JP6910926B2 - Field work support terminal, field work machine, and field work support program - Google Patents

Description

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

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

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

Further, in Patent Document 2, the work content of the worker is specified and the work is performed by combining the position information of the worker by GPS and the operation information of the worker by the acceleration sensor with the field information stored in advance. A farm work management method for recording history is disclosed. According to this method, the history of when, in which field, and what kind of work was performed can be recorded in a work management terminal such as a PC placed at home, so that the work history and plan can be managed. It is advantageous in that it is easy to do.

International Publication No. 2015/132928 Japanese Unexamined Patent Publication No. 2015-208244

By the way, the guidance system disclosed in Patent Document 1 can provide guidance that reflects the turning radius of an individual actually used for work among a plurality of registered tractors. It is not compatible with other types of field work machines such as rice transplanters. Therefore, in order to utilize the guidance system for all the different tasks performed according to the growth stage of the crop, it was necessary to prepare a different guidance system for each field work machine. With such a configuration, there is a risk that the cost required for procuring the field work machine or the dedicated terminal will increase, and that the operator may find it difficult to handle because the operation method of the terminal is different for each field work machine.

Further, in the agricultural work management method of Patent Document 2, the work history can be recorded and the work history can be confirmed after the work, but the work history information has not been immediately provided to the worker. In addition, the field information stored in advance in the agricultural work management method of Patent Document 2 is limited to rough information for each section such as a section for planting melon and a section for planting spinach, and the work area in the section and the unfinished area. The work area has not been identified yet. Such a configuration may not sufficiently meet the demand for immediately grasping the work history and adjusting the work contents during the work.

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

In the field work support terminal according to the present invention, a plurality of operations performed in order according to the growth stage of a crop in one field are performed by a plurality of field work machines corresponding to each work, and the traveling machine and the above-mentioned detachable in the field working machine that includes a field working device for performing a predetermined work on the field, a field work support terminal for supporting the field work by each of the field working machine, a display unit, mounted Work information for acquiring the machine position information acquisition unit for acquiring the machine position information indicating the position of the traveling machine of the field work machine and the work information showing the contents of the work by the field work device of the mounted field work machine. The display control unit includes an acquisition unit, a display control unit that controls display on the display unit, and a communication unit that communicates with the mounted field work machine, and the display control unit is the display displayed on the display unit. on the field, on the basis of the aircraft position information and the job information to display the work history of those該圃field, the work history, and work history of the work already in all travel route of the field working machine finished, Includes the determined all planned travel routes of the field work machine during work and the work history of the travel route that has already been traveled .

Further, in the field work support program according to the present invention, a plurality of works sequentially performed in one field according to the growth stage of the crop are performed by a plurality of field work machines corresponding to each work, and the traveling machine wherein a field work support program for supporting the field work by provided the field working machine to each of the field working machine that includes a field working device for performing a predetermined operation on the field and shows the position of the traveling machine body The machine position information acquisition function for acquiring the machine position information, the work information acquisition function for acquiring the work information indicating the contents of the work by the field work device, and the machine position information and the machine position information on the field displayed on the display unit. on the basis of the work information and displaying the work history of those該圃field, is realized in a computer, the work history, and work history of the work already in all travel route of the field working machine finished working, working Includes all the determined planned travel routes of the field work machine in the field and the work history of the travel route that has already been traveled .

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

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

In one aspect, the field work support terminal according to the present invention displays the work history by the display control unit on the field displayed on the display unit based on the machine position information and the work information. It is preferable that each region is colored with a different color depending on the content of the work performed.

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

In one aspect of the field work support terminal according to the present invention, the display of the work history by the display control unit is performed only once in an area where the same work is duplicated. It is preferable to include coloring so as to be distinguishable from the region.

According to this configuration, the operator can easily grasp the area where the same work is performed in duplicate, so that the content of the work can be adjusted so that the duplication does not occur. This makes it possible to improve work efficiency.

As one aspect of the field work support terminal according to the present invention, the work information acquisition unit acquires the work information by communicating with the traveling machine body and the field work apparatus via the communication unit. Is preferable.

According to this configuration, the work history can be recognized based on the model and equipment status of the field work machine, so that the accuracy of displaying the work history is improved. Further, it is advantageous in that no human operation is required to make the field work support terminal recognize the state of the field work machine.

In one aspect of the field work support terminal according to the present invention, the display unit is a touch panel type display unit, and the work information acquisition unit acquires the work information through an artificial operation on the display unit. Is preferable.

According to this configuration, the work history can be recognized based on the situation such as the model and equipment of the field work machine, so that the accuracy of the work history is improved. In addition, when making the field work support terminal recognize the state of the field work machine, it is advantageous in that the worker can make arbitrary adjustments and the worker can correct the error when the field work machine is automatically recognized. ..

As one aspect, the field work support terminal according to the present invention includes a traveling route determining unit for determining a traveling route of the traveling machine, and when performing a second operation after the first operation, the traveling route determining unit is provided. It is to exclude the first work is not performed region, to determine the planned travel route for the second work, the display control unit displays the planned travel route on the display unit Is preferable.

According to this configuration, it is possible to determine a traveling route in consideration of the existence of obstacles and the like. Further, when determining such a traveling route, the information in one work for the same field can be used in other work, which is advantageous in that it is not necessary to reconsider obstacles for each work. Is.

Field work support terminal according to the present invention, as one embodiment, said machine body position information, prior to the Kihashi row scheduled routes, including the divergence recognition unit recognizes the divergence direction and divergence distance, the display control unit, It is preferable to display the divergence direction and the divergence distance on the display unit.

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

In one aspect of the field work support terminal according to the present invention, the divergence recognition unit has a divergence distance level divided into finite steps based on the divergence distance and a predetermined divergence distance standard. It is preferable that the display control unit displays the divergence direction, the divergence distance, and the divergence distance level on the display unit.

According to this configuration, since the operator can recognize the degree of deviation from the designated route, it becomes easy to determine whether or not steering correction is required.

As one aspect of the field work support terminal according to the present invention, it is preferable that the machine position information acquisition unit acquires the machine position information from the positioning device provided in the field work machine via the communication unit. ..

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

As one aspect, the field work support terminal according to the present invention preferably includes a positioning device for acquiring the aircraft position information.

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

As one aspect, the field work support terminal according to the present invention is preferably a field work machine provided with the field work support terminal of any one of the above aspects.

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

Further features and advantages of the present invention will be further clarified by the following illustration of exemplary and non-limiting embodiments described with reference to the drawings.

The schematic diagram of the field work using the 1st Embodiment of the field work support terminal which concerns on this invention. An example of the screen display of the first embodiment of the field work support terminal according to the present invention. The schematic diagram which shows the setting of the work non-target area by the 1st Embodiment of the field work support terminal which concerns on this invention. An example of determining a traveling route according to the first embodiment of the field work support terminal according to the present invention. The figure which shows the relationship of each component in the guidance system including the 1st Embodiment of the field work support terminal which concerns on this invention.

[First Embodiment]
An embodiment of the field work support terminal according to the present invention will be described with reference to FIGS. 1 to 5. In the present embodiment, a case where the field work support terminal 1 according to the present invention supports a series of rice cultivation work in a paddy field P (an example of a field) will be described. The field work support terminal can also be applied to support field work other than rice cultivation work such as upland farming work. In the following description, the global positioning satellite system will be referred to as GNSS.

In the paddy field P, the field work support terminal 1 according to the present embodiment includes tilling work and puddling work by the tractor 2A, rice planting work by the rice transplanter 2B, pesticide spraying work by the passenger management machine 2C, and harvesting work by the combine 2D. It is a field work support terminal that can support. Here, the tractor 2A, the rice transplanter 2B, the passenger management machine 2C, and the combine 2D are examples of field work machines, and are collectively referred to as field work machines 2. In addition, tilling work, puddling work, rice planting work, pesticide spraying work, and harvesting work are examples of field work.

In the example described below, it is assumed that the paddy field P has a main part P1 and a shoreline P2, and a part of the main part P1 has a rock P3 (an example of an obstacle) that cannot be removed. (Fig. 1).
When running the field work machine, it is necessary to perform a turning operation at the shore P2, and it is necessary to avoid the rock P3.

The tractor 2A includes a traveling machine body 21A and a GNSS23A (an example of a positioning device), and also includes a tilling work device 221A or a puddling work device 222A. The tilling work device 221A and the puddling work device 222A can be selected and mounted according to the work content. Similarly, the rice transplanter 2B includes a traveling machine 21B, a rice planting work device 22B, and a GNSS23B, a passenger management machine 2C includes a traveling machine 21C, a pesticide spraying work device 22C, and a GNSS23C, and the combine 2D has a traveling machine 21D. , Harvesting work device 22D, and GNSS23D. Here, the tilling work device 221A, the puddling work device 222A, the rice planting work device 22B, the pesticide spraying work device 22C, and the harvesting work device 22D are examples of the field work device.

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

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

Subsequently, the usage pattern of the above-mentioned field work support terminal 1 will be described. First, in the tilling work in the paddy field P, the worker attaches the tilling work device 221A to the tractor 2A, and further attaches the field work support terminal 1. At this time, the work information acquisition unit 13 grasps that the tractor 2A is equipped with the tilling work device 221A by communicating with the tractor 2A via the communication unit 15, and the work to be performed from this is the tilling work. Recognize that. Further, the aircraft position information acquisition unit 12 starts acquiring the aircraft position information 31 by the GNSS 23A by communicating with the tractor 2A via the communication unit 15. In addition, the travel route determination unit 16 determines a travel route 32A suitable for efficiently tilling the entire area of the paddy field P. In the following description, the above stages will be referred to as "preparation stages".

When the guidance by the field work support terminal 1 is started, the display control unit 14 displays the aircraft position information 31 by the aircraft position information acquisition unit 12 and the guideline 32 based on the traveling route 32A on the touch panel 11. Further, at this time, the entire area of the paddy field P displayed on the touch panel 11 is colored ocher to indicate that it is an unworked area 331. When the tractor 2A is driven while operating the tillage work device 221A while the guidance function is being executed, the travel history 311 of the tractor 2A is displayed on the touch panel 11. Then, the region having a width corresponding to the working width of the tilling work device 221A along the traveling history 311 is colored dark brown as the tilling work completed region 332 (FIG. 2). The information regarding the work width is acquired by the work information acquisition unit 13 by communicating with the tractor 2A via the communication unit 15. At this time, the display control unit 14 displays the route deviation information 34 recognized by the deviation recognition unit 17 based on the deviation between the aircraft position information 31 and the traveling route 32A on the touch panel 11. The route divergence information 34 includes divergence direction information 341 indicating which direction the aircraft position information 31 deviates from the traveling route 32A to the left or right, and divergence distance information indicating the divergence width of the aircraft position information 31 from the traveling route 32A. It includes 342 and divergence distance level information 343 indicating which level the divergence width has reached. For example, in the example shown in FIG. 2, the divergence distance level is divided into four stages, and the divergence distance level information 343 is displayed as the number of lit indicators (1 to 4). With such guidance, the operator can visually distinguish the cultivated work area 332 and the unworked area 331, and can adjust the steering so as to travel on the traveling route 32A.

When the tilling work is carried out in the main part P1 of the paddy field P, it eventually reaches the shore P2. Then, the operator performs the turning operation of the tractor 2A, causes the tractor 2A to enter the next traveling path parallel to the immediately preceding traveling path, and continues the tilling work. At this time, the cultivated area 332 is continuously colored in dark brown, but if the cultivated area 332 is overlapped with the area already recognized as the cultivated area 332, the overlapping area 35 is red. Color to. In this way, by coloring the overlapping area 35 in a color different from that of the cultivated area 332, the operator can recognize the presence or absence and the size of the area where the work has been overlapped. If the overlapping region 35 can be recognized, the operation method of the tractor 2A can be adjusted so as to reduce the overlap region 35, so that the tilling work can be performed efficiently.

When the tilling work is further advanced, it eventually reaches the vicinity of the rock P3. Then, the worker steers the tractor 2A so as to avoid the rock P3. When the tillage work is completed for the entire paddy field P, the portion corresponding to the rock P3 is displayed on the touch panel 11 as an unworked area 331. In the subsequent work, the travel route determination unit 16 recognizes this unworked area 331 as the work non-target area 36 (FIG. 3).

The mode of avoiding the obstacle (rock P3) may be, for example, the one shown in FIG. In FIG. 4, the operator steers the tractor 2A so as to bypass the rock P3 when it reaches the vicinity of the rock P3. After bypassing the rock P3, work will be carried out along the original work running line. Regarding the part that bypasses the rock P3, the cultivated work area 332 bulges toward the unworked area 331, but in order to avoid overlapping the work areas in the subsequent tillage work, the traveling that bypasses the rock P3 Work will be done along the line. In this case, the traveling route determining unit 16 corrects the traveling route 32A based on the traveling line traveled so as to avoid the rock P3 in the traveling after bypassing the rock P3. It should be noted that the unworked area 331 that was not worked in order to avoid the rock P3 in the tilling work is recognized as the work non-target area 36 in the subsequent work, as in the case of FIG.

Next, in the scavenging work in the paddy field P, the worker attaches the scavenging work device 222A to the tractor 2A. Further, when the field work support terminal 1 is attached, the preparatory stage is performed in the same manner as in the above-mentioned tillage work. However, at this time, the traveling route determination unit 16 considers the position information corresponding to the rock P3 recognized as the work non-target area 36 in the tilling work (example of the first work), and avoids the work non-target area 36. The travel route 32B for the substitute scratching work (example of the second work) is determined. As a result, the field work support terminal 1 can provide guidance in consideration of avoidance of the rock P3.

When the tractor 2A is operated to perform the substitute scratching work, the display control unit 14 performs the substitute scratching on the paddy field P displayed on the touch panel 11 based on the travel history 311 of the tractor 2A and the width of the substitute scratching work device 222A. The work area 333 is colored light brown. In the puddling work, the overlapping area 35 is displayed in the same manner as in the tilling work. In this way, the operator can visually distinguish the puddling work area 333 and the tillage work area 332, and can adjust the operation method so that the overlapping area 35 does not occur.

The tractor 2A is not particularly limited, but is equipped with various field work devices such as a ridge device, a ridge sowing device, a multi-work device, a fertilizer spraying device, and a boom sprayer device as field work devices. It is possible. When the ridge device is attached to the tractor 2A as a field work device, the ridge vertical work is performed. When the ridge sowing device is attached to the tractor 2A as a field work device, the ridge vertical sowing work is performed. When a multi-working device is attached to the tractor 2A as a field working device, the ridge vertical sowing work is performed. When the fertilizer application device is attached to the tractor 2A as a field work device, the fertilizer application work is performed. When a boom spray device is attached to the tractor 2A as a field work device, a chemical spraying operation is performed. In these cases as well, the display control unit 14 colors the worked area for each type of field work device (field work) in a color corresponding to each field work device (field work).

Next, in the rice planting work in the paddy field P, the worker attaches the field work support terminal 1 to the rice transplanter 2B. The preparatory step is carried out in the same manner as in the case of the above-mentioned puddling work. When the rice transplanter 2B is operated to perform the rice planting work, the display control unit 14 performs the rice planting work on the paddy field P displayed on the touch panel 11 based on the travel history 311 of the rice transplanter 2B and the width of the rice transplanter work device 22B. The finished area 334 is colored green. Here, the rice planting work device 22B is configured in a multi-row planting type (for example, 8-row planting), and the number of planting rows can be changed by operating each row clutch (not shown). The work information acquisition unit 13 recognizes how many rows of the rice transplanter work device 22B is actually operated by communicating with the rice transplanter 2B via the communication unit 15, and the display control unit 14 is recognized. The width recognized as the rice planting work area 334 is adjusted according to the number of rice planting rows. As described above, the work history 33 can be displayed by reflecting not only the type of the field work machine 2 in which the field work support terminal 1 is installed but also the specific operation state thereof. The overlapping area 35 is also displayed in the rice planting work.

Next, in the pesticide spraying work in the paddy field P, the worker attaches the field work support terminal 1 to the passenger management machine 2C. The preparatory stage is carried out in the same manner as in the case of the rice planting work described above. When the pesticide spraying work is performed by operating the passenger management machine 2C, the display control unit 14 displays on the paddy field P displayed on the touch panel 11 based on the travel history 311 of the passenger management machine 2C and the width of the pesticide spraying work device 22C. In, the pesticide sprayed area 335 is colored white. The overlapping area 35 is also displayed in the pesticide spraying operation. Here, for example, when two types of pesticides are sprayed, the area where the first pesticide is sprayed can be displayed in white, and the area where the second pesticide is sprayed can be displayed in gray. In this way, the display color of the work history 33 can be appropriately added or changed according to the progress of the work.

Finally, in the harvesting work in the paddy field P, the worker attaches the field work support terminal 1 to the combine 2D. The preparatory stage is carried out in the same manner as in the case of the rice planting work described above. When the combine 2D is operated to perform the harvesting work, the display control unit 14 displays the harvested work area on the paddy field P displayed on the touch panel 11 based on the travel history 311 of the combine 2D and the width of the harvesting work device 22D. 336 is colored ocher. The overlapping area 35 is also displayed in the harvesting operation.

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

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

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

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

In the above embodiment, the configuration in which the airframe position information acquisition unit 12 acquires the airframe position information 31 by the GNSS 23 via the communication unit 15 has been described as an example. However, the present invention is not limited to such a configuration, and for example, the field work support terminal may be provided with a positioning device such as GNSS, and the machine position information acquisition unit may be configured to acquire the machine position information by the positioning device. good. Regardless of whether the field work machine or the field work support terminal is equipped with the positioning device, the machine position information acquisition unit corrects the work information in consideration of the difference in the installation position between the positioning device and the field work device. If it is configured to do so, more precise guidance can be provided.

In the above embodiment, the configuration in which the field work support terminal 1 is a dedicated terminal has been described as an example.
However, without being limited to such a configuration, for example, a general-purpose portable terminal such as a smartphone or a tablet terminal is provided with an aircraft position information acquisition function, a work information acquisition function, and a function for displaying work history. It may be configured as a program to be made. Alternatively, it may be configured as a field work machine equipped with a field work support terminal having the above functions.

It should be understood that with respect to other configurations, the embodiments disclosed herein are exemplary in all respects and the scope of the invention is not limited thereto. Those skilled in the art will be able to easily understand that modifications can be made as appropriate without departing from the spirit of the present invention. Therefore, another embodiment modified without departing from the spirit of the present invention is naturally included in the scope of the present invention.

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

1: Field work support terminal 11: Touch panel 12: Machine position information acquisition unit 13: Work information acquisition unit 14: Display control unit 15: Communication unit 16: Travel route determination unit 17: Dissociation recognition unit 2: Field work machine 2A: Tractor 2B: Rice transplanter 2C: Riding management machine 2D: Combine 21: Traveling machine 22: Field work equipment 221A: Tillage work equipment 222A: Scratch work equipment 22B: Rice planting work equipment 22C: Agricultural chemical spraying work equipment 22D: Harvesting work equipment 23: GNSS
3: Display contents 31: Aircraft position information 311: Travel history 32: Guideline 33: Work history 331: Unworked area 332: Tillage work area 333: Scratch work area 334: Rice planting work area 335: Agricultural chemical spraying work completed Area 336: Harvested area 34: Route divergence information 341: Dissociation direction information 342: Dissociation distance information 343: Dissociation distance level information 35: Overlapping area 36: Work non-target area

Claims (13)

A plurality of work done sequentially in response to one of the growth stages of the crop relative to the field is performed by each of the plurality of field working machine according to the work, field work device for performing predetermined work and vehicle body with respect to the field DOO detachable in the field working machine provided with a, a field work support terminal for supporting the field work by each of the field working machine,
Display and
A machine position information acquisition unit that acquires machine position information indicating the position of the traveling machine of the mounted field work machine, and a machine position information acquisition unit.
A work information acquisition unit that acquires work information indicating the contents of work by the field work device of the mounted field work machine, and a work information acquisition unit.
A display control unit that controls display on the display unit,
It is equipped with a communication unit that communicates with the mounted field work machine.
The display controller, on the field that is displayed on the display unit, to display the work history of those該圃field on the basis of the machine body position information and the work information,
The work history includes the work history of the completed work in all the travel routes of the field work machine, the determined all planned routes of the field work machine during work, and the work history of the travel route in which the work has been completed. Field work support terminal including and. Claim 1 that the work performed on the field includes at least three of a tilling work by a tractor, a substitute scratching work by a tractor, a rice planting work by a rice transplanter, a pesticide spraying work by a passenger management machine, and a harvesting work by a combine. Field work support terminal described in. The display of the work history by the display control unit is based on the machine position information and the work information, and is displayed for each area on the field displayed on the display unit for each content of the work performed. The field work support terminal according to claim 1 or 2 , which is performed by coloring different colors. Display of the work history by the display control unit is further the same work is performed by overlapping region, to claim 3 in which the work comprises distinguishable colored only performed regions once The described field work support terminal. The field work according to any one of claims 1 to 4 , wherein the work information acquisition unit acquires the work information by communicating with the traveling machine body and the field work device via the communication unit. Support terminal. The display unit is a touch panel type display unit.
The field work support terminal according to any one of claims 1 to 5 , wherein the work information acquisition unit acquires the work information through an artificial operation on the display unit. A traveling route determination unit for determining a traveling route of the traveling aircraft is provided.
When doing the second work after the first work,
The running route determining unit, by excluding the first work is not performed region, to determine the planned travel route for the second operation,
The field work support terminal according to any one of claims 1 to 6 , wherein the display control unit displays the planned travel route on the display unit. Wherein comprising a body position information, the previous Kihashi line planned route, the divergence recognition unit recognizes the divergence direction and divergence distance,
The field work support terminal according to claim 7 , wherein the display control unit displays the deviation direction and the deviation distance on the display unit. The divergence recognition unit determines one divergence distance level from the divergence distance levels divided into finite steps based on the divergence distance and a predetermined divergence distance standard.
The field work support terminal according to claim 8, wherein the display control unit displays the divergence direction, the divergence distance, and the divergence distance level on the display unit. The field work support terminal according to any one of claims 1 to 9, wherein the machine position information acquisition unit acquires the machine position information from a positioning device provided in the field work machine via the communication unit. .. The field work support terminal according to any one of claims 1 to 9 , further comprising a positioning device for acquiring the aircraft position information. A field work machine provided with the field work support terminal according to any one of claims 1 to 11. A plurality of work done sequentially in response to one of the growth stages of the crop relative to the field is performed by each of the plurality of field working machine according to the work, field work device for performing predetermined work and vehicle body with respect to the field It is a field work support program provided in each of the field work machines provided with the above and supports field work by the field work machine.
An aircraft position information acquisition function that acquires aircraft position information indicating the position of the traveling aircraft, and
A work information acquisition function for acquiring work information indicating the contents of work by the field work device, and
On the field displayed on the display unit, and displaying the work history of those該圃field on the basis of the machine body position information and the job information, is implemented in the computer,
The work history includes the work history of the completed work in all the travel routes of the field work machine, the determined all planned routes of the field work machine during work, and the work history of the travel route in which the work has been completed. Field work support program including and.

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