JP7387347B2 - Farming support system - Google Patents

Description

The present invention relates to, for example, an agricultural work support system.

Conventionally, Patent Document 1 is known as a flying vehicle that flies over a field and performs spraying or the like. The agricultural multicopter of Patent Document 1 includes a main body, a plurality of arms attached to the main body, a rotary blade attached to the arms and generating lift, a skid capable of supporting the main body on the ground, and a skid that can support the main body on the ground. It includes a mounting section provided below and a working device mounted on the mounting section.

JP 2018-30559 Publication

The agricultural multicopter disclosed in Patent Document 1 can quickly spray fertilizers, pesticides, etc. onto fields. However, there is no system in place to manage the results of agricultural work in which fertilizers and pesticides have been applied on a field-by-field basis, and the reality is that there is a need for management when agricultural work is performed using agricultural multicopters and the like.
SUMMARY OF THE INVENTION In view of the above-mentioned problems, it is an object of the present invention to provide an agricultural work support system that can easily manage the results of agricultural work performed by flying objects on a field-by-field basis.

The technical means of the present invention for solving this technical problem is characterized by the following points.
The agricultural work support system collects flight work results, which are the agricultural work results of an aircraft that has flown over a plurality of fields and has entered the sky of at least one of the plurality of fields multiple times. a flight acquisition unit that acquires information; and a flight acquisition unit that when the aircraft flies over the plurality of farm fields and flies over at least one of the plurality of farm fields multiple times. and a track record creation unit that creates a farm work track record for each field by dividing the flight work track record acquired by the farm for each field. In the agricultural work performance of each of the plurality of fields, the performance creation unit sets the flight work performance obtained when first reaching the sky above the work area of the field as the work start performance of the field, and The flight work record obtained when the flight was last located above the work area is taken as the work completion record in the field, and the time when the work start record is acquired and the time the work completion record is acquired in the work area of the field. The flight work results obtained during the period are taken as intermediate work results in the field. The flying object includes a storage battery, a rotor that rotates by the power of the storage battery, a blade that rotates by the drive of the rotor, a container that stores a spray material, and a spray nozzle that sprays the spray material stored in the container onto a field. and the performance creation unit is configured to determine when the storage capacity of the storage battery decreases to a predetermined capacity or when the capacity of the spray material decreases when the flying object is in the air above any of the plurality of fields. The flight work performance at the work interruption position is defined as the work interruption performance.

In the case where the plurality of fields include a first field and a second field, the performance creation unit may cause the aircraft to first enter the air above the first field from the takeoff position and enter the work area of the first field. The flight work performance at the time of reaching the target is set as the work start performance in the first field, and the aircraft enters the sky from above the first field to the second field, and The flight work record when the work area is first reached is set as the work start record in the second field, and after the flight work record is acquired as the work start record in the first field, the flying object The flight work performance when the aircraft enters the sky above the first field again and reaches the work area of the first field is not set as the work start performance in the first field.
The track record creation unit is configured to cause the flying object to enter the air above the second farm field again and enter the work area of the second farm field after the flight work track record as the work start track record in the second farm field is acquired. The flight work result when the time limit is reached is not set as the work start result in the second field.

The track record creation unit sets the last flight work track record when the flying object was located above the work area of the second farm field as the work completion track record in the second farm field.
The track record creation unit determines that after the flight work track record as the work start track record in the first field is acquired, the flying object leaves the sky above the first farm field and reenters the sky above the first farm field. Thereafter, the last flight work performance when the flying object was located above the work area of the first field is set as the work completion performance in the first field.
The performance creation unit determines that after the flight work performance as the work start performance in the second field is acquired, the flying object leaves the sky above the second field and re- enters the sky above the second field. Thereafter, the last flight work performance when the flying object was located above the work area of the second field is set as the work completion performance in the second field.

The performance creation unit calculates the final flight work performance when the flying object was located above the work area of the field after returning to the work interruption position after replenishing the storage battery or the spray material. This is the record of the completion of the work in the field concerned .

The performance creation unit determines the work start time, based on the positioning information, flight time, spray amount, flight altitude, spray ON/OFF information, or a combination thereof, acquired by the flight acquisition unit. The work completion time, the amount of sprayed material spread by the flying vehicle, the scattering trajectory of the flying vehicle, the spreading width of the spraying material, the height when sprayed by the flying vehicle, or a combination thereof, are determined on the field. It is created as the above-mentioned agricultural work results for each time.

According to the present invention, it is possible to easily manage the results of agricultural work performed by an aircraft for each field.

It is a block diagram of an agricultural work support system. It is a connection diagram of the network of an agricultural work support system. It is a figure showing an example of field registration screen M1 in the case of registering in field Hn. It is a figure showing an example of field registration screen M1 when a plurality of fields Hn are registered as work area K1. It is a figure showing an example of data when field Hn is registered. It is a figure which shows an example of the data when the work area K1 is registered. It is a figure showing an example of creation screen M2. It is a figure which shows an example of the creation screen M2a specialized for the work of an aircraft. It is a diagram showing an example of a first work plan. It is a figure which shows an example of a 2nd work plan. It is a figure which shows an example of converting a 1st work plan into a 1st agricultural work result. FIG. 3 is a diagram showing an example of a work plan displayed on an external terminal (portable terminal). It is a diagram showing an example of a flight route L1. It is a diagram showing another example of the flight route L1. It is a diagram showing another example of the flight route L1. It is a diagram showing another example of the flight route L1. It is a figure showing an example of agricultural work performance. It is a figure which shows an example of the 2nd agricultural work performance. It is a figure which shows an example when the 1st agricultural work result and the 2nd agricultural work result are the results of the same field. It is a figure which shows an example of the dispersion status screen M4. It is a diagram showing another example of the dispersion status screen M4. FIG. 3 is a diagram showing an overlap between a first symbol mark MK1 and a second symbol mark MK2.

Embodiments of the present invention will be described below based on the drawings.
The agricultural work support system is a system that supports agricultural work using agricultural machinery. Agricultural machines include a tractor, a rice transplanter, a combine harvester, an aircraft for performing agricultural work, etc., equipped with a working device 2 such as an implement.
First, I will explain about agricultural machinery.

<Tractor>
As shown in FIGS. 1 and 2, the tractor 1 includes a traveling vehicle (traveling vehicle body) 3 having a traveling device 7, a prime mover 4, and a transmission 5. The traveling device 7 is a tire-type traveling device or a crawler-type traveling device. The prime mover 4 is a diesel engine, an electric motor, or the like. The transmission device 5 can change the propulsion force of the traveling device 7 by changing the speed, and can also change the traveling device 7 between forward movement and backward movement. The traveling vehicle 3 is provided with a cabin 9, and a driver's seat 10 is provided within the cabin 9.

Furthermore, a connecting portion 8 configured with a three-point linkage mechanism or the like is provided at the rear of the traveling vehicle 3. The working device 2 can be attached to and detached from the connecting portion 8 . By connecting the working device 2 to the connecting portion 8, the working device 2 can be towed by the traveling vehicle 3. The work equipment 2 includes a plowing device for plowing, a fertilizer spreading device for spreading fertilizer, a pesticide spraying device for spraying pesticides, a harvesting device for harvesting, a reaping device for cutting grass, etc., a spreading device for spreading grass, etc. These include a grass collecting device that collects grass, etc., and a forming device that shapes grass, etc.

The tractor 1 includes a detection device 11 and a control device 12. The detection device 11 is a device that detects the state of the tractor 1, and includes an accelerator pedal sensor, a shift lever detection sensor, a crank position sensor, a fuel sensor, a water temperature sensor, an engine rotation sensor, a steering angle sensor, an oil temperature sensor, and an axle rotation sensor. These include sensors, sensors such as operation amount detection sensors, and switches such as ignition switches, parking brake switches, PTO switches, and operation switches.

The control device 12 is a device that controls the tractor, and is a CPU or the like. The control device 12 controls the traveling system and work system of the tractor 1 based on the detection values detected by the detection device 11 and the like. For example, the control device 12 detects the amount of operation of an operating tool that raises and lowers the connecting portion 8 using an operation amount detection sensor, and controls the raising and lowering of the connecting portion 8 based on the amount of operation, or detects the amount of operation using an accelerator pedal sensor. Controls the rotation speed of the diesel engine based on the manipulated variable. Note that the control device 12 may be any device that controls the working system and traveling system of the tractor 1, and the control system is not limited.

The tractor 1 includes a communication device 60A. The communication device 60A is a communication module that performs either direct communication or indirect communication with the agricultural support device 90, and includes communication standards such as Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE802.11 series, BLE ( Wireless communication can be performed using Bluetooth (registered trademark) (Low Energy), LPWA (Low Power, Wide Area), LPWAN (Low-Power Wide-Area Network), and the like. Further, the communication device 60A can perform wireless communication using, for example, a mobile phone communication network or a data communication network.

The tractor 1 includes a position detection device 70A. The position detection device 70A is mounted on the top plate of the cabin 9 of the traveling vehicle 3. Note that although the position detection device 70A is mounted on the top plate of the cabin 9, the mounting location in the traveling vehicle 3 is not limited, and it may be mounted at another location. Further, the position detection device 70A may be attached to the working device 2.
The position detection device 70A is a device that detects its own position (positioning information including latitude and longitude) using a satellite positioning system. That is, the position detection device 70A receives a signal transmitted from a positioning satellite (position of the positioning satellite, transmission time, correction information, etc.), and detects the position (latitude, longitude) based on the received signal. Note that the position detection device 70A may detect a position corrected based on a signal such as correction from a base station (reference station) capable of receiving signals from positioning satellites as its own position (latitude, longitude). . Alternatively, the position detection device 70A may include an inertial measurement device such as a gyro sensor or an acceleration sensor, and detect the position corrected by the inertial measurement device as its own position.

<Combine>
As shown in FIGS. 1 and 2, the combine 30 includes a vehicle body 31, a prime mover 32, a grain tank 33, a reaping device 34, a threshing device (not shown), and a measuring device 36. The prime mover 32, grain tank 33, and threshing device are provided in the vehicle body 31. The reaping device 34 is provided at the front of the vehicle body 31. The reaping device 34 is a device that reaps grain. A threshing device is a device that threshes harvested grain. The grain tank 33 is a tank that stores threshed grain.
The measuring device 36 is a spectroscopic analyzer that measures the moisture content and protein content of the harvested crops. Therefore, the measuring device 36 can detect the yield of crops, the amount of moisture (moisture content), and the amount of protein (protein content) of crops. Further, the vehicle body 31 is provided with a position detection device 70B. The position detection device 70B is a device that detects a position (latitude, longitude), and has the same configuration as the position detection device 70A, so a description thereof will be omitted.

<Rice transplanter>
The rice transplanter 40 includes a vehicle body 41, a prime mover 42, a transmission 43, and a seedling planting device 44. A prime mover 42 and a transmission 43 are provided in the vehicle body 41. The seedling planting device 44 is provided at the rear of the vehicle body 41. The seedling planting device 44 takes out the seedlings mounted on a seedling platform 45 provided at the rear of the vehicle body 41 from the seedling platform 45 and plants them in a field or the like.
Furthermore, a working device 2 such as a fertilizer applicator that performs variable fertilization can be attached to the rear side of the vehicle body 41. Further, the vehicle body 41 is provided with a position detection device 70C. The position detection device 70C is a device that detects a position (latitude, longitude), and has the same configuration as the position detection device 70A, so a description thereof will be omitted.

<Aircraft>
Unlike the tractor 1, combine harvester 30, and rice transplanter 40, the flying object 50 is a machine that performs agricultural work while flying above the field, away from the ground (field). The flying object 50 is, for example, a multicopter.
The flying object 50 includes a fuselage 50a, an arm 50b provided on the fuselage 50a, a rotor 50c provided on the arm 50b, a skid 50d provided in the fuselage 50a, and a storage battery 50e. The rotary blade 50c is a device that generates lift for flight, and is driven by electric power stored in a storage battery 50e. The rotary blade 50c includes a rotor 50c1 that applies rotational force, and a blade (propeller) 50c2 that rotates by driving the rotor 50c1. The flying object 50 also includes a position detection device (positioning device) 70D. The position detection device 70D is a device that detects a position (latitude, longitude), and has the same configuration as the position detection device 70A, so a description thereof will be omitted.

Moreover, the flying object 50 is equipped with an attachment 50f for agricultural work. The agricultural attachment 50f includes, for example, a container 81 that accommodates a spray material, and a spray nozzle 82 that sprays the spray material stored in the container 81 onto a field. The container 81 and the spraying nozzle 82 are connected by a pipe (not shown), and a pump built in the body 50a discharges and sprays the material into the pipe and the spraying nozzle 82.

Further, the flying object 50 has a storage section 20D composed of a non-volatile memory or the like, and stores information (flight information) when flying. For example, the storage unit 20D stores, as flight information, positioning information (latitude, longitude, etc.) detected by the position detection device 70A at the time of flight, the time corresponding to the positioning information (flight time), the amount of spraying, and the time of flight. Altitude, spray ON (during spraying), spray OFF (spraying stopped), etc. can be memorized. Note that the flight time may be the time obtained from a positioning satellite, or may be the time of a built-in clock that measures time. The altitude may be an altitude calculated from positioning information, or may be an altitude detected by a built-in altimeter.

<Storage section>
The tractor 1, the combine 30, the rice transplanter 40, and the aircraft 50 are each provided with a storage section 20A, a storage section 20B, a storage section 20C, and a storage section 20D. The storage section 20A, the storage section 20B, the storage section 20C, and the storage section 20D are composed of nonvolatile memories and the like, and store various information (data). For example, the storage unit 20A, the storage unit 20B, the storage unit 20C, and the storage unit 20D each store drive information, a work plan for agricultural work, work results, etc. when performing agricultural work.

<Communication device>
The tractor 1, the combine 30, the rice transplanter 40, and the aircraft 50 are provided with communication devices 60A, 60B, 60C, and 60D, respectively. The communication devices 60A, 60B, 60C, and 60D are communication modules that can perform either direct communication or indirect communication with the external devices 15A and 15B, and are, for example, Wi- Wireless communication can be performed using Fi (Wireless Fidelity, registered trademark), BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wide Area), LPWAN (Low-Power Wide-Area Network), and the like. Furthermore, the communication devices 60A, 60B, 60C, and 60D can perform wireless communication using, for example, a mobile phone communication network or a data communication network. The external device 15A is, for example, a fixed external device (external device) such as a personal computer or a server. The external device 15B is a mobile terminal such as a smartphone, a tablet computer, or a PDA.

The agricultural work support system includes an agricultural support device including at least one external device 15A, 15B. In this embodiment, the agricultural support device includes a server 90. Hereinafter, in order to distinguish the agricultural support device from other external devices 15A and 15B, the agricultural support device will be described as an agricultural support device 90. The external devices 15A and 15B that can be connected to the agricultural support device 90 are respectively equipped with display devices (display sections) 16A and 16B, and the display devices (display sections) 16A and 16B are composed of liquid crystals, etc. For example, information transmitted to the agricultural support device 90, information received from the agricultural support device 90, etc. can be displayed on a screen or the like. Note that the display devices (display units) 16A and 16B may be any device that displays information and are not limited in structure.

The agricultural support device 90 includes a workshop registration section 91, a map data storage section 92, and a registration storage section 93. The workplace registration unit 91 is composed of an electric/electronic circuit provided in the agricultural support device 90, a CPU, a program stored in the agricultural support device 90, and the like. The map data storage section 92 and the registration storage section 93 are composed of nonvolatile memories and the like. The map data storage unit 92 stores map data (field map) including fields. The farm field map includes mountains, valleys, rivers, lakes, forests, buildings (houses, buildings, etc., roads, parks, steel towers, utility poles, farm roads, waterways), and the like. A farm field is divided into predetermined sections by, for example, farm roads, roads, ridges, waterways, and the like.

The workplace registration unit 91 registers a plurality of fields individually, or groups a plurality of fields and registers the grouped fields as a work area K1. When external devices 15A, 15B are connected to agricultural support device 90 and predetermined operations are performed, as shown in FIG. Display.

The field registration screen M1 includes a map display section 101 that displays a field map Q1, and a registration display section 102 that displays a list of fields etc. that have been registered. A plurality of farm fields Hn (n=1, 2, 3, . . . ) are displayed on the map display section 101. The workplace registration section 91 displays a pointer 103 on the map display section 101. When the pointer 103 selects several points on the boundary of one field among the plurality of fields Hn displayed on the map display section 101, the workplace registration section 91 generates an outline Ha connecting the selected positions. When a registration operation (selecting a registration button or the like) is performed, the workplace registration unit 91 determines one field corresponding to the contour Ha. For example, when the workshop registration unit 91 selects four corner portions H1a, H1b, H1c, and H1d of a ridge in the field H1, it generates a square outline Ha connecting the corner portions H1a, H1b, H1c, and H1d with a straight line.

When one field corresponding to the contour Ha is determined, the workshop registration section 91 automatically assigns identification information of a temporary name such as the field H1, and displays it on the registration display section 102. The identification information displayed on the registration display section 102 can be changed by an operation by an administrator (registrant). As shown in FIG. 4A, after determining one field, the workplace registration unit 91 stores position information (latitude, longitude), etc. corresponding to the contour Ha in the registration storage unit 93 together with identification information.

As described above, by displaying a plurality of fields Hn on the field registration screen M1 and selecting the boundary of one field from among the plurality of fields Hn with the pointer 103, agricultural support is provided for each of the fields. It can be registered in the device 90. The administrator, etc. can create an agricultural work plan for the registered field as described later.
As shown in FIG. 3B, the workplace registration unit 91 uses the pointer 103 to mark several points, such as boundaries of predetermined fields, across the plurality of fields Hn displayed on the map display unit 101. When selected, a contour Hb connecting the selected positions is generated. For example, when four points, corner portions H1a and H1b of the ridge in the field H1 and corner portions H3a and H3b in the field H3, are selected, the workplace registration unit 91 selects four points, ie, corner portions H1a, H1b of the ridge in the field H1, and corner portions H3a, H3b in the field H3. A contour Hb is generated. The contour Hb surrounds the actual fields H1, H2, and H3.

When a registration operation (selecting a registration button, etc.) is performed, the workshop registration unit 91 groups the plurality of fields H1, H2, and H3 corresponding to the contour Hb, and stores the grouped plurality of fields H1, H2, and H3 as one. The identification information of a temporary name such as work area K1 is automatically assigned and displayed on the registration display section 102. As shown in FIG. 4B, after determining the work area K1, the workplace registration unit 91 stores the position information corresponding to the contour Hb in the registration storage unit 93 together with the identification information.

As described above, by displaying a plurality of fields Hn on the field registration screen M1 and selecting the boundaries of the plurality of fields Hn from among the plurality of fields Hn with the pointer 103, the plurality of fields Hn can be processed in one operation. It can be registered in the agricultural support device 90 as the area K1. The administrator or the like can make an agricultural work plan for the registered work area K1 as described later.
That is, when focusing on the field H1, the field H1 can be registered as one field, or can be registered in the agricultural support device 90 as a part of the work area K1 including the field H1. Hereinafter, for convenience of explanation, one field (one unit of a field) registered by the workplace registration unit 91 may be referred to as a workshop, and one work area K1 in which a plurality of fields Hn are grouped may be referred to as a workplace.

<Work plan>
As shown in FIG. 1, the agricultural support device 90 includes an agricultural work planning section 110 and a plan storage section 111. The agricultural work planning unit 110 includes an electric/electronic circuit provided in the agricultural support device 90, a CPU, a program stored in the agricultural support device 90, and the like.
When external devices 15A, 15B are connected to agricultural support device 90 and predetermined operations are performed, agricultural work planning section 110 displays information on display devices (display sections) 16A, 16B of external devices 15A, 15B, as shown in FIG. 5A. Display creation screen M2. The work plan is information that indicates the association of the field or work area K1, agricultural work, and work days. Agricultural work includes, for example, soil preparation, ridge coating, plowing, sowing, spraying (fertilizer spraying, chemical spraying), rice planting, transplanting, puddling, ridge making, furrowing, weeding (mowing, chemical spraying), top dressing (fertilizer spraying), Harvesting, etc.

The creation screen M2 includes a workshop input section 120, a work input section 121 for inputting agricultural work, a machine input section 122 for inputting a machine, and a time input section 123 for inputting time.
The workplace input section 120 is a section for inputting (selecting) a workplace. The workplace input section 120 includes a list selection section 120a and a map selection section 120b. When the list selection section 120a is selected by operation, as shown in FIG. A list of K1) is displayed, and by selecting one workplace from the list, the selected workplace can be input as a workplace for the work plan.

The map selection section 120b displays the field map Q1, and when the pointer 103 selects a work site (one unit of the field, work area K1) from the field map Q1, the selected work site is It can be entered as a work center in a work plan. Note that the workplace input section 120 may include either the list selection section 120a or the map selection section 120b, and the creation screen M2 may display either the list selection section 120a or the map selection section 120b. Good too.

In the work input section 121, one agricultural work can be input (selected) from among a plurality of agricultural works. For example, when the work input section 121 is selected by operation, a list of a plurality of farm tasks is displayed in the work input section 121, and one farm task is selected from among the plurality of farm tasks displayed in the list. The selected agricultural work is entered as the agricultural work in the work plan. Note that the name of the agricultural work may be directly input in the work input section 121, and the method of inputting the agricultural work is not limited.

The machine input unit 122 can input (select) the model number, type, name, etc. of a machine such as an aircraft 50 such as an implement, a tractor, a rice transplanter, a combine harvester, or a multicopter. For example, when the machine input section 122 is selected by operation, the machine input section 122 displays a list of model numbers, types, and names of machines registered in advance in the agricultural support device 90 or the external devices 15A and 15B. You can select the model number, model, and name of a given machine from among the model numbers, models, and names of multiple machines displayed in the list, and the model number, model, and name of the selected machine can be selected. can be entered as a machine in the work plan. Note that the model number, type, and name of a predetermined machine may be directly input into the machine input unit 122, and the method of inputting the machine is not limited.

The time input section 123 is used to input the work day, work time, etc. for agricultural work. For example, when the time input section 123 is selected by operation, the time input section 123 includes a section for inputting the work date such as month and day, the work start time (work start time) at which the work will start, and the work start time. A section for entering the work end time (work end time) will be displayed, and by entering the month, day, work start time, and work end time, the month, day, work start time, and work end time will be entered. can be set as the time (time information) of the work plan. Note that the time input unit 123 may display a calendar and allow the user to input the work day by selecting the month and day of the calendar.

As shown in FIG. 5A, the creation screen M2 includes a fertilizer spraying section 124 and a chemical spraying section 125. Information regarding fertilizer (fertilizer spreading information) can be input to the fertilizer spreading section 124, and fertilizer identification information such as the amount of fertilizer applied, fertilizer name, product number, etc. can be input as the fertilizer spreading information. . For example, when the fertilizer spreading section 124 is selected by operation, a list of fertilizer names and product numbers registered in the agricultural support device 90 or the external devices 15A, 15B in advance is displayed on the fertilizer spreading section 124. You can select the name and product number of a given fertilizer from the names and product numbers of the fertilizers displayed in the list, and also select the amount of application per predetermined unit (for example, the amount of application per 10a (kg) ) . can be input, and the name, product number, and application amount of a given fertilizer can be input as a work plan. Note that the name, product number, etc. of a predetermined fertilizer may be directly input into the fertilizer dispersion unit 124, and the input method is not limited.

Similarly to the fertilizer spreading unit 124, the chemical spraying section 125 can also input information regarding chemicals (chemical spraying information), and can input chemical identification information such as the amount of chemical sprayed, the name of the chemical, and the product number. be. For example, when the chemical spraying unit 125 is selected by operation, a list of chemical names and product numbers registered in the agricultural support device 90 or the external devices 15A, 15B in advance is displayed on the chemical spraying unit 125. , the name and product number of a given drug can be selected from the names and product numbers of the drugs displayed in the list, and the amount of spraying per predetermined unit (for example, the amount of spraying per 10a (kg) ) can be input, and the name, product number, and spray amount of a predetermined chemical can be input as a work plan. Note that the name, product number, etc. of a predetermined drug may be directly input into the drug dispersion unit 125, and the input method is not limited.

As shown in FIG. 5A, on the creation screen M2, for example, when the creation button (registration button) 126 is selected, the workshop entered in the workshop input section 120, the agricultural work inputted in the work input section 121, and the time input section It is possible to determine the time information input into the fertilizer application section 123, the fertilizer application information input into the fertilizer application section 124, and the chemical application information input into the chemical application section 125.

<First work plan, second work plan>
Now, the agricultural work planning section 110 has a first work planning section 110A and a second work planning section 110B.
The first work planning unit 110A creates a first work plan, which is a work plan for agricultural work to be performed in each field Hn, for each field Hn. That is, the first work planning unit 110A creates a first work plan for each registered field Hn in the workplace registration unit 91. The second work planning unit 110B creates a second work plan that is a work plan for agricultural work to be performed in the grouped work area K1.

For example, when the workplace input to the workplace input unit 120 is one field Hn, the first work planning unit 110A inputs the input information input to the creation screen M2 (agricultural work, time information, fertilizer spraying information, chemical spraying unit ) is set as the first work plan. In addition, when the machine input to the machine input unit 122 is a traveling work machine that performs work while traveling in a field, that is, a tractor 1, a combine harvester 30, or a rice transplanter 40, the first work planning unit 110A displays a creation screen. The input information (farming work, time information, fertilizer spraying information, chemical spraying section) input to M2 is set as the first work plan. As shown in FIG. 6A, the first work plan is stored in the plan storage unit 111. That is, the first work planning unit 110A creates the first work plan when the work site is one field Hn and the machine is a traveling work machine.

For example, when the workplace input to the workplace input unit 120 is a work area K1 grouped by a plurality of fields Hn, the second work planning unit 110B can control the input information (agricultural work, time information, etc.) input to the creation screen M2. , fertilizer application information, chemical application unit) are set as the second work plan. When the machine input to the machine input unit 122 is a flying object 50 flying in the sky, that is, a multicopter, the second work planning unit 110B performs input information (farming, time, etc.) input to the creation screen M2. information, fertilizer application information, chemical application section) are set as the second work plan. As shown in FIG. 6B, the second work plan is stored in the plan storage unit 111. That is, the second work planning unit 110B creates the second work plan when the work area is the work area K1 and the machine is the aircraft 50.

As described above, the agricultural work planning unit 110 (first work planning unit 110A, second work planning unit 110B) creates a first work plan corresponding to each field and a second work plan that groups multiple fields. The first work plan is a work plan for a traveling working machine that travels in a field to perform work, and the second work plan is a work plan for an aircraft 50 that flies over a field. can do.

Note that in the embodiment described above, the agricultural work planning unit 110 divides the work plan into the first work plan and the second work plan based on the input information input to the creation screen M2; The creation screen M2 for creating the second work plan and the creation screen M2 for creating the second work plan may be displayed separately on the display devices (display sections) 16A and 16B of the external devices 15A and 15B.
FIG. 5B shows the creation screen M2a for setting the second work plan, in the case where the creation screen M2 for creating the first work plan and the creation screen M2 for creating the second work plan are displayed separately. . Note that when the creation screen M2 for creating the first work plan and the creation screen M2 for creating the second work plan are displayed separately, the first work plan may be the same as the screen shown in FIG. 5A. However, they may be different.

A creation screen M2a shown in FIG. 5B is a creation screen M2a that targets an aircraft 50 such as a drone, in a screen for creating the second work plan. In the creation screen M2a, descriptions of parts similar to those in FIG. 5A will be omitted.
As shown in FIG. 5B, when the external devices 15A, 15B are connected to the agricultural support device 90 and a predetermined operation is performed, the creation screen M2a is displayed on the display devices (display units) 16A, 16B of the external devices 15A, 15B. .

In the creation screen M2a, the list selection section 120a displays a list of the work zones K1 registered by the workplace registration section 91, and a predetermined one can be selected from a plurality of work zones K1. In the map selection section 120b, the work area K1 registered by the workshop registration section 91 is displayed on the field map Q1 and can be selected.
The work input unit 121 can input (select) agricultural work that the flying object 50 can perform, for example, spraying (chemical spraying, fertilizer spraying). The model number, type, name, etc. of the aircraft 50 such as a multicopter can be input (selected) into the mechanical input unit 122 .

In the time input section 123, it is possible to input the work day, work time (spraying start time, spraying end time), etc. on which spraying (chemical spraying, fertilizer spraying) is to be performed.
In addition to fertilizer identification information such as the fertilizer application amount, fertilizer name, and product number, the fertilizer application width and flight height can be input to the fertilizer application unit 124 as fertilizer application information.
In addition to medicine identification information such as the amount of medicine to be sprayed, the name of the medicine, and the product number, the medicine spraying width and flight height can be input to the medicine spraying unit 125 as medicine spraying information.

As described above, the second work planning unit 120B creates a plan for spraying the spray material (fertilizer, medicine) stored in the container 81 of the aircraft 50 onto the work area K1 using the spray nozzle 82 as the second work plan. be able to. Further, as shown in FIG. 5B, the second work planning unit 120B creates a second work plan that includes any of the sprayed material (fertilizer, chemical), flight height, spraying start time, and spraying end time. Can be done. The second work plan created on the creation screen M2a is also stored in the plan storage unit 111.

Now, the work plan (first work plan, second work plan) created by the agricultural support device 90 is notified to the external terminal (portable terminal) 15B owned by or assigned to the agricultural worker. That is, when the agricultural worker performs a predetermined operation on the external terminal (portable terminal) 15B, the work plans (first work plan, second work plan) stored in the plan storage section 111 are transmitted.
As shown in FIG. 7, the work plans (first work plan, second work plan) transmitted to the external terminal (mobile terminal) 15B are displayed on the display device (display unit) 16B. A work confirmation member 128 is displayed on the display device (display unit) 16B. The work confirmation member 128 is a software switch that instructs that agricultural work has been performed based on the first work plan (work completion command) while the first work plan is displayed on the display device (display unit) 16B. . When the worker selects the work confirmation member 128, a work completion command is notified to the agricultural support device 90. Although the work confirmation member 128 is a software switch displayed on the display device (display unit) 16B, it may also be a hardware switch provided on the external terminal (portable terminal) 15B.

As shown in FIG. 1, the agricultural support device 90 includes a performance conversion section 130 and a performance storage section 131. The performance conversion unit 130 is composed of an electric/electronic circuit provided in the agricultural support device 90, a CPU, a program stored in the agricultural support device 90, and the like. The track record storage unit 131 is composed of a nonvolatile memory and the like. The track record conversion unit 130 converts the first work plan into a first farm work track record in the field Hn indicated by the first work plan when the work confirmation member 128 issues a work completion command. As shown in FIG. 6C, as the first work plan, a situation is transmitted from the agricultural support device 90 to the external terminal (mobile terminal) 15B to perform tilling with a rotary tiller from 9:00 to 10:00 in the field H1. Below, when the agricultural support device 90 receives the work completion command, the performance conversion unit 130 converts the field H1 into a first agricultural work in which plowing was carried out with a rotary cultivator from 9:00 to 10:00 as the first agricultural work result. The first agricultural work results are converted into actual results and stored in the actual results storage section 131.

That is, when the work confirmation member 128 notifies the agricultural support device 90 of the work completion command, the first work plan corresponding to the traveling work machine is converted into the first agricultural work result by the result conversion unit 130.
In addition, in the embodiment mentioned above, it was explained that the first work plan is converted into the first agricultural work result, but the agricultural support device 90 has the communication device 60A of the tractor 1, the communication device 60B of the combine harvester 30, and the communication device 60B of the rice transplanter 40. Operation information and position detection devices (positioning devices) 70A and 70B when the tractor 1, combine harvester 30, and rice transplanter 40 perform work by communicating directly with the communication device 60C or indirectly communicating with each other via the external device 15B. , 70C can be stored in the performance storage unit 131 or the like as the agricultural work performance of the machine (the agricultural work performance for the machine). Further, the performance storage unit 131 may store agricultural work performance for machinery included in the first agricultural work performance. The external terminal (portable terminal) 15B may allow the user to confirm both the first agricultural work performance constructed by converting the first work plan and the agricultural work performance for the machine.

On the other hand, although the second work plan corresponding to the flying object 50 such as a multicopter is displayed on the external terminal (mobile terminal) 15B, the second work plan corresponding to the flying machine 50 is displayed in a different manner from the first work plan corresponding to the traveling work machine. converted into actual results.
Hereinafter, the second agricultural work performance when agricultural work is performed using the multicopter flying object 50 will be explained in detail.

As shown in FIG. 1, the agricultural support device 90 includes a flight acquisition section 140 and a track record creation section 141. The flight acquisition unit 140 and the track record creation unit 141 are configured from an electric/electronic circuit provided in the agricultural support device 90, a CPU, a program stored in the agricultural support device 90, and the like.
The flight acquisition unit 140 acquires the flight work results of the flying object 50 when flying in the work area K1. That is, the flight acquisition unit 140 acquires the flight work results of the aircraft 50 that flew over the plurality of farm fields Hn.

FIG. 8A shows an example of a flight route L1 when the flying object 50 flies over the working area K1 formed by the fields H1, H2, and H3 to perform spraying (chemical spraying, fertilizer spraying). The flight route L1 is a line that connects a plurality of positions in chronological order when the flying object 50 flies over the work area K1 and the like.
As shown in FIG. 8A, position ST indicates the takeoff position of the aircraft 50, and position EN indicates the landing position of the aircraft 50. The takeoff position ST and the landing position EN may be different positions or the same position. When the flying object 50 sprays the work zone K1, for example, the flying object 50 sprays while flying along the long side of the outline Hb of the work zone K1, makes a turn at the edge of the work zone K1, and returns to the field. It flies while straddling each of H1, H2, and H3.

Note that a work area (spraying area) W1 is set in each of the fields H1, H2, and H3 in FIG. 8A. The work area W1 is set as an area surrounded by an outline Ha shifted a predetermined distance (for example, 1 m) from the outline (ridge) Ha of the field. The predetermined distance is set in consideration of the spraying width in which the flying object 50 flies and sprays the medicine and the like.
The storage unit 20D of the flying object 50 stores at least flight information when flying the flight route L1 from the takeoff position ST to the landing position P2. The flight information stored in the storage unit 20D is transferred to the external devices 15A and 15B via an electronic storage medium or the like. Note that the flight information stored in the storage unit 20D may be directly transmitted to the external devices 15A, 15B or the agricultural support device 90 by the communication device 60D of the flying object 50.

As shown in FIG. 9A, the flight acquisition unit 140 acquires the flight information stored in the storage unit 20D as a flight work result by communication via the external devices 15A and 15B. Alternatively, the flight acquisition unit 140 acquires the flight information stored in the storage unit 20D by communicating with the communication device 60D of the aircraft 50 as the flight work result.
The performance creation unit 141 stores the flight work performance of the flying object 50 (at least the flight information when flying the flight route L1 from the takeoff position ST to the landing position P2) acquired by the flight acquisition unit 140 in the flight work history of the aircraft 50 that is included in the work area K1. By dividing into each field, a second agricultural work record for each field is created.

Specifically, the performance creation unit 141 creates a flight work performance when the aircraft 50 reaches the work area W1 of the first field in the first field where the aircraft 50 first enters the sky from the takeoff position ST. , the work start results in the first field. For example, as shown in FIG. 8A, if the first field where the aircraft 50 first enters the sky from the takeoff position ST is the field H1, the flight work performance at the position P2 when it reaches the work area W1 of the field H1. is the work start result. As shown in FIG. 9A, the flight work performance at position P2 is the work start performance, and for example, the time at position P2 is taken as the work start time at field H1.

The track record creation unit 141 sets the flight work track record when the flying object 50 reaches the work area W1 of the second farm field at the second farm field entered next from above the first farm field as the work start track record in the second farm field. do. As shown in FIG. 8A, if the second field entered next from above the first field is field H2,
The performance creation unit 141 converts the flight work performance at position P4 when reaching the work area W1 of field H2 into the work start performance in field H2, that is, the time at position P4 as the work start time (work start time) in field H2. do.

Furthermore, when the work area W1 of the field H3 is entered for the first time at the position P5, the performance creation unit 141 sets the flight work performance at the position P5 and the time at the position P5 as the work start time (work start time) at the field H3. .
Here, the flying object 50 reaches the edge of the field H3, makes a turn, returns to the fields H2 and H1, enters the work area W1 of the field H1 again at position P6, and returns to the work area W1 of the field H1. It is assumed that the vehicle reaches P10 while repeatedly moving straight and turning (circling) above the field H1, and that the spraying of the entire field H1 is completed at P10. In such a case, the performance creation unit 141 at least returns the aircraft 50 to the work area W1 of the first field (H1) after the aircraft 50 returns from the second field (field H2) to the first field (field H1). The last flight work record when the aircraft was located at position P10 in the sky is the work completion record at the first field (H1), that is, the time at position P10 is the work end time (work end time) at field H1. do.

Next, the flying object 50 changes direction from the position P10, advances to the field H2, enters the work area W1 of the field H2 at P11, and flies straight and turns (turns) over the field H2 in the work area W1 of the field H2. ) is repeated until P1 2 is reached, and at P1 2 , the entire spraying of the field H2 is completed. In such a case, the track record creation unit 141 saves at least the last flight work track record when the aircraft 50 was located at position P12 above the work area W1 in the second farm field (H2). ), that is, the time at position P12, is defined as the work end time (work end time) in field H2.

Further, the flying object 50 changes direction from position P12, advances to field H3, enters the work area W1 of the field H3 at P13, and flies straight and turns (turns) over the field H3 in the work area W1 of field H3. It is assumed that P14 is reached while repeating the above steps, and that the spraying of the entire field H3 is completed in P14. In such a case, the performance creation unit 141 converts at least the last flight work performance when the flying object 50 was located at the position P14 above the work area W1 in the field H3 into the work completion performance in the field H3, that is, The time at position P14 is defined as the work end time (work end time) in field H3.

FIG. 9B is a diagram summarizing the second agricultural work results divided and created for each of the fields H1, H2, and H3 included in the work area K1, that is, the work start time and the work end time. As shown in FIG. 9B, field H1 performs spraying (spraying work ) between 11:01 and 11:11, and field H2 performs spraying (spraying work) between 11:02 and 11:16. In H3, it is possible to create a second agricultural work record for each field, assuming that the spraying (spraying work) was performed from 11:03 to 11:21. The second agricultural work performance is stored in the performance storage unit 131.

The performance storage unit 131 stores the first agricultural performance and the second agricultural performance when the field corresponding to the first agricultural performance created by the performance conversion unit 130 and the field corresponding to the second agricultural performance created by the performance creation unit 141 are the same. 2 agricultural work results are stored as results of the same field. For example, as shown in FIG. 9C, the performance storage unit 131 stores the first agricultural work performance of plowing, puddling, rice planting, etc. and the second agricultural work performance of spraying in the field H1 as the performance of the field H1. It can be associated and stored. The agricultural work results associated in this way (the first agricultural work results, the second agricultural work results) can be displayed on the display devices (display units) 16A and 16B of the external devices 15A and 15B, respectively.

Note that the flight route L1 when the flying object 50 sprays the field Hn varies. For example, as shown in FIGS. 8B and 8C, if there is an obstacle 145 such as a tree near the work area K1 or the field Hn, the flight route L1 will be different.
As shown in FIGS. 8B and 8C, when the flying object 50 is flown, it takes off and lands at least twice to spray from above the field Hn. In FIG. 8B, first, as shown in the flight route L1 (L1a), the flying object 50 takes off at a takeoff position ST near the field H1, and then goes straight and turns (turns) in order from the fields H1, H2, and H3. Repeat this process while spraying, and then land at the edge of field H3. Thereafter, as shown in the flight route L1 (L1b), the flying object 50 takes off at the takeoff position ST near the obstacle 145, and then flies straight along the obstacle 145, straddling the fields H1, H2, and H3. It sprays while repeating turns and lands at the landing position EN.

In the case of the flight routes L1a and L1b in FIG. 8B, the track record creation unit 141 uses the flight work records of both the flight routes L1a and L1b to create the second farm work records (work start track record and (work completion record).
Specifically, as shown in the flight route L1a, the performance creation unit 141 calculates a flight pattern of a position P30 where the aircraft 50 reaches the work area W1 in the first field (field H1) that it first entered from the takeoff position ST. Let the work performance be the work start performance in the field H1. In addition, the performance creation unit 141 determines that the aircraft 50 enters the second field (field H2) from the first field (field H1) and reaches the work area W1 of the field H2, as shown in the flight route L1a. Let the flight work performance at position P31 be the work start performance in field H2, and let the flight work performance at position P32 when the work area W1 is first reached in field H3 be the work start performance in field H3.

In addition, as shown in the flight route L1b, when entering the first field (field H1) from the takeoff position ST again, the track record creation unit 141 sets the work start track record in the first field (field H1). Therefore, at position P33, the work start performance is not set as the work start performance, and the flight work performance when the robot was last located at position P34 above the work area W1 of the field H1 is set as the work completion performance in the field H1. Similarly, the performance creation unit 141 sets the flight work performance when it was last located at position P35 above the work area W1 of the field H2 as the work completion performance in the field H2, and sets it as the work completion performance in the field H2. Let the flight work performance when the robot was last located at position P36 be the work completion performance in the field H3.

Therefore, when spraying is performed along the flight route L1 (L1a, L1b) as shown in FIG. 8B, the time corresponding to the position P30 of the field H1 is the work start time, and the time corresponding to the position P34 is the work end time. Also, the time corresponding to position P31 of field H2 is the work start time, the time corresponding to position P35 is the work end time, the time corresponding to position P32 of field H3 is the work start time, and the time corresponding to position P36 is the work end time. It is the end time.

Also in the case of the flight routes L1a and L1b in FIG. 8C, the performance creation unit 141 uses the flight work performance of both the flight routes L1a and L1b to obtain the work start performance and work completion performance of each of the fields H1 and H2.
Specifically, as shown in the flight route L1a, the performance creation unit 141 calculates a flight pattern of a position P40 at which the aircraft 50 reaches the work area W1 in the first field (field H1) that it first enters from the takeoff position ST. The work results are the work start results in the field H1. In addition, the performance creation unit 141 determines that the aircraft 50 enters the second field (field H2) from the first field (field H1) and reaches the work area W1 of the field H2, as shown in the flight route L1a. Let the flight work performance at position P41 be the work start performance in field H2.

As shown in FIG. 8C, although takeoff and landing have been performed twice, the performance creation unit 141 determines that the scattering of the field H1 will be completed by the time the flight reaches the landing position EN from the takeoff position ST on the flight route L1a. Let the flight work performance when the robot was last located at position P42 above the work area W1 of the field H1 be the work completion performance in the field H1. As shown in the flight route L1b of FIG. 8C, when entering the second field (field H2) from the takeoff position ST again, the work start record is set, so at position P43, the work start record is not set. Let the flight work performance when the robot was last located at position P44 above the work area W1 of the field H2 be the work completion performance in the field H2.

Therefore, when spraying is performed along the flight route L1 (L1a, L1b) as shown in FIG. 8C, the time corresponding to the position P40 of the field H1 is the work start time, and the time corresponding to the position P42 is the work end time. Further, the time corresponding to the position P41 of the field H2 is the work start time, and the time corresponding to the position P44 is the work end time.
Now, in a situation where the flying object 50 is spraying, the storage capacity of the storage battery 50e may drop to a predetermined capacity, or the capacity of the sprayed material (fertilizer, medicine) stored in the container 81 may drop, causing temporary damage. You may have to interrupt your work.

As shown in FIG. 8D, when the storage capacity of the storage battery 50e decreases by a predetermined amount at position P16 or the capacity of the sprayed material (fertilizer, medicine) stored in the container 81 decreases, the aircraft 50 replaces the storage battery 50e or In order to replenish the material to be sprayed, the spraying is temporarily stopped and moved from the stopped position (work interruption position) P16 to the position (replacement replenishment position) P17. The flying object 50 completes replacing the storage battery 50e or replenishing the spray material at the replacement supply position P17, returns to the work interruption position P16 again, resumes spraying, and flies from the work interruption position P16 to the position P12. It turns out. In such a case, the performance creation unit 141 sets the agricultural work performance at the work interruption position P16 as the work interruption performance. Then, the performance creation unit 141 generates the final flight work performance when the flying object 50 was located above the work area W1 of the field H2 after returning to the work interruption position P16, and the work completion performance in the field. shall be. For example, if the time when the work was interrupted at the work interruption position P16 is 11:14, and the time when the replacement of the storage battery 50e or the replenishment of the spray material is completed, and the time when the work is returned to the work interruption position P16 is 11:45. , the record creation unit 141 sets 11:45 as the work suspension time as the work suspension record. Then, if the time when the position P12 is reached is 11:48, the performance creation unit 141 sets the time at the position P12 as the work end time.

In addition, if the work is suspended or if the elapsed time from the start time of the field is longer than the specified time (for example, 30 minutes or more), the start time or end time of the field will be changed. You may also do so. For example, the time when the flying object 50 reaches the position P13 of the field H3 is longer than a predetermined time from the work start time at the position P5 of the field H3 in order to replace the storage battery 50e or replenish the spray material in the previous field H2. (For example, if more than 30 minutes have elapsed, reset the time when the aircraft 50 is at position P13 in field H3 as the work start time, and set the time at position P14 in field H3 as the work end time. Good too. In this case, in field H3, the work start time at the initially set position P5 is left as data, and because the storage battery 50e was replaced or the spray material was replenished on the way, the work start time for field H3 was reset. When this is stored and displayed as data, it may be possible to indicate to the operator that the work has been interrupted, or that the battery is being replaced or the material to be sprayed is being replenished.

In the above-described embodiment, the second agricultural work performance is the work start time and the work end time, but the second agricultural work performance is the amount of sprayed material sprayed by the flying vehicle 50, the spraying trajectory of the flying vehicle 50, and the spraying. It may be the width of the object being spread, the height of the object when it is spread by the flying object 50, the ON state of spreading (during spreading), the OFF state of spreading (stopping of spreading), or a combination thereof. In this case, the flight acquisition unit 140 collects positioning information (latitude, longitude), time (flight time), spray amount, flight altitude, spray ON (spraying), spray OFF (spraying stopped), etc. The results are obtained as flight work results, and the result creation unit 141 obtains the work start results and work end results in the same way as the work start time and work end time.
In other words, by replacing the above-mentioned work start time and work end time with the spray amount, flight altitude, spray ON (during spraying), and spray OFF (spraying stopped), the second Agricultural work records can be created. Furthermore, the performance creation unit 141 may use the flight work performance from the work start performance to the work completion performance as the intermediate work performance.

Further, the second agricultural work performance may be a combination of the above-mentioned flight work performance. In the embodiment described above, the time when the flying object 50 reaches the work area W1 of the field is set as the work start result (work start time), but for example, when the flying object 50 reaches the working area W1 of the first field The time when the spraying is on and the spraying is ON may be used as the work start result (work start time). In this case, the agricultural work performance can be set from the time when the flying object 50 actually starts work (spraying).

The external devices 15A and 15B connectable to the agricultural support device 90 can be operated as a spraying support device for the aircraft 50.
The external devices 15A and 15B include a field map acquisition section 160, a spraying acquisition section 161, a display control section 162, and a spraying storage section 163. The field map acquisition unit 160, the dispersion acquisition unit 161, and the display control unit 162 each include an electric/electronic circuit provided in the external devices 15A, 15B, a CPU, a program stored in the external devices 15A, 15B, etc. There is. The dispersion storage unit 163 is composed of a nonvolatile memory or the like.

The field map acquisition unit 160 acquires the field map Q1, which is the target of scattering by the flying object 50. For example, the field map acquisition unit 160 of the external devices 15A, 15B connects to the agricultural support device 90 and requests the agricultural support device 90 for the field map Q1. Agricultural support device 90 transmits farm field map Q1 including farm field Hn registered by workshop registration section 91, that is, farm field map Q1 including farm field Hn stored in registration storage section 93, to external devices 15A and 15B. The field map acquisition unit 160 of the external devices 15A, 15B acquires the field map Q1 transmitted from the agricultural support device 90.

The spraying acquisition unit 161 includes a positioning position Jn (n=1, 2, 3...) which is a position detected by the positioning device 70D when the spraying nozzle 82 executes the spraying of the spraying material, and a position at the positioning position Jn. Get the presence or absence of scattering.
For example, the spraying acquisition unit 161 of the external devices 15A and 15B connects to the agricultural support device 90, and sends at least the positioning position Jn [positioning information (latitude, longitude)] out of the flight results to the agricultural support device 90. Then, the time (flight time) and the spraying data (spraying results) of spraying ON (spraying) and spraying OFF (spraying stopped) are requested. The dispersion position G1 is the positioning information (latitude, longitude) when dispersion is ON (during dispersion) among the positioning positions Jn (n=1, 2, 3...) represented by positioning information (latitude, longitude). , longitude), and the non-spreading position G2 is the position indicated by the positioning information (latitude, , longitude). In the dispersion storage unit 163, the dispersion position G1 and the non-dispersion position G2 are stored in association with flight times (times).

Display control section 162 controls display sections 16A and 16B. The display control unit 162 displays the field map Q1 acquired by the field map acquisition unit 160 on the display units 16A and 16B, and displays the spraying position G1 and non-spraying position G2 acquired by the spraying acquisition unit 161 on the field map Q1. Display.
Specifically, when a predetermined operation is performed on the external devices 15A, 15B, the display control unit 162 causes the display units 16A, 16B to display the dispersion status screen M4, as shown in FIG. 10A.

The display control unit 162 displays the spraying position G1 and the non-spraying position G2 on the field map Q1 on the spraying status screen M4. Specifically, the display control unit 162 depicts a first symbol mark MK1 indicating the spraying position G1 and a second symbol mark MK2 on the field map Q1. The first symbol mark MK1 and the second symbol mark MK2 are circular and have different colors, for example, so that it is possible to visually recognize whether they are at the dispersion position G1 or the non-dispersion position G2. Here, when the first symbol mark MK1 and the second symbol mark MK2 overlap, the display control unit 162 displays the first symbol mark MK1 above the second symbol mark MK2.

Specifically, as shown in FIG. 11, when the first symbol mark MK1 is positioned above the second symbol mark MK2, the display control unit 162 displays an inner part surrounded by an outline 151 indicating the outer shape of the first symbol mark MK1. The entire area 152 is located above an inner area 154 surrounded by an outline 153 indicating the outer shape of the second symbol mark MK2, so that the entire first symbol mark MK1 can be visually recognized.

Now, as shown in FIG. 10A, the dispersion status screen M4 includes a time display section 170, a movement section 171, and a time change section 172. The time display unit 170 is a part that displays the time, and includes, for example, a band-shaped scale extending from the left side (one side) to the right side (the other side) of the spraying status screen M4, and displays the time using numbers. The moving section (indicator section) 171 is a movable section on the dispersion status screen M4, and is movable along the band-shaped time display section 170.

The time changing section 172 is a section where the time changes according to the movement of the moving section (index section) 171, and the time changes according to the position corresponding to the time display section 170. That is, the time change section 172 displays the time indicated by the moving section (index section) 171 on the time display section 170. Further, the time change unit 172 displays the time when the spraying work is started (work start time).
The display control unit 162 displays a time period from at least the time of spraying, that is, from the start time of the spraying operation to the time indicated by the time change unit 172 in the field Hn of the field map Q1 displayed on the spraying status screen M4. A scattering position G1 (first symbol mark MK1) and a non-spraying position G2 (second symbol mark MK2) corresponding to are displayed. For example, in FIG. 10A, when the spraying work start time is 13:00, the spraying position G1 and non-spraying position G2 from 13:00 to 14:00 are displayed. Here, when the moving part (indicator part) 171 is moved between the time period from 13:00 to 14:00, the display control part 162 displays the time range from the time indicated by the moving part (indicator part) 171 to 14:00. The spraying position G1 and the non-spraying position G2 are displayed. That is, by moving the moving part (indicator part) 171, it is possible to check the transition of the spraying position G1 and the non-spraying position G2.

In addition, in FIG. 10A, the first time on the time display section 170 is 6 o'clock and the last time is 19 o'clock, or even if the first time and the last time on the time display section 170 can be changed. good. When the time display section 170 is selected by operation, the display control section 162 displays a scale change section 176 for inputting the first time and the last time. Here, in the scale changing section 176, for example, by inputting the first time as 13:00 and the last time as 14:00, the scale of the time display section 170, that is, the predetermined value of the moving section (indicator section) 171 is set. The increase in time per movement can be made finer (smaller).

FIG. 10B shows a modification of FIG. 10A. As shown in FIG. 10B, the dispersion status screen M4 includes a plurality of moving units 171 (171a, 171b) and a time changing unit 172. The time changing unit 172 displays the time indicated by the moving unit 171a and the time indicated by the moving unit 171b. The display control unit 162 displays the spraying position G1 and the non-spraying position G2 corresponding to the time zone between the plurality of times indicated by the time changing unit 172 on the field map Q1. For example, in FIG. 10B, the moving unit 171a indicates 13:30 and the moving unit 171b indicates 14:00, so the time zone of the time changing unit 172 is from 13:30 to 14:00. Then, the display control unit 162 displays the spraying position G1 and non-spraying position G2 for the relevant time period (13:30 to 14:00) on the field map Q1.

As shown in FIG. 10B, when the time zone is set with the moving units 171a and 171b, when the cut button 175 displayed on the spraying status screen M4 is selected, the external devices 15A and 15B display the spraying data (spraying results). The spraying results corresponding to the time period are extracted from among them and stored in the spraying storage section 163 separately from the spraying data (spraying results). That is, by specifying a time period (cutting time period) using the moving sections 171a and 171b, it is possible to cut out and store the dispersion data (spraying results) in the dispersion storage section 163. The cut data (cut and spread data) can be displayed on the display sections 16A and 16B of the external devices 15A and 15B.

The agricultural work support system includes a workplace registration unit 91 that registers multiple fields individually or groups multiple fields and registers the grouped multiple fields as a work area, and A first work planning unit 110A that creates a first work plan for agricultural work to be performed in the grouped work area K1, a second work planning unit 110B that creates a second work plan for agricultural work to be performed in the grouped work area K1, and a first work planning unit It is equipped with display devices 16A and 16B that display the first work plan created in 110A and the second work plan created in second work planning section 110B. According to this, it is possible not only to create a first work plan for each field Hn, but also to create a second work plan for the grouped work area K1 by grouping a plurality of fields Hn, and for each field Hn. And the work plan (first work plan, second work plan) of the work area K1 can be confirmed. That is, even when agricultural work is performed on a field in various forms, it is possible to easily manage the agricultural work.

The first work planning unit 110A creates a plan for agricultural work to be performed by a traveling work machine traveling in the field Hn as a first work plan, and the second work planning unit 110B creates a plan for agricultural work to be performed by a traveling working machine traveling in the field Hn as a second work plan. Create a plan for agricultural work to be carried out by the flying vehicle. According to this, a first work plan corresponding to a traveling work machine that performs work while traveling over a field Hn, and a second work plan for an aircraft that performs agricultural work while flying over a field Hn, unlike a traveling work machine. It is possible to create both, and agricultural operations can be managed both from the ground and from the air.

The agricultural work support system includes a work confirmation member 128 that instructs that agricultural work has been performed based on a first work plan, and a work confirmation member 128 that instructs the first work plan to be performed based on the first work plan when the command is issued by the work confirmation member 128. It includes a performance conversion unit 130 that converts into the first agricultural work performance in the field Hn indicated by . According to this, the first agricultural work performance of the field Hn can be easily created using the first work plan.

The agricultural work support system includes a flight acquisition unit 140 that acquires the agricultural work performance of the aircraft when flying in the work area K1, and a flight acquisition unit 140 that acquires the agricultural work performance of the aircraft when flying in the work area K1, and a flight acquisition unit 140 that acquires the agricultural work performance of the aircraft that was acquired by the flight acquisition unit 140. A track record creation unit 141 is provided that creates a second agricultural work track record in the field Hn by dividing the agricultural work track record for each field Hn. According to this, it is possible to manage the results of agricultural work performed in the work area K1 composed of a plurality of fields Hn even for each field Hn.

The flying object 50 has a spraying nozzle 82 that sprays a spray material, and a container 81 that stores the spray material, and the second work planning section 110B sprays the spray material stored in the container 81 as a second work plan. A plan for spraying the work area K1 with the nozzle 82 is created. According to this, it is possible to easily create a plan for spraying across a plurality of fields Hn using the flying object 50, and it is possible to improve the efficiency of the spraying work.

The second work planning unit 110B creates a second work plan that includes any one of a spreading width, a flight height, a spreading start time, and a spreading end time. According to this, since the information necessary for a plan when spraying is to be performed by the flying object 50 in the work area K1 is included, the efficiency of the spraying work can be further improved.
The agricultural work support system includes a flight acquisition unit 140 that acquires flight work results that are agricultural work results of the flying object 50 that flew over a plurality of farm fields Hn, and a flight work performance that is acquired by the flight acquisition unit 140. Based on the agricultural work results for each field Hn, the results creation unit 141 is provided. According to this, even when agricultural work is performed across a plurality of fields Hn by the flying object 50, the agricultural work results (farming work results) can be easily managed for each field Hn.

The performance creation unit 141 calculates the flight work performance in the first field when the aircraft 50 reaches the work area W1 of the first field at the first field where the aircraft 50 first enters the sky from the takeoff position ST. This is the actual work start date. According to this, when carrying out agricultural work over a plurality of fields Hn using the flying object 50, it is possible to easily create a work start record for the first field that first entered the sky.

The track record creation unit 141 sets the flight work track record when the flying object 50 reaches the work area W1 of the second farm field at the second farm field entered next from above the first farm field as the work start track record in the second farm field. do. According to this, when carrying out agricultural work across a plurality of fields Hn using the flying object 50, it is possible to easily create a work start record for the second field.
The performance creation unit 141 sets the last flight work performance when the flying object 50 was located above the work area W1 of the second field as the work completion performance in the second field. According to this, when performing agricultural work across a plurality of fields Hn, it is possible to easily create a work completion record for the second field.

The performance creation unit 141 at least records the last flight work performance when the aircraft 50 was located above the work area W1 of the first field after returning from the second field to the first field. This is the work completion record in the first field. According to this, when performing agricultural work across a plurality of fields Hn, it is possible to easily create a work completion record for the first field.

The performance creation unit 141 stores the last flight work performance when the aircraft 50 was located above the work area W1 of the second field after the aircraft 50 entered the second field from the first field. This is the record of work completed in two fields. According to this, when performing agricultural work across multiple fields Hn, even if the flying object 50 enters the second field midway and performs the agricultural work, it is possible to easily create a work completion record for the second field. Can be done.

The performance creation unit 141 explains that the flying object 50 includes a storage battery 50e, a rotor 50c1 that rotates by the power of the storage battery 50e, and a blade 50c2 that rotates by the drive of the rotor 50c1. When the storage capacity of the storage battery 50e decreases to a predetermined capacity in the sky above either the first field that entered the field or the second field that entered next from above the first field, or The agricultural work performance at the work interruption position when the volume of the spray material decreases is defined as the work interruption performance. According to this, the situation when the storage battery 50e is replaced, the spray material is replenished, etc. can be easily grasped from the work interruption record.

The performance creation unit 141 records the last flight work performance when the flying object 50 was located above the work area W1 of the field after returning to the work suspension position after replenishing the storage battery 50e or the spray material. This is the record of completed work in the field. According to this, even when the user returns to the field and performs agricultural work after replacing the storage battery 50e and replenishing the spray material, it is possible to create a work completion record.

The performance creation unit 141 calculates the flight work performance in the first field when the aircraft 50 reaches the work area W1 of the first field at the first field where the aircraft 50 first enters the sky from the takeoff position ST. The work start performance is taken as the work start performance, and the last flight work performance when the flying object 50 is located above the work area W1 of the first field is taken as the work completion performance in the first field, and the flying object 50 is over the first field. Of the flight work results when flying, the flight work results excluding work start results and work completion results shall be the intermediate work results in the first field. According to this, in the aircraft 50, it is possible to grasp not only the start and end results of agricultural work, but also the intermediate work results.

The performance creation unit 141 determines the work start time, based on the positioning information, flight time, spray amount, flight altitude, spray ON/OFF information, or a combination thereof, acquired by the flight acquisition unit 140. The work completion time, the amount of sprayed material spread by the flying vehicle, the scattering trajectory of the flying vehicle, the spreading width of the spraying material, the height when sprayed by the flying vehicle, or a combination thereof, are determined on the field. It is created as the above-mentioned agricultural work results for each time.

The spraying support device of the flying object 50 includes a container 81 that stores a spray material, a spray nozzle 82 that sprays the spray material stored in the container 81 onto a field, a storage battery 50e, and a rotor 50c1 that rotates with the power of the storage battery 50e. This is a dispersion support device for a flying object 50 that includes a blade 50c2 that rotates by the drive of a rotor 50c1 and a positioning device 70D that measures the position. A field map Q1 acquisition unit that acquires the field map Q1 that is the target of the field map Q1, the spraying position G1 that is the position detected by the positioning device 70D when the spraying material is sprayed by the spraying nozzle 82, and the spraying position G1 that is the position detected by the positioning device 70D when the spraying material is spread by the spraying nozzle 82. The dispersion acquisition unit 161 acquires the non-spraying position G2, which is the position detected by the positioning device 70D when the positioning device 70D is stopped, and the field map Q1 acquired by the field map Q1 acquisition unit is displayed on the screen, and the field map Q1 is displayed on the screen, and the field map Q1 is acquired. The display control unit 162 is configured to display the spraying position G1 and the non-spraying position G2 acquired by the unit 161 on the field map Q1. According to this, when spraying (spraying work) is performed by the spraying nozzle 82 of the aircraft 50, it is possible to clearly understand the spraying position G1 where spraying is performed and the non-spraying position G2 where spraying is not performed.

The display control unit 162 causes a first symbol mark MK1 indicating the spraying position G1 and a second symbol mark MK2 indicating the non-spraying position G2 to be displayed on the screen. According to this, it is possible to easily grasp (visually recognize) the spraying position G1 and the non-spraying position G2.
When the first symbol mark MK1 and the second symbol mark MK2 overlap on the screen, the display control unit 162 displays the first symbol mark MK1 on the upper side. According to this, when there are many spraying positions G1 and non-spraying positions G2 in the field Hn, it is possible to make the spraying position G1 easier to see, especially when there are many spraying positions G1 and non-spraying positions G2.

The dispersion support device of the aircraft 50 includes a dispersion storage unit 163 that stores a dispersion position G1 and a non-dispersion position G2 in correspondence with time, and a display control unit 162 that can move a predetermined position on the screen. A moving unit 171 and a time changing unit 172 whose time changes depending on the position of the moving unit 171 are displayed on the screen, and at least a spraying position corresponding to a time period from the time of spraying to the time indicated by the time changing unit 172 is displayed. G1 and non-spreading position G2 are displayed on the field map Q1. According to this, by moving the moving unit 171, it is possible to grasp the transition of the spraying position G1 and the non-spraying position G2, and in particular, it is possible to easily understand how the spraying was performed while flying the flying object 50. can be grasped.

The dispersion support device of the aircraft 50 includes a dispersion storage unit 163 that stores a dispersion position G1 and a non-dispersion position G2 in correspondence with time, and a display control unit 162 that can move a predetermined position on the screen. A plurality of moving parts 171a, 171b and a time changing part 172 in which a plurality of times change according to the positions of moving parts 171a, 171b are displayed on the screen, and the time change part 172 changes between the plurality of times indicated by the time changing part 172. The spraying position G1 and the non-spraying position G2 corresponding to the time period are displayed on the field map Q1. According to this, a predetermined time period can be designated (set) by the moving units 171a, 171b, and only the spraying position G1 and non-spraying position G2 in the designated time period can be confirmed.

The spraying storage unit 163 stores the spraying position G1 and non-spraying position G2 corresponding to the time period as a spraying record. According to this, it is possible to easily grasp not only the overall spraying status of a field but also the spraying status in a specific time period (whether or not the field is being sprayed).
In addition, in the embodiment mentioned above, the agricultural work performance of the aircraft 50 was explained, but the agricultural support device 90 is connected to the communication device 60A of the tractor 1, the communication device 60B of the combine harvester 30, and the communication device 60C of the rice transplanter 40, respectively. Through communication, operation information when the tractor 1, combine harvester 30, and rice transplanter 40 perform work, position detection devices (positioning devices) 70A, 70B, and 70C, and the agricultural work results of the machines (agricultural work results for the machines). It is possible to store it in the performance storage unit 131 or the like as a result.

The embodiments disclosed this time should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is indicated by the claims rather than the above description, and it is intended that all changes within the meaning and range equivalent to the claims are included.

50: Aircraft 50c1: Rotor 50c2: Blade 50e: Storage battery 82: Spraying nozzle 140: Flight acquisition section 141: Performance creation section H1: Field (first field)
H2: Field (second field)
H3: Field Hn: Field ST: Takeoff position W1: Work area

Claims (8)

A flight acquisition unit that acquires flight work results that are agricultural work results of an aircraft that flies over a plurality of farm fields and flies over at least one of the plurality of farm fields multiple times. and,
The flight work record acquired by the flight acquisition unit when the aircraft flies over the plurality of farm fields and flies over at least one of the plurality of farm fields multiple times. a track record creation unit that creates agricultural work records for each field by dividing the field into each field;
Equipped with
In the agricultural work performance of each of the plurality of fields, the performance creation unit sets the flight work performance obtained when first reaching the sky above the work area of the field as the work start performance of the field, and The flight work record obtained when the flight was last located above the work area is taken as the work completion record in the field, and the time when the work start record is acquired and the time the work completion record is acquired in the work area of the field. The flight work results obtained during the period are considered as the intermediate work results in the field,
The flying object includes a storage battery, a rotor that rotates by the power of the storage battery, a blade that rotates by the drive of the rotor, a container that stores a spray material, and a spray nozzle that sprays the spray material stored in the container onto a field. including;
The performance creation unit determines a work stop position when the storage capacity of the storage battery decreases to a predetermined capacity or when the capacity of the spray material decreases when the flying object is in the air above any one of the plurality of fields. An agricultural work support system that uses the above flight work results as work interruption results . In the case where the plurality of fields include a first field and a second field,
The track record creation department is
The flight work performance when the flying object first enters the sky above the first field from the takeoff position and reaches the work area of the first field is set as the work start performance in the first field,
The flight work performance when the flying object next enters the sky above the second field from the sky above the first field and reaches the work area of the second field for the first time is calculated as the result of the flight work in the second field. As a starting result,
After the flight work record as the work start record in the first field is acquired, the flying object reenters the air above the first field and reaches the work area of the first field. The agricultural work support system according to claim 1, wherein the work record is not the work start record in the first field. The track record creation department is
After the flight work record as the work start record in the second field is acquired, the flying object reenters the air above the second field and reaches the work area of the second field. The agricultural work support system according to claim 2, wherein the work record is not the work start record in the second field. The track record creation unit sets the last flight work track record when the flying object was located above the work area of the second farm field as the work completion track record in the second farm field. agricultural work support system. The track record creation unit determines that after the flight work track record as the work start track record in the first field is acquired, the flying object leaves the sky above the first farm field and reenters the sky above the first farm field. The farm work support system according to claim 2, wherein the last flight work result when the flying object was located above the work area of the first field is the work completion result in the first field. . The performance creation unit determines that after the flight work performance as the work start performance in the second field is acquired, the flying object leaves the sky above the second field and re-enters the sky above the second field. 4. The farm work support system according to claim 3, wherein the last flight work result when the flying object was located above the work area of the second farm field is used as the work completion record in the second farm field. . The performance creation unit calculates the final flight work performance when the flying object was located above the work area of the field after returning to the work interruption position after replenishing the storage battery or the spray material. The agricultural work support system according to any one of claims 1 to 6, wherein the work completion record in the field is the work completion record. The performance creation unit determines the work start time, based on the positioning information, flight time, spray amount, flight altitude, spray ON/OFF information, or a combination thereof, acquired by the flight acquisition unit. The work completion time, the amount of sprayed material spread by the flying vehicle, the scattering trajectory of the flying vehicle, the spreading width of the spraying material, the height when sprayed by the flying vehicle, or a combination thereof, are determined on the field. The agricultural work support system according to any one of claims 1 to 7 , wherein the agricultural work support system is created as the agricultural work results for each time.

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