual farm 950 on the screen of the output device 503. From the terminal sensing information of the farm work data management unit 930, an actual farmland image and position information of the image are acquired. Based on this position information, an image of the actual farmland is displayed on the image indicating the two-dimensional shape of the virtual farmland 950 on the position in the virtual farmland 950 corresponding to the position information of the image.

  Thus, the operator of the management center 50 can determine what kind of situation is occurring at which position by using the image of the actual farmland displayed on the output device 503.

  Further, when the automatic farm machine 25 is used in the remote operation mode of the manual mode, the operator of the management center 50 displays the image using this augmented reality so that the operator of the management center 50 can use the automatic farm machine via the wireless line 102 or the satellite communication line 104. The automatic agricultural machine 25 can be remotely operated more easily while viewing the image of the actual farmland acquired by the 25 mounted sensors 21.

  Similarly, the agricultural machine terminal 20 and the producer terminal 10 may be displayed on the display unit 217 and the display unit 117 using augmented reality. The producer terminal 10 performs display using augmented reality when displaying the work instruction content on the display screen of the display unit 117 according to the control sequence generated by the farm work management unit 115. For example, the on-board sensor 11 captures an image of the current farmland, and displays the captured farmland image on the display screen. A past growth photograph of the crop planted at the position where the image is photographed is displayed on the farmland image. This makes it possible to more realistically imagine the expected growth state after planting the crop before planting the crop, so that it is possible to carry out farm work in consideration of the planting position of the crop. .

  Next, an operation flow of farm work using the farm management system according to the first embodiment will be described. The agricultural management system according to the first embodiment performs agricultural work in the following steps S1 to S8.

  Step S1: Position and shape data of each farm, connected roads, seeds to be planted on each farm, a plurality of farm equipment, a plurality of water supply units, a plurality of warehouses, and a farm in and around the farm land such as a harvest warehouse The attribute information of each farm is acquired, and the acquired attribute information of each farm is made into a database. The farm may contain small farms.

  Step S2: A plurality of farms are virtually combined to generate a large-scale virtual management farmland 950, which is made into a database in association with actual farm data. The virtual management farmland 950 is set in a plurality of areas. In addition, the data management unit 502 of one management center 50 manages a database corresponding to each virtual management farmland 950 in a plurality of areas.

  Step S3: The farm work plan generation unit 512 generates a farm work plan that provides a long-term production plan for the virtual management farm land corresponding to the long-term weather forecast.

  Step S4: The farm work plan generation unit 512 generates a farm work plan that provides a short-term production plan based on the weather at the actual work on the actual farm and the short-term weather forecast.

  Step S5: Based on the work status of the agricultural machine (automatic agricultural machine 25, agricultural machine 15) and data acquired from the remote sensor 40, the agricultural machine terminal 20 or the producer terminal 10, the data management unit 502 is associated with the position and time information. Update the database sequentially. Further, new data for the year is accumulated in the database of the data management unit 502 in a state where past data is stored.

  Step S6; Agricultural work is based on the farm work plan of Steps S3 and S4 in order to sequentially carry out each work such as farmland plowing → sowing → water supply → weeding → pest monitoring → harvesting → post-harvest work. Based on the farming machine (automatic farming machine 25, farming machine 15) by S2, S5 and the resource status of the farm, the farm to work, the farming machine to work on, and the work content are determined, and the actual farming work is performed.

  Step S7: Information is transmitted and received between the agricultural machine terminal 20 or the producer terminal 10 used in each virtual management farm 950 in each area and the management center 50 using the satellite communication line 104 or the radio line 102. .

  Step S8: As a basic unit of work, a series of operations are collectively managed between the farms of each virtual management farm 950. However, depending on the weather, latitude, and crop conditions of the farm and the area, the farm equipment ( Automatic farming machine 25, farming machine 15, working machine 24 and other farming tools) and warehouses are interchanged and optimized for use.

  Next, a method for selling crops using the agricultural management system according to Embodiment 1 will be described. FIG. 18 is a diagram illustrating the configuration of the seller management unit 517 and the consumer management unit 518, (a) illustrates the configuration of the seller management unit 517, and (b) illustrates the configuration of the consumer management unit 518. .

  The seller management unit 517 includes a sales plan generation unit 871, a product distribution management unit 872, and a product sales management unit 873. The consumer management unit 518 includes a reservation purchaser management unit 881, a temporary purchaser management unit 882, and a virtual production subscriber management unit 883.

  The sales plan generation unit 871 systematically grasps the consumer purchase data such as the place where the consumer lives, the requested crop item, and the desired purchase time of the crop (or purchase reservation information described later) through the consumer terminal 60. Then, the consumer data management unit 905 holds and manages the grasped consumer purchase data. The sales plan generation unit 871 generates an optimal sales plan based on the consumer purchase data managed by the consumer data management unit 905. For example, the presence / absence of a consumer W residing in the vicinity of the farm A corresponding to the virtual farm 1 in the virtual managed farm 950 is searched, and the consumer W is determined from the reservation purchase status (purchase reservation information described later) of the consumer W. Check whether W wishes to purchase the crops harvested at Farm A and when the purchase is desired. If it is desired to purchase the crops harvested at the farm A, a plan for selling the products of the farm A is made at the time when the consumer W wants to purchase.

  In addition, the merchandise distribution management unit 872 stores the type, quantity, and harvest position of the product stored in the harvest data management unit 940 for the crop product harvested in the virtual management farm 950 by the operation of the seller. Based on data such as the location of the harvest warehouse, the distribution status of each product produced at each farm, such as the availability of the inventory, the number of inventory, and the location of the harvest warehouse that stores the inventory, is managed. To do. In addition, the merchandise distribution management unit 872 manages a payout destination that is paid out for selling each product. These management data are held and managed by the harvest data management unit 940. For example, for the product produced on the farm A corresponding to the virtual farm 1 of the virtual management farm 950, the number of radish stock produced on the farm A, the harvest warehouse where the inventory exists, and the payout destination are grasped.

  In addition, the merchandise sales management unit 873 confirms inventory through the merchandise distribution management unit 872 in accordance with the sales plan generated by the sales plan generation unit 871, pays out products in stock, and passes through a predetermined sales route. Processing related to sales to consumers. With respect to the paid-out data, information on the payout destination in the sales route is input to the merchandise distribution management unit 872.

  A consumer who purchases a crop product on the farm corresponding to the virtual management farmland 950 is managed by the consumer management unit 518 to purchase the product. The reservation purchaser management unit 881 manages reservation purchases while exchanging data with the sales plan generation unit 871 and the merchandise sales management unit 873 for consumers who are reservation purchase user members who purchase the products for reservation. Do. The consumer uses the consumer terminal 60 to input the purchase date and time, the desired purchase quantity, the desired quantity and the virtual farm 1 corresponding to the farm for which the purchase of the product is designated. To do. The input purchase reservation information is transmitted from the consumer terminal 60 to the reservation purchaser management unit 881. The reservation purchaser management unit 881 stores the purchase reservation information in the consumer data management unit 905 and transmits it to the sales plan generation unit 871.

  Note that the date and time when the reserved purchase user member plans to purchase the product may be set throughout the year or may be set monthly. Further, the reservation purchaser management unit 881 performs processing for selling the reserved product to the consumers who have made a reservation purchase on the predetermined purchase reservation date based on the purchase reservation information. For example, the sales processing may automatically issue an arrangement slip for wholesale to a store such as a convenience store or a store in the vicinity of the residence of the consumer who has made a reservation purchase. A direct sales place and a patrol shop may be provided around the corresponding farm, and an arrangement slip for wholesale to the direct sales place and the patrol shop may be automatically issued. A consumer who has made a reservation purchase receives a pre-purchased product from a store, a direct sales office, a traveling store, or the like. Since the money transfer data associated with the sale of the reserved purchase is managed by the investor management unit 519, the merchandise sales management unit 873 exchanges the purchase information with the investor management unit 519. Give and receive.

  The temporary purchaser management unit 882 performs purchase management while exchanging data with the product sales management unit 873 for a consumer who is a temporary purchase user member who temporarily purchases a product. The temporary purchaser management unit 882 designates the type of product harvested by the consumer on the virtual managed farm 950 through online sales via the consumer terminal 60 or at a store, and purchases the designated product. When payment is made with cash, electronic money, a credit card, etc., the purchase quantity and purchase data of the purchased product are transmitted to the merchandise sales management unit 873. The merchandise sales management unit 873 is a temporary purchaser who uses, as a payout destination, the nearest store that holds the stock of the specified product purchased by the consumer among the nearby stores where the consumer resides. Input to the management unit 882. The consumer receives from the temporary purchaser management unit 882 via the consumer terminal 60 information on the nearest sales outlet that holds the inventory of the product that he / she purchased. , Go to the dealer and purchase the purchased product. In addition, since the money (money) accompanying this sale and the purchase information data related to the exchange of money are managed by the sponsor management unit 519, the merchandise sales management unit 873 communicates with the sponsor management unit 519. Purchase information is exchanged.

For example, the consumer W who lives in the vicinity of the farm A corresponding to the virtual farm 1 in the virtual management farm 950 purchases the radish directly from the farm A to the reservation purchaser management unit 881 using the consumer terminal 60. Set up a pre-order. The reservation purchaser management unit 881 confirms the consumer who reserved the purchase of the product of the farm A and the purchase reservation date for the crop harvested by the producer, and based on the stored data of the consumer data management unit 905. Then, the retailer or direct sales place near the consumer who made the reservation purchase is confirmed, and the information of the consumer and the sales product that has been reserved for purchase, and the information of the retailer or direct sale place are transmitted to the product sales management unit 873. Upon receiving the information on the consumers and products for which the purchase has been reserved and the information on the stores and direct sales offices, the merchandise sales management unit 873 receives the reservation reservation for the consumers who have made the reservation purchase from the harvest warehouse around the farm A. A day before, the crops are sent directly to the store or direct sales office, and information on the consumers who made a purchase reservation and information on the products sold is communicated. The store or the direct sales store sells the sent crops to the consumers who have made a purchase reservation by selling them over the counter or using a vending machine. Of course, a sales process may be performed in which the farm products are directly sent from each farm to the home of the consumer who made a purchase reservation.
In the case of sales by a vending machine, the sales partner is prompted to input the reservation purchaser number, the reservation purchaser number input by the sales partner is referred to the reservation purchaser management unit 881, and the reservation of the consumer who made the purchase reservation is reserved. When the purchaser ID is matched, it is preferable to perform processing for selling the sales item.

Further, the virtual production subscriber management unit 883 inputs the farm work plan of the individual consignment production corresponding to the virtual farm 1 of the virtual management farm land 950 to the farm work plan generation unit 512. The farm work plan generation unit 512 creates a virtual farm work plan for the virtual farm 1 based on the input farm work plan for individual consignment production. It is determined that the proposed virtual farm work plan is consistent with the actual farm farm plan in the virtual managed farm 950 and incorporated into the actual farm farm plan does not adversely affect the farm work or productivity. The virtual farm work plan is incorporated into a part of the actual farm farm work plan. Thereby, the virtual production subscriber management unit 883 can produce the desired crops that the consumer desires to purchase from the stage of the farm work plan by entrusting the producers individually. Thus, a consumer who uses the virtual managed farmland 950 can use the virtual managed farmland 950 to produce a desired crop for himself and purchase the harvested product through the consumer management unit 518. Become.
Note that even if it is incorporated into an actual farm farm work plan, whether or not the farm work or productivity is adversely affected is determined manually by the operator of the management center 50. It may be determined as follows.

  Next, the investment method using the agricultural management system according to the first embodiment will be described. FIG. 19 is a diagram showing the configuration of the investor management unit 519 according to the first embodiment. The investor management unit 519 includes a fund management unit 5191 and an insurance management unit 5192. The fund management unit 5191 and the insurance management unit 5192 use the investor data management unit 960 to manage data recording, reproduction, and rewriting.

  The fund management unit 5191 makes an investment such as investment, financing, and funding to a corporation that operates or manages the virtual management farm 950 and a farm manager corresponding to each virtual farm 951 in the virtual management farm 950. Manage investor data and investor capital data. For example, since each investor is an investor member, the member list and the attributes of each member are managed. Each investor has an investor terminal 80. The fund management unit 5191 manages data on the capital of the investor and money in / out via the bank by exchanging data with the investor terminal 80 via the information network 100. ing. The investor may be a corporation that operates or manages the virtual management farm 950, or may be a producer, a seller, or a consumer.

  Further, the fund management unit 5191 exchanges data with the producer terminal 10 via the information network 100 to thereby provide data on the loan amount for the operating corporation or management corporation that operates the producer or the virtual managed farmland 950. In addition, it is designed to manage the entry and exit of money through banks. Here, an example in which an operating corporation or a management corporation that operates the virtual management farm 950 has the producer terminal 10 will also be described. Such a management corporation or a management corporation has a terminal with a different specification from that of the producer terminal 10 for workers who works on the farm described in FIG. 3 (for example, the function is simplified). May be.

  Also, the fund management unit 5191 exchanges data with the consumer terminal 60 via the information network 100 so as to manage the purchase amount data of the consumer and money in / out via the bank. Has been made.

  Hereinafter, data processing between the fund management unit 5191 and the investor terminal 80, the producer terminal 10, and the consumer terminal 60 will be briefly described without omitting details of the processing. The fund management unit 5191 performs data management using the investor data management unit 960 as described above.

  The fund management unit 5191 performs financial management of funds entered and exited on the virtual management farm 950 and farms corresponding to the virtual farms 951. For example, depending on the amount invested and the amount invested for each investor making an investment such as financing or investing in operating corporations or management corporations operating virtual managed farm 950 Compensation data such as rewards and dividends, and money in and out are managed together.

  In addition, the fund management unit 5191 provides fertilizer purchase costs, seed purchase costs, harvested items to individual producers engaged in production activities on the farm corresponding to each virtual farm 951 in the virtual managed farm 950. The lending fund data is managed in a lump for packing material purchase costs, agricultural machine fuel costs, agricultural machine maintenance costs, etc.

  In addition, when the product produced on the farm in the virtual management farm 950 is sold, the fund management unit 5191 gives a monthly sales amount to each of the producers who produced the sold product. Subtract the predetermined interest rate fee from the cumulative total, calculate the payment amount to pay the producer's production consideration for the amount obtained by further subtracting the monthly loan repayment amount, and calculate all payments related to the calculation. Manage data. The fund management unit 5191 collectively manages the funds to be financed for each producer and the money in and out of the payment amount calculated for each producer. In addition, for support members who support the operation of the virtual management farm 950, data on payment costs such as rewards and point services according to the support, and money in and out are managed in a lump.

  In addition, the fund management unit 5191 produces the temporary purchase user member on the farm in the virtual management farm 950 through the network buying and selling through the consumer terminal 60 or from the store selling the products in the virtual management farm 950. When the purchased product is purchased, the accumulated data of the purchased amount and the money in / out are managed collectively. Further, the fund management unit 5191 collectively manages the membership fees paid by the reservation purchase user member and the temporary purchase user member annually via the consumer terminal 60.

  In addition, the fund management unit 5191 uses the consumer terminal 60 to make individual reservation purchase user members making purchase reservations for the purchase of products produced on the farm in the virtual management farm 950. In addition, data management is performed for the amounts individually paid in advance for the purchase reservation, individual amounts actually purchased, and individual discount amounts based on the reservation purchase and purchase quantity. For example, the reservation purchase user member, through the consumer terminal 60, for the product produced in the virtual management farmland 950, the yearly purchase date and time, the purchase quantity, and in particular the virtual farmland 1 corresponding to the farm that specifies the purchase. If specified, the annual reservation purchase price is calculated on a monthly basis based on the specified information, and the calculated reservation purchase price data and the sales price at the virtual managed farm 950 for the product actually purchased without canceling the reservation The actual amount of money is managed on a monthly basis. The fund management unit 5191 calculates the difference between the monthly reservation purchase amount and the actual amount, and if the difference is positive, after subtracting a fixed interest rate fee (for example, 30% of the difference amount) A clearing process is performed in which the fixed discount amount and the discount amount corresponding to the purchase quantity are added, and are associated with the consumer terminal 60 and cashed back to the bank account of the reservation purchase user member. In addition, the fund management unit 5191 calculates the difference between the monthly reserved purchase amount and the actual amount in association with the consumer terminal 60, and if the difference is negative, from the difference amount, A clearing process is performed in which a fixed discount amount and a discount amount corresponding to the purchase quantity are subtracted, and the amount after the subtraction is deducted from the bank account of the reservation purchase user member. This settlement process is not limited to each month, and may be processed in half a year or collectively in a year.

  Next, the insurance management unit 5192 will be described. FIG. 20 is a diagram for explaining the mechanism of non-life insurance by the insurance management unit 5192 of the first embodiment. Since the agricultural management system according to the first embodiment collectively manages the production activities of the farm corresponding to each virtual farm 951 in the virtual management farm 950, it is necessary to minimize the risk of damage due to weather, disasters, and the like. is there. For this reason, an insurance management unit 5192 is provided to manage the operation of non-life insurance claims. The owner responsible for each virtual managed farm 950 (for example, a farm manager, a farm co-operator, a farm landowner, etc.) joins this insurance as an insurance subscriber. The insurance subscriber is assigned a non-life insurance subscriber ID by the insurance management unit 5192 and the subscription conditions are managed. When a loss occurs in some of the multiple policyholders, the other policyholders pay the insurance claims on behalf of them. The insurance management unit 5192 performs data management using the investor data management unit 960.

  For example, the product of a specific policyholder among multiple policyholders may be damaged due to weather, disasters, pest abnormalities, etc., or the production volume will be sluggish, or the production quality will be significantly degraded. In the event of damage that causes the market price to drop by a certain amount or more, a large amount of damage (damage amount) will occur for a specific insurance subscriber. FIG. 20 shows a state in which a part of the damage amount A incurred by the insurance subscriber (2001) is paid on behalf of a plurality of other insurance subscribers (2002). In addition, since damage does not occur normally, if there is no damage for a certain period of time (for example, one year), the specific insurance subscriber (2001) who has not suffered damage pays the prescribed insurance amount in a lump sum or Monthly installments are paid to the other insurance subscribers (2002) (in contrast, the other insurance subscribers (2002) receive this predetermined insurance amount from the specific insurance subscriber (2001)). In other words, the other insurance subscribers also become insurance subscribers, the insurance subscribers become other insurance subscribers, and the insurance subscribers interchange the insurance money with each other.

  In FIG. 20, a, b, c, d, e, and f indicate damage payment amounts paid by the insurance subscriber (2002) when damage (damage amount A) occurs. Further, a2, b2, c2, d2, e2, and f2 indicate insurance payment amounts paid by the insurance subscriber (2002) when damage (damage amount A) occurs. In addition, Ma, Mb, Mc, Md, Me, Mf,..., Mz identify other insurance subscribers (2002) or insurance applicants other than the insurance subscriber (2001) for convenience of explanation. Mn is also described as an insurance subscriber (2001). The insurance subscriber (2001) and the insurance subscriber (2002) both have an investor terminal 80, and the investor terminal 80 communicates data with the insurance management unit 5192 via the information network 100. Transfer is performed.

  In FIG. 20, the insurance management unit 5192 performs insurance money management processing according to the following steps S101 to S103 in the production of each virtual management farmland 950.

  Step S101; First, the insurance management unit 5192 takes responsibility for ownership of each virtual management farm 950 in all the virtual management farms 950 in the zone A to the zone Z (Z is a positive integer of 5 or more) via the investor terminal 80. Is urged to predict the damage amount U in the event of damage to the farm in the virtual managed farm 950 via the investor terminal 80, and the damage amount A (damage amount) received at the time of damage based on the prediction. (U or all of U) is urged to be presented as the amount received. If the owner of the virtual managed farm 950 that presents the damage amount A is an insurance subscriber (2001), the damage amount A presented by the insurance subscriber (2001) is sent to the insurance management unit 5192 through the investor terminal 80. Input and data management is performed. It is assumed that there are Z insurance subscribers (2001).

  Step S102: Next, the insurance management unit 5192 becomes an insurance subscriber who becomes an insurance subscriber (2002) who promises to pay the contribution of each damage amount A when each insurance subscriber (2001) occurs. Apply for the applicant. This application is made once or several times a year at a fixed time, and is applied to all Z insurance subscribers (2001). It should be noted that this insurance purchase applicant becomes a later insurance subscriber 2002 at the stage when the insurance subscription is determined.

At this time, the insurance management unit 5192 applies the insurance to a person who wishes to participate in insurance in a virtual managed farm other than the virtual managed farm that presented the damage amount A (corresponding to the later insurance subscriber 2002) via the investor terminal 80. The person (2001) is prompted to present the payable amount B for the damage amount A when the damage occurs.
Here, it is assumed that for the presentation of the damage amount A, there are N persons (<Z persons) who have applied for insurance in virtual managed farms other than the virtual managed farms that have applied. At the same time, the insurance management unit 5192, when there is no damage to the insurance subscriber (2001) against the N insurance applicants (corresponding to the later insurance subscriber 2002) via the investor terminal 80 The insurance management unit 5192 is prompted to present the amount C received from the insurance subscriber (2001). The insurance applicant (corresponding to the later insurance subscriber 2002) inputs the payable amount B and the amount C to be paid through the investor terminal 80, and the insurance management unit 5192 converts the input data into the investor data. The management unit 960 performs retention management.

  For example, in FIG. 20, the payable amount B of the insurance subscriber (desired) Ma is a, and the amount C to be paid is a2. Similarly, the payable amount B of the insured (hopeful) person Mb is b, the amount C to be paid is b2, the payable amount B of the insured (hope) person Mc is c, the payable amount C is c2, and the insured (hope) The payable amount B of the person Md is d, the payable amount C is d2, the payable amount B of the insured (hope) person Me is e, the payable amount C is e2, and the payable amount B of the insured (hope) person Mf is f, the amount C of money is f2. The payable amount B and the amount C to be paid differ depending on the insurance applicant (corresponding to the later insurance subscriber 2002).

  Subsequently, the insurance management unit 5192 uses the management data of the investor data management unit 960 to sort the N insurance subscribers (desired) in ascending order of the amount C to be paid. For example, it is assumed that the amount C to be earned is small in the order of a2, b2, c2, d2, e2, f2,.

  Step S103; Subsequently, the insurance management unit 5192 adds the payable amount B (a, b, c, d, e, f) in ascending order of the amount C to be paid, and sums the payable amount Σ that is the sum thereof. Calculate

For example, the total payable amount Σ is calculated as follows.
Σ = a + b + c + d + e + f +...

  At this time, the insurance management unit 5192 sequentially adds the payable amount B of each N insurance subscribers (desired) until the total payable amount Σ becomes equal to or greater than the damage amount A.

  The insurance management unit 5192 terminates this insurance application when the total payable amount Σ becomes equal to or greater than the damage amount A, and stops providing offer information through the investor terminal 80. For example, the sum of payable amounts B (a, b, c, d, e, f) of six (<N) insurance participants (hope) of Ma, Mb, Mc, Md, Me, and Mf, If the damage amount is A or more, these six persons become insurance subscribers 2002. For these six insurance subscribers 2002, insurance contract procedure processing is performed through the investor terminal 80 or directly at a procedure store corresponding to the insurance management unit 5192.

  On the other hand, if the total payable amount Σ is smaller than the damage amount A even if the number of insurance participants (desired) reaches N, the insurance management unit 5192 makes the total payable amount Σ the damage amount A through the investor terminal 80. Until the above is completed, additional applications for insurance participation are made for those who wish to participate. The insurance management unit 5192 also provides recruitment information (for example, the number of insurance subscribers (desired), the amount of damage A to be recruited, payment for each insurance subscriber (desired) for insurance subscribers (2001). The possible amount B and the amount C to be paid are provided to all insurance participants (hope).

  Thus, when the total payable amount Σ is smaller than the damage amount A, each insurance subscriber (desired) who becomes the later insurance subscriber 2002 (Ma, Mb, Mc, Md, Me, Mf,...) Divide the amount of money C (a2, b2, c2, d2, e2, f2,...) By the respective payable amount B (a, b, c, d, e, f +...) B = α is obtained for each insurance subscriber (hope).

  Next, the insurance management unit 5192 responds sequentially from the data managed by the investor data management unit 960 from the insurance subscriber (desired) who has the largest value of α (corresponding to the later insurance subscriber 2002). The value of α to be extracted is extracted. The insurance management unit 5192 urges all the insurance subscribers (desired) (corresponding to the later insurance subscriber 2002) through the investor terminal 80 to determine whether or not the extracted α value is reduced (arbitration). I do.

  For example, an email, a letter, or the like of a request letter that prompts the value of α to be decreased is transmitted through the investor terminal 80 in descending order of the value of α. When the insurance subscriber (hope) (2002) who has received this request letter increases the value of α, the value of Σ is calculated again. Thus, when the total payable amount Σ becomes equal to or greater than the damage amount A, transmission of the request letter is stopped. The insurance management unit 5192 continues to transmit this request letter until the total payable amount Σ is equal to or greater than the damage amount A. At the stage when the total payable amount Σ is equal to or greater than the damage amount A, all insurance applicants at that time either through the investor terminal 80 or directly at the procedure store corresponding to the insurance management unit 5192 To become an insurance subscriber 2002.

  Step S104: The insurance management unit 5192 performs the above-described processing from Step S101 to Step S103 for the managers (Z persons) of all the virtual management farms 950, finishes the setting of the insurance subscriber 2002, and all the managers Complete the insurance contract procedure for (Z people).

  Step S105: When damage occurs in at least one of the insurance subscribers 2001, the insurance management unit 5192 receives a claim for damages from the insurance subscriber 2001 through the investor terminal 80. The insurance management unit 5192 calculates the amount of damage within a predetermined damage amount A or less based on a predetermined evaluation method for the amount of damage received, and the insurance subscriber 2001 is informed to the insurance subscriber 2001 through the bank. To pay the damage insurance.

  In addition, when no damage occurs in a specific insurance subscriber 2001 for a certain period (for example, one year) defined in the insurance contract, the insurance management unit 5192 indicates that the specific insurance subscriber 2001 in which no damage has occurred , For each insurance subscriber 2002 (Ma, Mb, Mc, Md, Me, Mf,...), The amount C (a2, b2, c2, d2, e2, f2,...)・ ・) Settlement the payment through the bank so that each is paid.

  The managers of the respective virtual managed farms 950 exchange information with each other through the investor terminal 80 so that damage does not occur, and the exchanged data is stored in the investor data management unit 960. The virtual managed farm 950 can make an effort to prevent the occurrence of damage by using the information exchanged.

  As described above, the insurance management unit 5192 according to the first embodiment assigns insurance subscribers (2002) of a plurality of other farms that share and bear the damage amount A paid by the manager (2001) of each farm to the farm. When no damage occurs on the farm of the person in charge (2001), the insurance policyholder (2002) of the other farm selects the order in which the amount C received from the person in charge of the farm (2001) is small, When the damage does not occur, the payment amount B from the farm manager (2001) to the other insurance policyholder (2002) can be reduced. As a result, it is possible to collect the participants in insurance claims with less payment burden, and to build an efficient mechanism to cover part or all of the amount of damage that occurs in the virtual managed farmland 950 Therefore, the virtual management farmland 950 can be operated or managed more stably.

  The agricultural management system according to the first embodiment is configured as described above, and mainly operates as follows.

1. The farming order process of each farm of the virtual management farmland 950 is generated.
2. A calculation is made as to what route is required to travel on the road 5 between the farms of the virtual management farm 950.
3. Calculate storage time for agricultural machinery.
4). The automatic farm machine 25 or the farm machine 15 collects data on the soil state of each farm of the virtual management farm 950 in several tens of cm squares, and manages the collected data.
5. Data such as soil condition, moisture, fertilizer, pests, and yield of each farm in the virtual management farm 950 is stored in the database of the data management unit 502 in association with the position information.
6). Considering the traffic situation of the road 5 between the farms of the virtual management farm 950, the movement route between the farms is generated.
7. The farm work plan is examined based on the weather forecast for 1 hour, half day, day, week, and month, and the farm work plan is generated automatically or with the operator's work support, and the farm work plan is updated.
8). The management center 50 displays the activity status of each farm.
9. A consumer's place of residence, required items (agricultural crops), purchase time, etc. are grasped systematically and an optimal sales plan is generated.
10. The consumer manages the data separately for each member of the virtual management farm 950 (for example, a person who is a reservation purchaser member and a person who is not a reservation purchaser member).
11. The producer confirms the consumer who purchases the harvested crop, and sends the crop directly from each farm to the consumer who made the reservation purchase.
12 Since each farm is basically an abandoned farmland, the past farming situation is confirmed with the producer at that time, and a database is created.
13. Set non-life insurance related to agricultural production to minimize the risk of crop failure due to weather.
14 Cultivation, seeding, crop observation, weeding, and harvesting are performed by automatic traveling of the automatic farm machine 25 and selection of manual operation. A communication connection is established between the management center and the agricultural machine terminal 20 mounted on the automatic agricultural machine 25 using the satellite communication line 104 or the wireless line 102.
15. Various data bases are managed in the data management unit 502 of the management center 50, and monitor work status, work management, and give instructions to producers.
16. Agricultural crops are photographed by the mounted sensors 21 and 11 of the agricultural machine and monitored by a monitor of the management center. When an abnormality occurs, a support registrant of a virtual management farm close to the farm will go around.

  By operating in this way, a plurality of small-scale farmland can be managed as a large-scale virtual farmland by IT (Information Technology) informationization, so the production efficiency of agricultural products can be improved. .

  Next, an example of a service to which the agricultural management system according to the first embodiment is applied will be described.

Example 1.
Using the agricultural management system according to the first embodiment, the high-priced automatic agricultural machine 25 is effectively used to perform more efficient agricultural production activities. For example, by providing the operation service of the automatic farm machine 25 without selling the automatic farm machine 25, the following four services using the automatic farm machine 25 can be provided to the user at low cost.

1. The farmland attribute management unit 511 manages the virtual farmland 951 in association with small farms distributed throughout Japan, and the farm work management unit 510 manages a plurality of farms corresponding to each virtual farmland 951. Business service that provides automatic farm machine 25 in a lump.
2. The shape of the farmland associated with the virtual farmland 951 with which the contract is made in advance is measured, and the measurement data is stored in the data management unit 502. For example, the farm work plan generation unit 512 sets the rice planting and harvesting routes, and the shortest Service that farms in time.
3. When the time to use the target automatic farm machine 25 comes, for example, if the planting is a rice plant, the farm work plan generation unit 512 creates a farm work plan that advances rice planting sequentially from the southern region.
4). An integrated management service in which the farm work management unit 510 centrally manages the purchase of agricultural chemicals and the distribution of agricultural chemicals using the center warehouse 959 and provides them collectively for each farmland associated with the virtual farmland 951.

  Here, the service 3 that further increases the production efficiency of agricultural products will be described in more detail. For example, the processing time of one farmland is optimized, and the movement path of the agricultural machine from the farmland to the farmland is also optimized from the weather forecast and weather observation information. Here, optimization calculation and operation management are performed by the farm work plan generation unit 512 and the farm work management unit 510 of the management center 50 so that the operating rate of the corresponding automatic farm machine 25 is maximized. For example, in the case of rice planting, if the annual operating rate of the rice planting machine is 5 days (1.3% of the annual operating time) and the annual operating rate of the combine is 2 days (0.5% of the annual operating time), for example, Agricultural work management unit 510 performs management by sequentially selecting specific virtual management farmland 950 so that rice planting operations are sequentially performed from south to north in Japan.

  By providing such a service, the operation rate of each agricultural machine can be further improved. In addition, by autonomously controlling the automatic farm machine 25, night work is possible depending on the type of farm work (for example, tillage, soil improvement, soil disinfection, etc.), noise, and lighting. The rate can be further improved. Thus, if the land use fee is excluded, agricultural production activities can be conducted with a minimum cost. In addition, since it becomes possible to utilize abandoned farmland and fallow fields, it is possible to perform more efficient agricultural production activities.

Example 2
By using the agricultural management system according to the first embodiment, a service is provided in which the crop produced by the producer is delivered directly to an individual rather than being wholesaled to the market. For example, it is investigated what kind of crops from the member user and how much is desired at what time including the target cost. The surveyed information is directly input to the consumer terminal 60 by the consumer, or the seller inputs the information to the seller terminal 70, and the information is input to the data management unit 502 for data management. The consumer management unit 518 analyzes which crop is appropriate for the farmland in each district, and directly provides the analysis result to the consumer or the seller through the consumer terminal 60 or the seller terminal 70. By providing this service, each farm in the virtual managed farm 950 can be guaranteed with the purchase price of the farm, and more reliably guarantee the price obtained from the production, and ask the producer to plant. it can.

  As described above, the agricultural management system according to the first embodiment corrects the positioning information obtained by the positioning device 22 with the positioning reinforcement information from the reinforcing satellite 1061, and measures the self-position. Based on the farmland shape data 210, the movement path data 211, and the work instruction information, a farm work management unit 205 that manages the movement path and work state of the agricultural machine, and a sensor (mounted sensor) 21 that measures surrounding images and the environmental state of the farm. And the wireless device 23 that receives the work instruction information and transmits it as terminal information (terminal sensing information) in association with the positioning data of the positioning processing unit 201 and is attached to the agricultural machine. Multi-group management of a group of virtual managed farms 950 formed by virtually collecting the farm machine terminal 20 and a plurality of farms (as a virtual farm 951) The data for specifying the position and shape of the farm and the terminal information transmitted from the farm machine terminal 20 and the data of the roads connecting the farms are stored for a plurality of farms in each virtual management farm 950. A virtual farmland data management unit 920 to be held and a specific virtual management farmland 950 are selected from a plurality of virtual management farmland 950 managed by the virtual farmland data management unit 920, and the farm machine is selected in the selected virtual management farmland 950. Is generated, and the generated instruction information is transmitted to the specific farm machine terminal 20, and the work process of each farm in the selected virtual management farm 950 and the movement path of the farm machine between farms are set. A farm machine management unit 514 that transmits the set work process and movement route to the specific farm machine terminal 20. The center 50, and further comprising a.

  In addition, the management center 50 selects a display device 503 that displays weather information superimposed on the virtual management farmland and a specific virtual management farmland 950 in the display screen of the display device 503, and inputs the selected virtual management farmland 950 to the farm machine management unit 514. The farm machine management unit 514 includes an input device, and varies the number of operating automatic farm machines 25 in the virtual management farm 950 selected according to weather information. Further, the management center 50 includes an input device 504 for sequentially selecting a specific virtual management farmland 950 in the display screen of the display device 503 and inputting it to the farm machine management unit 514, and the farm machine management unit 514 corresponds to the latitude. The automatic farming machine 25 in the virtual management farmland 950 selected in the above is moved.

  Further, the positioning information obtained by the positioning device 12 is corrected by the positioning reinforcement information from the reinforcing satellite 1061, and based on the positioning processing unit 111 for positioning the own position, the farmland shape data, the movement route data, and the work instruction information. The measurement data acquired by the farm work management unit 115 that manages the movement path and work state of the agricultural machine and the sensor (mounted sensor) 11 that measures the surrounding images and the environmental state of the farm correspond to the positioning data of the positioning processing unit 111. A group of virtual managements comprising a producer device 10 possessed by a producer and a virtual collection of a plurality of farms, and a wireless device 13 that transmits work instruction information as well as transmitting as terminal information Data for managing a plurality of groups of farmland 950 and specifying a farm position and shape for a plurality of farms in each virtual management farmland 950, and a producer terminal A virtual farmland data management unit 920 that holds terminal information (terminal sensing information) transmitted from 0 and holds data of roads connecting farms, and a plurality of virtuals managed by the virtual farmland data management unit 920 A specific virtual managed farm 950 is selected from the managed farm 950, instruction information for instructing the producer to work in the selected virtual managed farm 950 is generated, and the generated instruction information is transmitted to the specific producer terminal 10 described above. Production that sets the work process of each farm in the selected virtual management farm 950 and the movement route of the farm machine between the farms, and transmits the set work process and the movement route to the specific producer terminal 10 And a person management unit 515.

  In addition, the management center 50 selects a display device 503 that displays weather information superimposed on the virtual management farmland and a specific virtual management farmland 950 in the display screen of the display device 503, and inputs it to the producer management unit 515. The producer management unit 515 transmits to the producer terminal 10 instruction information for changing the number of operating farm machines in the virtual management farm 950 selected according to the weather information. In addition, the management center 50 includes an input device 504 that sequentially selects a specific virtual management farmland 950 in the display screen of the display device 503 and inputs it to the producer management unit 515, and the producer management unit 515 includes a latitude The instruction information for moving the farm machine in the virtual management farm 950 selected according to is transmitted to the producer terminal 10.

  As described above, the agricultural management system according to the first embodiment manages a plurality of small-scale farmland as a large-scale farmland in a virtual space, and also provides a plurality of small-scale farmland to be given and received by a producer of agricultural machines or agricultural products. Centrally manage information as a large-scale farmland in virtual space.

  As a result, a plurality of small-scale farmland can be managed as a large-scale virtual farmland by IT (Information Technology) informationization, so that the production efficiency of agricultural products can be improved. In addition, not only producers and farm owners who produce agricultural products, but also consumers who purchase agricultural products and sellers who are intervening between producers and consumers can use agricultural products through individual terminals. Since it is possible to participate organically in the information network of the management system, IT (Information Technology) information is used smartly to build a more efficient agricultural industry, farm management (smart farm management), and food industry It becomes possible to do.

  DESCRIPTION OF SYMBOLS 10 Producer terminal, 11 Mounted sensor, 12 Positioning device, 13 Radio device, 15 Farm machine, 20 Farm machine terminal, 21 Mounted sensor, 22 Positioning device, 23 Radio device, 24 Working machine, 25 Automatic farm machine, 26 ECU, 27 Drive part 29 Lighting, 30 Field sensor, 40 Remote sensor, 50 Management center, 60 Consumer terminal, 70 Seller terminal, 80 Investor terminal, 100 Information network, 111 Positioning processing unit, 112 Navigation processing unit, 113 Storage device, DESCRIPTION OF SYMBOLS 115 Agricultural work management part, 117 Display part, 120 Agricultural land shape data, 121,122 Movement route data, 201 Positioning processing part, 202 Navigation processing part, 203 Storage device, 205 Agricultural work management part, 210 Agricultural land shape data, 211, 212 Movement route Data, 217 Display, 500 Communication equipment 501 System management unit 502 Data management unit 503 Output device 504 Input device 510 Farm work management unit 511 Farm land attribute management unit 512 Farm work plan generation unit 513 Farm field sensor management unit 514 Farm machine management unit 515 Production Management unit, 516 remote sensor management unit, 517 seller management unit, 518 consumer management unit, 519 investor management unit, 520 input / output management unit, 590 data communication line (LAN), 905 consumer data management unit, 910 Farmland data management unit, 920 Virtual farmland data management unit, 930 Farmwork data management unit, 940 Harvest data management unit, 960 Investor data management unit.

Claims (2)

A positioning processor that corrects the positioning information obtained by the positioning device with the positioning reinforcement information from the reinforcing satellite, and measures the self-position;
A wireless device that transmits image data and measurement data acquired by a sensor that measures an environmental state as terminal information in association with the positioning data of the positioning processing unit, and receives the instruction information on the movement route of the agricultural machine and the work instruction information; ,
A farm work management unit for controlling the movement path and work state of the agricultural machine based on the instruction information and work instruction information of the movement path of the agricultural machine received by the wireless device;
An agricultural machine terminal that is attached to the agricultural machine;
While maintaining the connection relationship of the movement route between multiple farms and the shape information of each farm, the virtual managed farmland is configured by bringing the positions between the farms, and the virtual managed farmland is displayed on the display device. A virtual farmland data management unit that holds the terminal information transmitted from the agricultural machine terminal in association with each farm;
A specific farmland is selected from a plurality of farms of the virtual management farmland held in the virtual farmland data management unit, and an instruction of a movement route between other farms in an actual farm corresponding to the selected farm An agricultural machine management unit that transmits information and work instruction information in each farm to the specific agricultural machine terminal;
Agricultural management system with. The positioning information obtained by the positioning device is corrected by the positioning reinforcement information from the reinforcing satellite, and the positioning processing unit that measures the self-position and the measurement data acquired by the sensor that measures the image and the environmental state are used as the positioning processing unit. And transmitting as terminal information in association with the positioning data of the wireless device, receiving the instruction information of the movement route of the agricultural machine and the work instruction information, and the instruction information of the movement route of the agricultural machine and the work instruction information received by the wireless device. Based on this, the agricultural machine management unit that has the agricultural work management unit that controls the movement route and work state of the agricultural machine and transmits the instruction information of the movement route of the agricultural machine and the work instruction information to the agricultural machine terminal mounted on the agricultural machine;
While maintaining the connection relationship of the movement route between multiple farms and the shape information of each farm, the virtual managed farmland is configured by bringing the positions between the farms, and the virtual managed farmland is displayed on the display device. A virtual farmland data management unit that holds the terminal information transmitted from the agricultural machine terminal in association with each farm;
With
The agricultural machine management unit selects a specific farmland from a plurality of farms of the virtual management farmland held in the virtual farmland data management unit, and communicates with other farms in an actual farm corresponding to the selected farm. Send the instruction information of the movement route between and the work instruction information in each farm to the specific farm machine terminal,
Agricultural management system .

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